AU665586B2 - Regulation monitoring system for a cableway - Google Patents

Description

I OPI DATE 07/06/93 APPLN. ID AOJP DATE 05/08/93 PCT NUMBER AU9228695 (51) Internationale Paten tklassifi kation 5 B66B 7/06 (11) Internationale Verdffentlichungsnummer: Al (43) Internationales Veroffentlichungsdatum:I WO 93/09053 3. Mai 1993 (13.05.93) (21) Internationales Aktenzeichen: PCT/DE92/00884 (22) Internationales Anme~dedatum: 22. Oktober 1992 (22.10.92) (81) Bestimmungsstaaten:- AU, CA, Pb, RU, UA, US.

Veroffentlicht Mit internationalern Recherchenbericht, Priori tatsdaten: 91/8868 8. November 1991 (08.11.91) ZAI (71) Anmnelder (fir alle Bestimmungsstaaten ausser US): SIE- MENS AKTIENGESELLSCHAFT [DE/DE]; Wittelsbacherplatz 2, D-8000 MUnchen 2 (DE).

(72) Erfinder; mid Erfinder/Anmelder (nur ffir US) SCHMIT, Winfried [DE/DE]; Ahornweg 24, D-8520 Erlangen (DE).

SCHULZE HORN, Hannes [DE/DE]; Am Europakanal 14, D-8520 Erlangen (DE).

(54) Title: REGULATION MONITORING SYSTEM FOR A CABLEWAY (54) Bezeichnung: REGELUNGS-OBERWACHUNGSSYSTEM FOR EINE SEILFORDERANLAGE 13 (57) Abstract 14 A regulation monitoring system for a cableway with an electric driving motor, especially for a very deep cableway and/or with a non-metallic cable, in which, to 1 prevent the occurrence of oscillations in the moved masses of the cable and the load through changes in the 1 speed of the load, variations in the rotation speed of the driving motor or emergency mechanical braking, the ref- 1 erence values of the regulation of the longitudinal oscilla- 1 tion behaviour of the system constructed as a guide value lE regulator or one of its main components is continuously adjusted to avoid or at least reduce oscillation and in which the continuous, proper operation of the adjustment and the extent of residual errors, resulting for example from transverse forces, is monitored and also compensat- 19 ed by monitoring and measuring devices.

(57) Zusammenfassung t Regelungs-tlberwachungssystem ffir eine Seilf6rderanlage mit elektrischer Antriebsmaschine, insbesondere for eine F~rderanlage groger Teuife und/oder einem nichtmetallischen Seil, bei der zur Vermeidung einer Anregung von Schwingungen der bewegten Massen von Seil und Last durch G esch wind igkeits Nnde rungen der Last, durch Drehzahlilnderungen der Antriebsmnaschine oder bei mechanischen Notbremsungen, die Sollwerte der als Fflhrungsgrtigenregelung ausgebildeten Regelung demn Ltings-Schwingungsverhalten des Systems oder einer seiner Hauptkomponenten fortlaufend schwingungsvermeidend oder zumindest -mindernd angepa~t wird und wobei das ununterbrochene, einwandfreie Funktionieren der Anpassung sowie die Gr6fge von, z.B. aus Querkraften resultierenden, Restfehlern durch COberwachungs- und Me~einrichtungen iiberwacht und ebenfalls kompensiert werden.

GR 91 P 3547 P Siemens Aktiengesellschaft Regulation Monitoring System for a Cableway The invention relates to a closed-loop monitoring system for a rope hoisting installation with an electric driving motor, especially for a deep hoisting installation and/or with a nonmetallic rope, in which, to avoid the occurrence of oscillations of the moved masses of the rope and the load through changes in the speed of the load, variations in the rotational speed of the driving motor or emergency mechanical braking, the setpoint values of the control, designed as a reference variable control, is [sic] continuously adapted to the longitudinal oscillation behavior of the system or of one of its main components to avoid or at least reduce oscillation.

Corresponding closed-loop controls to avoid jerking and consequently to avoid the occurrence of oscillations along ropes in shaft hoisting installations are known, for example, from EP-0 289 813 B1 (SA 88/2660) in a simple form and from SA 90/7429 and SA 91/5451 in an improved form. The closed-loop controls described in the abovementioned publications provide satisfactory results if the hoisting rope is not too long or not particularly flexible; however, they do not readily allow a reduction I in the rope safety factor, which also includes a component to take into account the rope oscillations. For this purpose, a guarantee of lower rope stressing by oscillations permanently and under all operating conditions is necessary.

0 A nVr os>'8 -1 i GR 91 P 3547 P 2 It is an object of the invention to specify a monitoring system which detects with certainty oscillations, in particular longitudinal oscillations, but also transverse oscillations, in the hoisting ropes in continuous operation, preferably also classifies them and makes it possible to minimize them. The maximum operational loading of the hoisting ropes is to be reliably reduced to such an extent that a permanent reduction of the rope safety factor is possible. It is also intended that use can be made of far more flexible ropes than steel ropes, which are more liable to oscillate with great amplitudes. Furthernmore, it is intended to achieve a reliable sensing, signaling and correcting (minimizing) of rope oscillations of all types irrespective of how they occur, for example due to rope sheave runout, guide errors etc.

The main object is achieved by providing that the contir.ous, proper operation of the adaptation and the extent of residual errors, resulting for example from transverse forces, are monitored and likewise compensated by monitoring and measuring devices. By the monitoring and compensation according to the invention, the rope stressing due to oscillations is reliably reduced so considerably that a greater depth or the use of more flexible ropes is possible. It is advantageously also so in this .ase, for safety reasons, that the control of the necessarily provided safety brake is continuously supplied with the hoisting speed, so that even in the event of emergency braking at any point the control system actuates the safety brake in such a way that t1h occurrence of oscillations of the moved masses of the system is avoided even in the case of emergency braking.

II- C- -I GR 91 P 3547 P -3- In a way corresponding to the design of the emergency braking system, the monitoring system also has two redundant, preferably identical, automation units or autonomously operating automation equipment parts, which preferably have for automatically checking their own operation an intermittently actuated crossover circuit and in which a continuous checking for the same responses takes place. For this purpose, the monitoring system according to the invention is advantageously integrated into the safety-related part of the closed-loop and openloop control of the hoisting machine. In this case it is particularly advantageous if the hoisting machine control is of a modular design, since it is then possible simply and reliably to carry out an adaptation of the safetyrelated part to the respective requirements of a shaft.

Only the functional modules which take into account specific features of the shaft installation need to be adapted in each case, the rest of the functional modules can remain unchanged, and this is important in particular for the software part. Software errors can thus be avoided with greater certainty.

The monitoring according to the invention may be advantageously carried out simply by a continuous rope force measurement, in particular the carrying load component and the oscillation component being sensed and evaluated separately. Thus, it is advantageously possible to sense the component of the rope stressing resulting from the rope oscillations, so that the rope safety factor can be reduced by the greatest part of the oscillation component. In this case, at least the sensing of the oscillation component is advantageously carried out by a system which is completely separate from the other control devices and is connected to the safetyrelevant GR 91 P 3547 P 4 parts, so that a continuous monitoring and a transformation into the safe state in the event of a malfunction can be ensured.

The force measurement can be carried out simply, for instance at a deflection or return sheave, advantageously at their bearings, which can be equipped easily with load cells; possibly supplemented by a measurement at the cage suspension gear. Similarly, a measurement may also be carried out by means of the electrical variables of the driving motor, although here individual jolts and abrupt causes of oscillation can be sensed only inaccurately. The electrical measurement in this case corresponds in principle to the measurement which is known from the slack-rope monitoring device of hoisting machines (EP-0 402 518 Al) In a development of the invention it is advantageously provided that the individual parts of the rope force are determined by analog or digital filters, in particular by bandpass filters. Thus, limit value violations are reliably detected. Detected limit value violations of the rope force are advantageously indicated by monitoring devices and supplied in particular to corrective calculating units. Inadmissibly high rope forces are returned to permissible values by the corrective calculating units or, if this is not possible immediately, the installation is advantageously. transformed into a safe operating state until the cause of the violation of the maximum admissible rope force has been eliminated, To supplement the rope force measurement, it is furthermore advantageously prcvided that the monitoring system has acceleration and/or oscillation-amplitude measuring devices in connection with the rope or with the load, for example on GR 91 P 3547 P 5 the hoisting cage, which devices are connected to evaluation units, in particular integrating evaluation units and signaling devices. Thus, there is a further, additional monitoring possibility available for the system according to the invention, which further increases the accuracy and reliability of the oscillation compensating control. Superposed influences can also be sensed! What is more, it is possible to adapt the hoisting machine control to the local state of the shaft in such a way that an oscillation-minimized traveling curve is obtained. In this case the speed and acceleration behaviour which is established also constantly produces an indication of the state of the hoisting installation.

The acceleration and/or oscillation amplitude measuring device is advantageously connected, in just the same way as the force measuring device on the hoisting cage, via a cage telephone system or a shaft signaling and/or control system, to the driving motor control. By an integration of the parts of the monitoring system in existing safety devices, a particularly advantageous configuration of the monitoring system at low cost is possible. Particularly advantageous in this case is the use of a shaft signaling system with data storage, since this makes it possible to evaluate the control interventions with respect to the state of the shaft. The data obtained may be subjected to a continuous evaluation by expert personnel, so that it is also possible to recog- I nize trends and initiate preventive measures against faults. Suitable shaft signaling systems are known (for i example Signal-recorder 7KE 4196-8AA of Siemens AG); they allow any multitrack recording of data, so that the mutual influence of various disturbances on one another can also be traced.

GR 91 P 3547 P 6 A particularly advantageous development of the monitoring system, with the possibility of minimizing influences which cannot be compensated by classical closed-loop controls, is to provide in addition a fuzzycontrol unit, which in particular can be cut in with weighted intervention. This unit can be used to minimize otherwise uncorrected oscillations, in particular transverse oscillations, of the rope on the basis of knowledge-based rules or additional sensors. Fuzzycontrol units are known, in just the same way as neurocomputers, in sectors where there are comparable requirements, for example in the steel works sector 08 510 Al). There is nothing standing in the way of their applications in mining as well. With them, a further improvement, tailored to the specific conditions of each shzft installation can be achieved. Particularly advantageous in this case is the possibility of install- ~ng the fuzzy-control munit or a neurocomputer initially in parallel with the classical closed-loop control and, with growing operational experience after use for some time, superimposing it on the normal control. The safety of the operation of the installation is thus not impaired at any time and the control behavior is improved in areas which a classical closed-loop control cannot cover. I Further advantages and details emerge from the following description of an illustrative embodiment with reference to the drawings and in conjunction with the subclaims. In the drawings: FIG. 1 shows a representation of the rope force conditions without correction of the oscillations, FIG. 2 shows a representation of the rope force conditions with reduced rope oscillations, 1 I T GR 91 P 3547 P 7 i FIG. 3 shows examples of measuring locations, i FIG. 4 shows the interrelationship of the influences on the rope force determination and FIG. 5 shows a basic circuit for the determination of the oscillating components in the rope force.

I In Fig. 1, 1 denotes an absolute safety margin between the rupture force 3 and the peak force 2, which is obtained from the addition of the static load 5 and the greatest load peak to be expected within the oscillation 6. The mean value of the dynamic load is indicated by 4.

In Fig. 2, 9 denotes the unchanged rupture force and 7 denotes the increased absolute safety margin corresponding to the lower amplitude of the residual oscillation 12. The peak value of the residual oscillation 12 is indicated by 8. The mean value of the dynamic load is denoted by 10, in this example it lies at the same level as in Fig. i. The static load, identified by 11, also lies at the same level as in Fig. 1.

It emerges from a comparison of Figs. 1 and 2, that, by the rope oscillation avoidance or minimization according to the invention, either an increased absolute safety margin with respect to the rupture force is achieved or, with the same absolute safety margin i, a lowering of the admissible riipture force or a raising of the dynamic load is possible. Thus, shaft hoisting installations equipped with the monitoring according to the invention may be equipped either with thinner ropes, be taken to greater depths with the same rope thickness or be used for higher loads. In any case, a fundamental, considerable advantage is obtained, which can also 'T 0

III

*1L GR 91 P3547 P -8be utilized without reservations, since it is subject to on the same continuous safety monitoring as the other systems with safety relevance.

of In Fig. 3, 13 and 14 denote rope sheaves, at the bearings of which the rope force measurements can be gin advantageously carried out. The measuring devices ich required for the force measurement are diagrammatically and represented and are denoted by the numbers 15 and 16. A la- force measurement at the rope sheaves 13 and 14 is ted 10 particularly simple, since here the rope forces can be determined, just as possibly the rope sheave osciilarc e tions, by fixed devices. The measuring of the electrical gin variables in the rope drum drives 17 and 18 also has the Ual advantage of determination by fixed devices. Disadvanla- 15 tageous here, however, is the damping of the rope oscil- Mic lations by the rope sheaves 13 and 14. Advantageously, the however, here the static load can be determined very by accurately.

A force measurement directly at the suspension 2, 20 gears of the hoisting cages 19 and 20 is of particular 2 ion advantage. Here the rope oscillations are completely ate undamped, but a transmission of the measured values is is Ipossible only via a cage telephone system or via a shaft F a signaling system, so that the measurement is signifi- I2 of 25 cantly more complex than at the cable sheaves 13 and 14. 2 ing 3From safety aspects, both a continuous monitoring for to violation of maximum values and a measurement of the as, individual f orce and oscillation components, with the aim ass of minimization, is desired at all three diagramatically indicated measuring points. Advantageous, and surprisingly simple to carry out, is also a measurement of the rope oscillation amplitudes in the transverse 3 GR 91 P 3547 P 9 i direction, for instance between the rope drums and the to :her rope sheaves and also in the shaft. Suitable for this is i infrared laser equipment, such as is used, for example, the| Iwith much success in open cast mining. Equipment of this be 5 type with beam gratings is suitable in particular as ces J equipment for the monitoring of the transverse oscillaly j tion amplitude.

A In the diagrammatic representation of Fig. 4, 21 is jf denotes the signal of the live load mass, 22 denotes the is10 be 10 signal of the hoisting means mass, 23 denotes the rope la- mass per unit of length and 24 denotes the rope length.

cal Rope mass and rope length are multiplied by each other in the 25 and pass in just the same way as the signals of the an- individual masses into the unit 26, where they are added.

an- The aggregated mass values are supplied to the unit 27 ly, and combined here with the earth's acceleration 28 and ery the acceleration of the hoisting machine 29, which are ery aggregated in the unit 30. After deduction of the ion i measured rope force in the unit 32, evaluation of the ar oscillation component then takes place in the unit 33.

ly ig. 5 shows a circuit suitable for the evalua- Bly is tion for the measured rope force 34. The signal of the i measured rope force 34 is supplied on the one hand to a i- bandpass filter 37, which allows all frequencies between L4. 25 the greatest and the smallest frequencies to pass (thus or the oscillating components in the rope force are obtained -or :he at its output and can be evaluated in 35) and on the iim i other hand is supplied to the evaluation unit 36, which ly Idetermines the absolute force. The circuit in Fig. 30 ahows merely one particular simple configuration; it goes without saying to a person skilled in the art that it is .on possible in a similar way to determine, for example, also the individual components of the rope force, as they may result from transverse force influences.

I *V.

B r GR 91 P 3547 P The monitoring system according to the invention is suitable in particular for hoisting installations which are intended to be sunk deeper, for example in order to develop new deposits. However, it is similarly of advantage if new ropes have to be fitted. Then a weaker rope can be chosen. Such a system is absolutely necessary if in future hoisting ropes of very high flexibility are used, for example glass fibers or carbon fibers. These ropes are not only more flexible, but also lighter than the previously usual steel ropes and have a greater tendency to oscillate. Complete oscillation monitoring is indispensible here.

zI

Claims (26)

1. A closed-loop monitoring system for a rope hoisting installation with an electric driving motor in which, to avoid the occurrence of oscillations of the moved masses of the rope and the load through changes in the speed of the load, variations in the rotational speed of the driving motor or emergency mechanical braking, the set- point values of the control, designed as a reference variable control, are continuously adapted to the longitudinal oscillation behaviour of the system or of one of its main components to avoid or at least reduce oscillation, and the continuous, proper operation of the adaptation and the extent of residual errors are monitored and likewise compensated by monitoring and measuring devices.

2. The monitoring system as claimed in claim 1, wherein said system is for use in a deep hoisting installation and/or with a non-metallic rope.

3. The monitoring system as claimed in claims 1 or 2, wherein said residual errors result from transverse forces.

4. The monitoring system as claimed in any one of claims 1 to 3, wherein the monitoring is carried out by two redundant automation units or autonomously operating automation equipment parts. The monitoring system as claimed in claim 4, wherein said two redundant automation units are redundant.

6. The monitoring system as claimed in claims 4 or 5, wherein said automation units or said automation equipment parts have an intermittently actuated crossover circuit for automatically checking the operation of said automation equipment parts.

7. The monitoring system as claimed in any one of claims 1 to 6, wherein said system is integrated into a safety-related part of the closed-loop and open- loop control of the hoisting machine.

8. The monitoring system as claimed in claim 7, wherein the safety- related part of the closed-loop and open-loop control is the braking system or the shaft control system.

9. The monitoring system as claimed in any one of claims 1 to 8, wherein for monitoring, a continuous rope force measurement is carried out. The monitoring system as claimed in claim 9, wherein said measurement consists of sensing and evaluating separately the carrying load component and the oscillation component.

11. The monitoring system as claimed in any one of claims 1 to wherein the rope force measurement is carried out at a deflection or return sheave.

12. The monitoring system as claimed in claim 11, wherein the rope force measurement it carried out at the bearings of a deflection or return sheave. ar C U r I *I c t [N-AlIbcclO0393:HRW -12-

13. The monitoring system as claimed in any one of claims 1 to 12, wherein the rope force measurement is carried out by means of the electrical variables of the driving motor.

14. The monitoring system as claimed in any one of claims 1 to 13, 6 wherein the individual components of the rope force are determined by analog or digital filters. The monitoring system as claimed in claim 14, wherein the individual components of the rope force are determined for limit value monitoring.

16. The monitoring system as claimed in claims 14 or 15, wherein said analog or digital filters are bandpass filters.

17. The monitoring system as claimed in any one of claims 1 to 16, wherein limit value violations of the rope force are supplied to monitoring devices.

18. The monitoring system as claimed in claim 17, wherein said limit value violations are supplied to corrective calculating units.

19. The monitoring system as claimed in any one of claims 1 to 18, wherein said system has acceleration and/or oscillation-amplitude measuring devices used in connection with the rope: or with the load, which devices are connected to evaluation units. The monitoring system claimed in claim 19, wherein said evaluation units are integrating evaluation units and signalling devices.

21. The monitoring system as claimed in any one of claims 1 to wherein the acceleration and/or oscillation-amplitude measuring device is connected, in just the same way as the force measuring device, to the driving motor control.

22. The monitoring system as claimed in claim 21, wherein said acceleration and/or oscillation amplitude measuring device is connected to the driving ir motor control arranged on the cage via a cage telephone system. o23. The monitoring system as claimed in any one of claims 19 to 22, wherein the acceleration and/or oscillation-amplitude measuring device is connected, in just the same way as the force measuring device, in a station-related manner to the driving motor control.

24. The monitoring system as claimed in claim 23, wherein the acceleration and/or oscillation amplitude measuring device is connected in the station- related manner to the driving motor control in conjunction with a shaft signalling and/or control system.

25. The monitoring system as claimed in any one of claims 19 to 24, wherein the acceleration measuring device, which is designed such that it operates on a acceleration values. piezoelectric basis, records, preprocesses and passes on horizontal and vertical acceleration values. [N:Vibcc]OO393:HRW U -13-

26. The monitoring system as claimed in one or more of the preceding claims, wherein it has a fuzzy-control unit, which can be cut in with weighted intervention and minimises uncorrected oscillations of the rope on the basis of knowledge-based rules or by means of additional sensors.

27. The monitoring system as claimed in claim 26, wherein the uncorrected oscillations are transverse oscillations.

28. The monitoring system as claimed in one or more of the preceding claims, wherein the driving motor control has a self-learning residual-oscillation compensation unit, the input values and node value processing of which are normalised in a knowledge-based manner.

29. The monitoring system as claimed in claim 28, wherein the self- learning residual oscillation compensation unit is a neurocomputer. The monitoring system as claimed in any one of the preceding claims, wherein said system is part of an, at least partially redundant, open-loop and closed- loop control system, comprising software and/or hardware modules, of a shaft hoisting installation for depths of over 2000 m. 31; The monitoring'system as claimed in any one of the preceding claims, wherein said system is part of an, at least partially redundant, open-loop and closed- loop contrdl system, comprising software or hardware modules, of a shaft hoisting S 20 installation with hoisting ropes of non-metallic materials. m 32. The monitoring system as claimed in claim 31, wherein said non- metallic materials are glass fibres or carbon fibres.

33. The monitoring system as claimed in any one of the preceding claims, wherein said system is used in the case of a hoisting machine equipped with an alternating-current drive.

34. The monitoring system as claimed in claim 33, wherein said hoisting machine is a fast-actuable power converter-fed integrated hoisting machine. A closed-loop monitoring system for a rope hoisting installation substantially as herein before described with reference to Figs. 1 to 5 of the S 30 accompanying drawings. t- DATED this Fifth Day of October 1995 Siemens Aktiengesellschaft Patent Attorneys for the Applicant SPRUSON FERGUSON LN:\ibccl00393:HRW j t 4 1 4 GR 91 P 3547 P I Abstract of the disclosure Closed-loop control monitoring system for a rope hoisting installation A closed-loop control monitoring system for a rope hoisting installation with an electric driving motor, especially for a deep hoisting installation and/or with a nonmetallic rope, in which, to avoid the occur- rence of oscillations of the moved masses of the rope and the load through changes in the speed of the load, variations in the rotational speed of the driving motor or emergency mechanical braking, the setpoint values of the control, designed as a reference variable control, is [sic] continuously adapted to the longitudinal oscillation behavior of the system or of one of its main components to avoid or at least reduce oscillation, and the continuous, proper operation of the adaptation and the extent of residual errors, resulting for example from transverse forces, are monitored and likewise compensated by monitoring and measuring devices. FIG 3 I