AT509781A1 - METHOD AND SYSTEM FOR COMPENSATING FORCES OR BZW. MOMENTS IN A POINT TRAY OR PROSPECTOR - Google Patents

Description

The present invention relates to a method of balancing forces in a point draw or prospector train or coupled point train and prospect zuganlage with a plurality of actuators, which are operated electrically or hydraulically, for moving a rope-hanging object, and to a system for balancing forces or moments in a point-to-point or prospector train system or coupled point train and prospector train system having a plurality of actuators for moving an article suspended from ropes.

On stages, for example for theaters or opera houses or event halls, Punktzuganlagen or Prospektzuganlagen a movement of objects, such as decorations, brochures, hangings and the like. In a substantially vertical direction, Hiebei are above the stage on a so-called lace or roll bottom in particular arranged in several rows of pulleys over which run individual ropes, being attached to a single point pull system on these ropes either single loads or connected in connection with a Prospektzuganlage several ropes with a load bar or a flat object, wherein for lifting and lowering the transported Objects the suspension cables via actuators, such as electric motors, hydraulic cylinders, hydraulic motors or the like. Be operated. The hanging on the individual ropes items, such as load bars or plates, hiebei not only must be positioned according to exactly on the stage and relative to each other, but it is in particular taking into account the possibly large weight of such, to be transported objects or stage decorations also required that overloading individual motors or actuators does not occur, in particular when a plurality of actuators or motors is used simultaneously for moving the object suspended on a plurality of cables. Such an overload can not only lead to damage of individual actuators, but also possibly to a misalignment of the object to be transported and / or to a requirement for a possibly multiple, in particular manual readjustment. So far, the individual actuators of the support cables are operated according to different in particular unequal load distribution of a larger dimensions object, for which essentially the experience of the operator is crucial to avoid overloading individual actuators and / or resulting misalignments or possibly uncontrolled movements.

The present invention aims to avoid, based on a method and system of the type mentioned above, the problems of the above-mentioned prior art and, in particular, an automated control of a plurality of actuators for moving an article hanging on ropes with as much compensation as possible To provide load or load individual actuators available.

In order to accomplish these objects, a method of the type mentioned above essentially comprises the following steps: determining values for the force or torque of each actuator during the movement of the object to be transported, determining at least two actuators whose particular values of the force and the torque are defined as references, and additionally controlling the force or moment of at least one actuator other than the actuators used to define the reference variables in approximation to one of the reference quantities.

Characterized in that according to the invention values for the force or the moment of each actuator are determined or measured during the movement of the object to be transported, and in addition at least two actuators are defined, whose operation can be »» · · · ······················································································································································································································· as a result, by the inventively provided additional rules or controlling the force or the moment or generally of certain parameters of the individual actuators in approach to one of the reference variables to provide a particular uniform or to be adapted to each other load of the individual actuators. In this way not only overloading of individual actuators, in particular in the event of an uneven loading or unloading operation, can occur. Weight distribution of the possibly large dimensions and heavy weight, to be transported object can be avoided, but it can in particular be provided quickly and automatically proper positioning of each object to be transported while avoiding overloading of at least one of the actuators while avoiding any necessary readjustment available , According to the invention, an additional control or control is substantially automated by comparison and approximation to a defined reference, so that reference can be made to technically flawless or detectable parameters or parameters and in contrast to the known prior art to possibly inaccurate and can be dispensed only on experience based assessments or estimates. The inventively proposed method of compensation for the force or the moment of each actuator such actuators can also be used accordingly gently and it can be dispensed with, for example, a conscious oversizing of such actuators to cope with any peak loads occurring. For a particularly rapid and reliable positioning taking advantage or consideration of each provided by the individual actuators or motors power is proposed according to a preferred embodiment that a control or the force of the torque of at least one of the for defining the The reference quantities used were ♦ »* * * * * * · · · · · · **** **** **** **** **** **** **** 4 4 4 4 4 4 4 4 4 4 4 4 4 * * * ** »» · - 4 ** - Tuatoren different actuator at different sized reference sizes in approximation to the larger value reference value is made. As a result of the approach proposed in accordance with the invention to a respective larger reference value, a correspondingly rapid and reliable positioning of an article to be transported while at the same time avoiding overloading, at least one actuator can be made available. In this context, it is proposed according to a further preferred embodiment that an optionally different performance of individual actuators is taken into account. In this way, overloading of individual actuators can be avoided, in particular with different performance. This also makes it possible to base the additional control or control on relative changes, which results in the advantage that differently resilient elements or trains can be coupled and the additional regulation or control controls and compensates for all actuators substantially proportionally ,

In particular, in order to avoid sudden changes in connection with the additional regulation or control of the force or torque in approach to one of the reference variables and to avoid overshoot of individual control variables, it is proposed according to a further preferred embodiment of the method according to the invention a time constant for controlling the approximation of the value of the at least one additional actuator to be controlled to one of the reference magnitudes greater than a time constant for controlling the position of each actuator upon moving the object to be transported is selected. By a suitable choice of a time constant, a substantially smooth transition from a current value of an actuator to be controlled or controlled in addition to the specific reference variable can thus be made available. * «•« Μ • IM) 5

To avoid possibly not clearly defined lifting operations and / or greatly different loads of individual actuators, which may be caused by a very different load on the object to be transported, it is proposed in particular for safety reasons that falls below the minimum load at least one of the actuators further movement the actuators is interrupted, as corresponds to a further preferred embodiment of the method according to the invention.

Since a complete approximation or approximation of the values for the force or the moment of individual actuators to a predetermined reference variable is usually not feasible and not absolutely necessary, it is proposed according to a further preferred embodiment that the additional control or control of the value of at least one actuator to be controlled or controlled in approximation to one of the reference values is interrupted when falling below a predetermined difference to the at least one reference value. Thus, the invention ensures that falls below a predetermined difference on the additional cost of the additional control or control according to the inventive method can be dispensed with, since the present invention sought the purpose of equalization of individual load parameters of the respective actuators was achieved by a sufficient approximation.

In order to achieve the fastest possible adaptation or approach to a reference to be achieved and to simultaneously provide a substantially smooth or smooth approach to the reference, it is proposed according to a further preferred embodiment that an extent of a change in a value of the force or the moment of the actuator to be controlled or controlled in approximation to one of the reference variables is determined directly proportional to the difference between the value determined for the actuator to be controlled additionally and the reference value. An approximation to the reference ♦ I • · * φ * · - 6 by providing a change directly proportional to the difference of the detected deviation thus ensures that, when a large difference occurs, an approximation or approach to the reference quantity is made rapidly in the case of small differences, a correspondingly minor change is carried out according to the invention, which, as mentioned above, is discontinued if the minimum difference is not reached.

Also, to avoid sudden loads or changes of individual actuators and a smooth transition in approach to the predetermined or determined reference size is also proposed that when switching on or off the additional control or the control to be used rule or Control variable is continuously increased over a transitional period from the current value to the determined control or control variable, as corresponds to a further preferred embodiment of the method according to the invention.

According to a further preferred embodiment, in order to provide meaningful reference variables when moving objects of great dimensions and / or possibly greatly different loads, the values of actuators are used to determine the reference variables, which are applied to outer or peripheral regions of the transportable article Attacking the object or clearly defining the geometry. When using parameters or values of actuators which act on outer or peripheral areas or clearly define the geometry of the same, it can be ensured in particular that actuators which act on intermediate partial areas and are usually subjected to less stress during tilting movements have their Loading be brought in accordance with the lying by the lying on the edge or outside of actuators, which can also be relieved of these used to determine the reference actuators accordingly. • · * * - 7 -

To solve the above-mentioned objects, moreover, an inventive system of the abovementioned type essentially comprises the following elements: a sensor associated with each actuator for detecting the force or moment of each actuator during the movement of the object to be transported, a fixing device for fixing of at least two actuators whose respective values of force or torque are defined as reference variables, - an additional control or control device for controlling the force or the torque of at least one of the actuators used to define the reference variables Actuator approximating one of the benchmarks.

This makes it possible in accordance with the invention to compensate for operating parameters of the individual actuators in a simple and reliable manner by providing or using simple additional elements, which may already be provided in a point pulling system or brochure traction system for the respective actuators, in particular for their monitoring enable. For a particularly simple enabling of the additional regulation or control provided according to the invention in approximation to one of the reference variables defined by the setting device, it is preferably proposed according to the invention that a device for comparing a predetermined and in particular adjustable setpoint value be used at least with the values of those used for the determination of the reference variables Actuators is provided.

As mentioned above, may be provided in exceptional cases, a shutdown of the operation of all actuators, in this context proposed for proper alerting according to the invention that an alarm device is provided, which is coupled to the device for the desired value. Ψ l · · # μ μ μ μ μ μ μ μ μ · · · · · · · · · · · · · · · For additional monitoring of the actual position of the object to be transported, it is additionally proposed that a device is additionally provided for determining the position of subregions of the object to be transported connected to individual actuators, as corresponds to a further preferred embodiment of the system according to the invention,

In connection with the object to be transported in a point draw system or brochure attachment, it is further preferred according to the invention for the object to be transported to be transported in a manner known per se by a load which extends in particular one-dimensionally, for example a rod, or a two-dimensionally extending or planar one Last, for example, a ceiling plate with areally distributed suspensions or attack points of the actuators is formed. For a reliable determination of the value or parameter to be determined, which is used on the one hand as a reference variable and on the other hand as a variable to be regulated or controlled, it is proposed according to a further preferred embodiment that a sensor for determining the force or the moment of each actuator is formed by a force measuring bolt or a sensor for determining the load of the actuator on an inverter or on the basis of a hydraulic pressure difference.

The invention will be explained in more detail with reference to an embodiment shown in the accompanying drawings. In this show;

Figure 1 is a schematic representation of a point-pulling system using the system according to the invention for carrying out the method according to the invention.

FIG. 2 shows a schematic representation of the system according to the invention for carrying out the method according to the invention; FIG. 9

FIG. 3 shows, on an enlarged scale, a detail of the representation according to FIG. 2 with regard to the generation of the additional control variables; FIG.

4 shows a schematic representation of a movement of an article to be transported in the form of a load bar, on which a motor engages in each case at a plurality of positions; and

5 and 6 compared the loads of the individual motors in the movement shown in Fig. 4, wherein in the illustration of FIG. 5, the inventively provided additional control or control of the individual motors or actuators turned off in the approach to one of the reference variables is, while in the illustration of FIG. 6, the inventively provided additional control or regulation is performed or activated.

FIG. 1 shows an embodiment variant with point pulls 1, which are connected to the hanging device 5 of the load or of the countermeasure to be transported via a cable 2 which runs over deflection rollers 3

Stands 6 are connected. The point pulls 1 and deflection rollers $ are mounted on a tie bottom 7. The load to be suspended or the object 6 to be transported has an arbitrary load distribution.

The dinghies 1 are used in this configuration for raising and lowering the load or object 6 and for pivoting the same, wherein individual actuators or motors are designated 30.

Fig. 2 shows that each point train 1 and each actuator 3 0 via a drive cabinet, which is equipped with a converter 8, is supplied. Each point train 1 is equipped with a device 9 for position measurement and a device or a sensor 10 for load measurement. The drive cabinet 8 is controlled by a central controller 11. In the illustrated embodiment, the control is realized via a position controller 12 and a setpoint specification 13, which also carries out safety-related tasks, such as, for example, control of holding brakes of the point train.

In the illustrated example, the position set points for lifting and lowering the ropes 2 as well as pivoting are performed by simply applying the jet set. That is, when lifting and lowering all ropes are 2 up to the same length on the point trains 1 or unwound. When panning based on the desired angle, the individual ropes 2 so far up or unwound that their rope end positions correspond to the set of rays.

To this control, a new additional setpoint generation is added, which serves: • To distribute uneven load distributions by the load 6 as evenly as possible to all drives 30 in order to avoid overloads; • Overloads, which arise due to the actual geometric change and the idealized calculation from the set of rays, to avoid by redistribution of the loads.

For this purpose, the device for load balancing 14 receives from the outside current data from sensors 18, such as current position, current loads and maximum loads and status information 17, which point trains 1 are operated together via a load bar or an object to be transported 6, which mode is selected as well as whether the function is to be switched on.

The setpoint generating device 15 calculates, based on the obtained data 17 and 18, the target values for the additional control device 16 and the controller 16 for compensation, respectively. The resulting additional setpoint is added to the position setpoint of the setpoint input 13. In addition, the device 14 generates status and alarm information 20, which are used for information as well as for the shutdown of the function as well as the punctuation.

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In Fig. 3, the detail of the setpoint generation 15 is shown. Therein it is shown that the setpoint for the load balancer 16 can be formed in a variety of ways by simple selection.

5 and 6 show the difference between switched off (FIG. 5) and switched on (FIG. 6) load balancing or switched off and switched on additional regulation of the force or the moment.

In this example, a steady load, which hangs on 5 point trains or motors (motor Ml to motor M5), was used, as indicated in Fig. 4. The load or the object 6 to be transported was attached as desired to the ropes 2, which leads to different loads at the individual suspension points (see FIGS. 5 and 6 from 0 to 3 s).

The sequence of movements of the load positions is shown in Fig. 4 to half. The load is not moved for the first 9 seconds and then driven down and simultaneously pivoted. At 15 seconds the movement is stopped. Thereafter, the movement is repeated in reverse order.

Fig. 5 shows the course of the individual cable forces 23 of the point trains (motor Ml to motor M5) during the entire movement with unused load balance or not switched additional control or control. The different load, especially the load of the point trains (engine Ml and engine M5) in the pivoted case is recognizable. This may result in shutting down the drives at high loads or torques, although the total capacity of the dart trains is sufficient to lift the load.

Fig. 6 shows the course of the individual cable forces 23 when using the load balance or the additional control or control. In this configuration, the outermost drives, ie motor Ml and motor M5 were used for the definition of the geometric position as well as the specification of the nominal torque or the reference quantity. The remaining drives were

• V * · * · «« ···················································································································································································································· The load balancing was switched on at 3 seconds, and you can see clearly how the unequal suspension is corrected at the individual point trains. When lowering and pivoting (second 10 to 15), there are small differences in the cable forces 23, which are eliminated at standstill (second 17 to 20). Likewise, there are small deviations of the cable forces 23 during startup and backward pivoting. These deviations result from the control or retraction. Control dynamics of the additional control or control device or the controller 16 for load balancing.

The peaks at each second 9, 15, 21 and 2 6 result from the acceleration or braking of the load or of the article 6 to be transported.

From a comparison of the illustration of FIG. 5 and 6 is also apparent that the additional control or control of the motors or actuators M2, M3 and M4 is made in approximation to the larger value having reference value of the motor Ml.

By using relative control variables, a corresponding consideration of possibly different performance capabilities of individual motors or actuators 30 or Ml to M5 can be taken into account.

From the representation of FIG. 6 is also apparent that an overshoot in the range of switching on and off the additional control or control can be avoided and existing uneven loads are largely offset, this in particular by choosing a corresponding time constant for the additional control or control of the motors M2, M3 and M4 is achieved.

Furthermore, especially for safety reasons, when the minimum load of at least one motor M1 to M5 is undershot, further movement of all motors M1 to M5 is prevented, an alarm being additionally output via the alarm device 20.

By approximating one of the reference quantities substantially directly proportional to the difference therefrom, a corresponding rapid approximation can be achieved, as for example at the beginning of the movement according to the diagram of FIG. 6 by the different slopes in the region of the approximation to the value of Motors Ml is visible.

Likewise, an overshoot or an abrupt change in the load of individual motors M1 to M5 can be prevented, in particular when switching on and off by setting a transitional time.

Notwithstanding the embodiment shown in the above representations, in particular instead of the movement of a substantially extension in a preferred direction-pointing load bar, a planar or plate-like object 6 can be moved, in particular in such a flat or plate-like object for definition Determining the reference variables in addition to acting on edge or edge area motors or actuators 30 motors 30 in particular can be used, which define the geometric shape of the same with irregular dimensions or extensions of the article 6 to be transported.

Furthermore, it is understandable that, differing from the number of motors or actuators shown in FIGS. 4 to 6, a different number can, of course, be chosen according to the object 6 to be transported.

Claims (15)

1. A method for balancing forces or moments in a Punktzuganlage or Prospektzuganlage or coupled Punktzug- and Prospektzuganlage with a plurality of actuators, which are operated electrically or hydraulically, for moving an article hanging on ropes, comprising the following steps - determining Values for the force or moment of each actuator (30, M1-M5) during the movement of the object to be transported (6), - defining at least two actuators (Ml, M5), their specific values of force or moment as And additionally controlling the force or moment of at least one actuator (M2, M3, M4) different from the actuators (M1, M5) used to define the reference quantities in approximation to one of the reference quantities. 2. The method according to claim 1, characterized in that a regulating or controlling the force or the moment of the at least one of the actuators used for the definition of the reference variables (Ml, M5) different actuator (M2, M3, M4) at different sizes Reference values is made in approximation to the larger value reference. 3. The method according to claim 1 or 2, characterized in that an optionally different performance of individual actuators (30, M1-M5) is taken into account. 4. The method of claim 1, 2 or 3, characterized in that a time constant for a control or the control of the approximation of the value of the at least one additional to be controlled or controlling actuator (M2-M4) to one of the reference greater than a time constant is selected for control of the position of each actuator (30, M1-M5) upon movement of the object (6) to be transported. 5. The method according to any one of claims 1 to 4, characterized in that falls below the minimum load at least one of the actuators (30, M1-M5) further movement of the actuators (30, M1-M5) is interrupted. 6. The method according to any one of claims 1 to 5, characterized in that the additional control or control of the value of the at least one controlled to be controlled actuator (M2, M3, M4) in approximation to one of the reference variables falls below a predetermined difference the at least one reference is interrupted. 7. The method according to any one of claims 1 to 6, characterized in that a degree of change in a value of the force or the torque of the one to be controlled or controlled in the approach to one of the reference variables actuator M2, M3, M4) directly proportional to Difference between the value to be controlled in addition to be controlled or, to be controlled actuator (M2, M3, M4) and the reference value is determined. 8. The method according to any one of claims 1 to 7, characterized in that when you turn on or off the additional Regge or control, the control or control variable to be used over a transitional period of the current value to the determined control or control variable continuously increased becomes. 9. The method according to any one of claims 1 to 8, characterized in that the values of actuators (Ml, M5) are used to determine the reference variables, which attack on outer or peripheral regions of the object to be transported (6) or the geometry clearly define. 10. A system for balancing forces or moments in a point-to-point or prospector traction system or coupled point-to-point and prospector traction system comprising a plurality of actuators for moving a ropes-hanging object, comprising the following elements; a sensor (18) associated with each actuator (30, M1-M5) for detecting the force or moment of each actuator (30, M1-M5) during the movement of the object (6) to be transported, a fixing device (15) for Defining at least two actuators (Ml, M5), whose respective values of force or torque are defined as reference variables, an additional control device (16) for controlling the force or the torque of at least one of the actuator (Mi, MS) used to define the reference quantities different actuator (M2, M3, M4) in approximation to one of the reference variables. 11. System according to claim 10, characterized in that a device (15) for comparing a predetermined and in particular adjustable desired value is provided at least with the values of the actuators used for the determination of the reference variables (Ml, M5). 12. System according to claim 11, characterized in that an alarm device (20) is provided, which is coupled to the device for the desired value. 13. System according to claim 10, 11 or 12, characterized in that in addition a device for determining the position of individual actuators (30, M1-M5) connected to parts of the article to be transported (6) is provided. 14. System according to any one of claims 10 to 13, characterized in that the object to be transported (6) in a conventional manner by a particular one-dimensionally extending load, such as a rod, or a two-dimensionally extending or planar load, for example a ceiling plate is formed with areally distributed suspensions or points of attack of the actuators. 15. System according to any one of claims 10 to 14, characterized in that a sensor (18) for determining the force or 17 - the moment of each actuator (30, M1-M5) of a force measuring bolt or a sensor for determining the load of Actuator is formed on a converter or on the basis of a hydraulic pressure difference. Vienna, April 27, 2010 Waagneü Stage i by: | Patent!; Mikso / -Biro Austria Sterns AG Enwäl te) ky i & Pollhammer OG