CN108290717B - Elevator driving and controlling method, elevator and control device for driving and controlling elevator driver - Google Patents
Elevator driving and controlling method, elevator and control device for driving and controlling elevator driver Download PDFInfo
- Publication number
- CN108290717B CN108290717B CN201680070349.XA CN201680070349A CN108290717B CN 108290717 B CN108290717 B CN 108290717B CN 201680070349 A CN201680070349 A CN 201680070349A CN 108290717 B CN108290717 B CN 108290717B
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- Prior art keywords
- hoisting
- lifting
- hoisting machine
- cable
- container
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000000463 material Substances 0.000 claims abstract description 7
- 230000008859 change Effects 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 11
- 230000010355 oscillation Effects 0.000 description 5
- 230000002411 adverse Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000009291 secondary effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
- B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/14—Applications of loading and unloading equipment
- B66B17/26—Applications of loading and unloading equipment for loading or unloading mining-hoist skips
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Conveyors (AREA)
- Cage And Drive Apparatuses For Elevators (AREA)
Abstract
The invention relates to a method for controlling a hoisting machine (2), in particular for a shaft hoisting system, comprising: a drive (4) having an associated control device (6); a cable support (8); at least one hoisting rope (10); and at least one lifting container (12, 14) arranged on the lifting cable (10) for vertically conveying the conveyed material. When the lifting container (12, 14) is loaded, the lifting cable (10) is extended due to the increased weight of the lifting container (12, 14). When the lifting container (12, 14) is unloaded, the lifting cable (10) is retracted again. In order to ensure a height compensation during the loading and unloading of the at least one lifting container, the drive (4) is kept switched on during the loading or unloading and the angle of rotation (alpha) of the cable support (8) is continuously adjusted on the basis of a predetermined angle trend of rotation in order to compensate for changes in the length of the lifting cable.
Description
Technical Field
The invention relates to a method for controlling a hoisting machine, in particular for a shaft hoisting system, comprising: a drive having an associated control device; a cable support; at least one lifting rope; and at least one lifting container arranged on the lifting cable for vertically conveying the transported substance. The invention also relates to a hoist and a control device for driving a drive of the hoist.
Background
Such a hoisting machine is proposed, for example, in DE 102004058757 a 1. In this prior art, a shaft hoist system is described which has a cable drum connected to a motor, which cable drum guides a hoisting cable for transporting goods. The shaft hoist system is also equipped with at least one pulse counter which derives the current displacement value from the rotational movement and the current speed value of the conveyed material. The shaft hoist system is also controlled and/or monitored by an electrical automation system, wherein the automation system has a digital drive controller for operation in order to calculate a setpoint value for the motor control.
A problem common to hoists used in mining is that during loading of the hoisting container, the hoisting ropes sometimes stretch up to 1.5m or more due to the increased weight of the hoisting container. This value is related to the hoisting rope length, the load capacity and the number of hoisting ropes. In principle, the aim of all elevator manufacturers is to keep the loading time as short as possible. Thus, elongation of the hoisting ropes occurs in a few seconds while the hoisting system is operating. When the lifting container is unloaded, the lifting rope is retracted again in a short time because of the weight reduction.
The hoisting rope length entails a series of disadvantages. The lifting vessel and thus the lifting cable start to oscillate vertically. Furthermore, the lifting container is moved downwards away from the optimal loading position during the loading process. Secondary effects also occur: oscillation of the hoist rope adversely affects the speed and torque regulation of the drive and may adversely affect the life of the hoist rope. Because of this vertical oscillation, it may be desirable to extend its creep stroke or reduce acceleration to minimize wear or avoid damage to the mechanical mechanism. Furthermore, horizontal oscillations may additionally occur during travel in the shaft. In the case of loading and unloading processes, it is also conceivable that material can be removed from the lifting container into the shaft when the lifting container is out of the optimum position.
Disclosure of Invention
The invention is therefore based on the object of ensuring a height compensation of the lifting container during loading and unloading of the lifting container of the hoisting machine.
This object is solved according to the invention by a method for controlling a hoisting machine, in particular for a shaft hoisting system, comprising: a drive having an associated control device; a cable support; at least one lifting rope; and at least one lifting container arranged on the lifting cable for vertically conveying the transported material, wherein the drive is kept switched on during the loading or unloading of the at least one lifting container, and the angle of rotation of the cable support is continuously adjusted on the basis of a predetermined angle of rotation trend in order to compensate for changes in the length of the lifting cable.
The object is furthermore solved according to the invention by a hoisting machine, in particular for a shaft hoisting system, comprising a drive with a control device adapted to perform the aforementioned method.
Finally, the object is also solved according to the invention by a control device for controlling the drive of a hoisting machine, in particular of a hoisting machine for a shaft hoisting system, which is suitable for carrying out the aforementioned method.
The advantages and preferred embodiments of the method explained below can be essentially transferred to the drive and the control device.
The basic idea of the invention is that by moving the lifting container in the direction of the drive at a corresponding speed, the vertical misalignment of the lifting container relative to the load position due to the elongation of the lifting cables can be compensated. When the lifting container is unloaded, the lifting container can be moved away from the drive in the opposite direction, since the lifting cables are retracted again on account of the smaller and smaller load. The angle of rotation or the speed setpoint value of the cable support is preset as a control variable for controlling the hoisting machine, so that the length of the hoisting cable is changed by rotating the cable support. Thereby allowing the lifting container to remain in its optimal loaded position and not trigger vertical oscillations.
To achieve this, the inverter of the drive or hoisting machine remains switched on during the loading or unloading process. In particular, no mechanical braking device is used, so that wear of the braking elements is avoided. The down time resulting from the application and release of the braking device is thus also avoided and the duration of the lifting cycle is shortened.
The angle trend of the rotation of the cable support, which is required for this compensation process, is predetermined and stored here. In particular, a speed setpoint curve is stored, on the basis of which a setpoint torque profile applied to the drive during the loading or unloading process is calculated. The drive itself drives the cable bearer in terms of a change in the angle of rotation.
By implementing the compensation of the elongation of the hoisting cable by means of control technology, the method is distinguished in particular by a precise target value and simple installability and calibration. Another advantage is that the nominal torque (holding torque) is built up relatively slowly. The torque build-up is completed uniformly in 20 to 30 seconds (compared to the torque build-up which is normally completed in about 200 milliseconds with the brake open). This results in a lower impact load not only on the electrical system (transformer, inverter, motor) but also on the mechanical components of the hoisting machine.
According to a preferred embodiment, the angle of rotation trend is derived by first operating the braking device of the hoisting machine and measuring the change in the length of the hoisting cable when at least one hoisting container is loaded or unloaded, and calculating the angle of rotation trend of the cable support therefrom. In this case, vertical lifting container misalignments are compensated for by the drive in the course of the controlled movement without the installation of further sensors for measuring the actual value of the lift. The method can be used in most hoists, since the loading process is usually always the same and the loading is performed substantially linearly.
With regard to the simplification of the method and the saving of time, the measurement of the change in the length of the hoisting rope is done in the category of installation or maintenance work. It is therefore not necessary to continuously determine the offset of the lifting container, but rather the compensated rotation angle trend is derived and stored directly or indirectly, i.e. as a characteristic variable itself or in some other way in connection with it, for example once at the start of the hoisting machine. The resulting data may be recalibrated when the elevator is subsequently serviced or serviced.
It may happen that the elongation and slackening of the lifting rope differ from each other in these positions because of the different heights of the lifting container when loading and when unloading. In connection with the optimal compensation of these different lengths which need to be compensated, it is preferred that a first measured value is measured for the change in the length of the hoisting rope when the at least one hoisting container is loaded, that a second measured value is subsequently measured for the change in the length of the hoisting rope when the at least one hoisting container is unloaded, and that, in the event of a deviation between these two measured values, the average of the two measured values is determined as the change in the length of the hoisting rope which is to be compensated.
Expediently, the hoisting machine has at least two hoisting receptacles and compensation of the change in the length of the hoisting rope is performed for all hoisting receptacles. A particularly reliable and efficient operation of the hoisting machine is thus ensured.
Preferably, the hoisting machine has two hoisting containers, and the loading of one of the hoisting containers and the unloading of the other hoisting container are carried out simultaneously. This results in a particularly advantageous synergistic effect, in which not only lengthening of the lifting cables on the part of the lifting container to be loaded but also contraction of the lifting cables on the part of the lifting container to be unloaded is counteracted by a single compensating movement of the drive.
Drawings
An embodiment of the invention is explained in detail with the aid of the drawing.
Detailed Description
The only figure here shows a hoisting machine 2 for a shaft hoisting system in a very simplified manner. The hoisting machine has a drive 4, which is controlled by a control device 6. In the embodiment shown, the hoisting machine 2 further comprises: a cable carriage 8 driven by the drive 4; and a lifting cable 10 with two lifting containers 12, 14 for vertically conveying a conveying material, not shown in detail here, such as coal or ore. However, the lifting containers 12, 14 may also be used for transporting persons.
In the illustrated embodiment, only one hoist rope is shown. However, multiple lifting cords may be used to suspend the respective lifting containers 12, 14.
The hoisting machine 2 is here suitable for transporting the load between 200m and 4000m in a shaft not shown in detail. The lifting containers 12, 14 are usually loaded alternately during operation at a deeper stop H2 in the shaft, transported upwards and unloaded at a higher stop H1. Here, the loading or unloading is carried out at about 1 ton/sec, up to 80 tons.
In the drawing, a situation is shown in which the hoist container 12 is unloaded on the left side of the hoist 2 and the hoist container 14 is simultaneously loaded on the right side. As a result of the unloading of the lifting container 12, the weight of the guy bracket 8 on this side is reduced, so that the forces acting on the lifting rope 10 become progressively smaller and the lifting rope 10 contracts, so that the lifting container 12 reaches a higher position vertically, which is shown in dotted lines. This is represented in the figure by a spring which relaxes in the region of the lifting rope 10 above the lifting container 12.
On the right side of the cable carriage 8, a similar process is done while loading the lifting container 14, however in the opposite direction. As the weight in the lifting container 14 increases, a continuously increasing force acts downwards on the lifting cable 10, so that the lifting cable 10 is extended, as symbolically shown by the tensioned spring. Depending on the length of the hoisting ropes and the weight of the transported material, the hoisting ropes 10 can be extended up to 1.5 m. Without external action, the lifting container 14 would here take up a deeper position, which is shown in the figure by a dotted line.
In order to counteract the change in the length of the lifting rope during the unloading of the lifting container 12, the guy rope carrier 8 is rotated by the drive 4 which is still switched on during the unloading process in such a way that the lifting container 12 travels downward away from the guy rope carrier 8 at the same speed as the "upward" movement of the lifting container 12. For this purpose, the drive 4 remains active during loading or unloading. In particular, braking devices not shown in detail here, which operate the hoisting machine 2, are not provided. The control device 6 continuously applies a predetermined nominal torque to the drive 4, which nominal torque causes a rotation of the cable carriage 8. The movement of the carriage 8 is indicated in the figure by the angle alpha. The rotation of the rope carrier 8 about the angle α results in the lifting container 12 always remaining in the same vertical position H1 during unloading, although the lifting rope 10 is constantly shortened.
The cable elongation on the side of the lifting container 14 to be loaded is compensated by the lifting container 14 moving at a corresponding speed in the direction of the cable support 8, while the drive 4 is still active. As a result of this compensating movement of the guy carriage 8, the lifting container 14 is likewise held in the same vertical position H2 during the overall loading process.
In the embodiment shown, the two lifting vessels 12, 14 are unloaded or loaded in parallel, so that a rotation of the carriage 8 by the angle α is sufficient to compensate for changes in the length of the lifting ropes on both sides of the carriage 8 at the same time. The setpoint torque may change its direction during this process.
The hoisting ropes 10 are elongated approximately 1m per 1000m of rope length on average. Loading lasts about 0.5 to 1 second per ton. Thus, the hoist 2 moves at a speed of about 0.05 m/s for about 20 seconds.
When the hoisting machine 2 comprises a plurality of hoisting containers 12, 14 and the loading or unloading is not carried out simultaneously, then the drive 4 is alternately actuated in order to compensate for the corresponding vertical misalignment of the hoisting container that has just been used. The same applies to a hoisting machine 2 with only one hoisting container and one counterweight: the direction of rotation of the cable carriage 8 is changed according to the positions H1, H2 of the lifting container.
When measuring not only the elongation of the hoisting rope 10 but also its slack in relation to the lifting containers 12, 14, it can happen that the elongation and slack of the hoisting rope differ from each other on the basis of the different heights H1, H2 of the lifting containers when loading and when unloading. In particular, a first measured value is measured for a change in the length of the hoist cable during loading, a second measured value is subsequently measured for a change in the length of the hoist cable during unloading, and if there is a deviation between the two measured values, the average of the two measured values is determined and is regarded as the value to be compensated.
The rotation angle α required for compensating for changes in the length of the hoisting ropes 10 is determined once or at large time intervals of up to several hundred runs and is stored for normal operation of the hoisting system in the form of parameters for directional adjustment of the hoisting machine 2. For this purpose, the elongation of the hoisting ropes 10 is first measured. The measurement may be done during the loading process. Additionally or alternatively, the contraction of the lifting rope 10 may be measured during unloading. Based on the information about the elongation of the hoisting ropes 10 during loading and/or unloading, a speed setpoint curve (displacement over time) is derived in the exemplary embodiment shown, which forms the basis of the drive control during operation of the hoisting machine 2. Based on the speed setpoint curve, a trend of the setpoint torque applied to the drive 4 during operation is calculated for the drive 4 by the control device 6.
Since the position of the lifting containers 12, 14 remains unchanged, in particular no vertical oscillations are induced, a vibration-free start-up of the lifting machine 2 is accordingly achieved at the beginning of the respective next driving cycle. The rope load also becomes smaller. Furthermore, the described method also increases productivity, since there is no downtime due to the engagement and release of the mechanical brake and it can be started quickly.
Claims (10)
1. A method for controlling a hoisting machine (2), which hoisting machine comprises: a drive (4) having an associated control device (6); a cable support (8); at least one hoisting rope (10); and at least one lifting container (12, 14) arranged on the lifting cable (10) for vertically conveying the conveyed material, wherein the drive (4) is kept switched on when the at least one lifting container (12, 14) is loaded or unloaded, and the angle of rotation (α) of the cable support (8) is continuously adjusted on the basis of a predetermined angle of rotation trend in order to compensate for changes in the length of the lifting cable, characterized in that the angle of rotation trend is derived by first operating the braking device of the hoisting machine (2) and measuring the change in the length of the lifting cable when the at least one lifting container (12, 14) is loaded or unloaded and thereby calculating the angle of rotation trend for the cable support (8).
2. A method according to claim 1, characterised in that the measurement of the change in the length of the hoisting rope is carried out in the scope of installation or maintenance work.
3. Method according to claim 1, characterized in that a first measurement value is measured for the change in the length of the hoisting rope when the at least one lifting container (12, 14) is loaded, a second measurement value is measured for the change in the length of the hoisting rope when the at least one lifting container is unloaded, and the average of the two measurement values is determined as the change in the length of the hoisting rope to be compensated for when there is a deviation between the two measurement values.
4. A method according to any one of claims 1-3, characterized in that the hoisting machine (2) has at least two hoisting containers (12, 14) and that the compensation for changes in the hoisting rope length is performed for all hoisting containers (12, 14).
5. Method according to claim 4, characterized in that the hoisting machine (2) has two hoisting containers (12, 14) and that the loading of one of these hoisting containers (12, 14) takes place simultaneously with the unloading of the other hoisting container (12, 14).
6. Method according to claim 1, characterized in that the hoisting machine is a hoisting machine for a shaft hoisting system.
7. A control device (6) for controlling a drive (4) of a hoisting machine (2), adapted to perform the method according to any one of claims 1 to 6.
8. Control arrangement (6) according to claim 7, characterized in that the hoisting machine is a hoisting machine for a shaft hoisting system.
9. Hoisting machine (2) comprising a drive (4) with a control device (6) according to claim 7.
10. Hoisting machine (2) according to claim 9, characterized in that the hoisting machine is a hoisting machine for a shaft hoisting system.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP15197467.2 | 2015-12-02 | ||
| EP15197467.2A EP3176122A1 (en) | 2015-12-02 | 2015-12-02 | Method for controlling a conveyor machine, conveyor machine and control device for controlling a drive of a conveyor machine |
| PCT/EP2016/076500 WO2017092959A1 (en) | 2015-12-02 | 2016-11-03 | Method for actuating a hoist, hoist, and control device for actuating a hoist drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108290717A CN108290717A (en) | 2018-07-17 |
| CN108290717B true CN108290717B (en) | 2019-12-06 |
Family
ID=55022255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680070349.XA Active CN108290717B (en) | 2015-12-02 | 2016-11-03 | Elevator driving and controlling method, elevator and control device for driving and controlling elevator driver |
Country Status (10)
| Country | Link |
|---|---|
| EP (2) | EP3176122A1 (en) |
| CN (1) | CN108290717B (en) |
| AU (1) | AU2016363478B2 (en) |
| CA (1) | CA3006961C (en) |
| LT (1) | LT3365262T (en) |
| PL (1) | PL3365262T3 (en) |
| RS (1) | RS59438B1 (en) |
| RU (1) | RU2700906C1 (en) |
| WO (1) | WO2017092959A1 (en) |
| ZA (1) | ZA201803558B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1232781A (en) * | 1998-03-12 | 1999-10-27 | 株式会社东芝 | Traction elevator |
| CN1738761A (en) * | 2003-01-11 | 2006-02-22 | 催正斗 | Apparatus for equalizing tension of main ropes of elevator |
| CN1771185A (en) * | 2003-05-30 | 2006-05-10 | 奥蒂斯电梯公司 | Tie-down compensation structure for an elevator system |
| CN101959783A (en) * | 2008-02-26 | 2011-01-26 | 奥蒂斯电梯公司 | Dynamic compensation during elevator car re-leveling |
| CN102398834A (en) * | 2010-09-11 | 2012-04-04 | 鲁继成 | Direct connection type hydraulic rope regulator |
| CN104140019A (en) * | 2014-07-07 | 2014-11-12 | 日立电梯（中国）有限公司 | Control device and control method of elevator lift car position |
| CN104995117A (en) * | 2013-02-04 | 2015-10-21 | 因温特奥股份公司 | Compensation element with blocking device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3158228A (en) * | 1961-07-18 | 1964-11-24 | Anglo Amer Corp South Africa | Rope stretch compensator for suspended conveyances in mine hoisting equipment |
| US7360630B2 (en) * | 2004-04-16 | 2008-04-22 | Thyssenkrupp Elevator Capital Corporation | Elevator positioning system |
| DE102004058757A1 (en) | 2004-12-06 | 2005-07-07 | Siemens Ag | Shaft or mine shaft transport system has a system of impulse counters linked to a digital control system that is used to determine the amount of cable paid out and the speed of travel and position of cabins within the shaft |
| JP2010208752A (en) * | 2009-03-09 | 2010-09-24 | Toshiba Elevator Co Ltd | Elevator device |
-
2015
- 2015-12-02 EP EP15197467.2A patent/EP3176122A1/en not_active Withdrawn
-
2016
- 2016-11-03 WO PCT/EP2016/076500 patent/WO2017092959A1/en active Application Filing
- 2016-11-03 AU AU2016363478A patent/AU2016363478B2/en not_active Withdrawn - After Issue
- 2016-11-03 RS RSP20191304 patent/RS59438B1/en unknown
- 2016-11-03 CN CN201680070349.XA patent/CN108290717B/en active Active
- 2016-11-03 LT LT16797768T patent/LT3365262T/en unknown
- 2016-11-03 PL PL16797768T patent/PL3365262T3/en unknown
- 2016-11-03 EP EP16797768.5A patent/EP3365262B1/en active Active
- 2016-11-03 CA CA3006961A patent/CA3006961C/en active Active
- 2016-11-03 RU RU2018120354A patent/RU2700906C1/en active
-
2018
- 2018-05-29 ZA ZA2018/03558A patent/ZA201803558B/en unknown
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1232781A (en) * | 1998-03-12 | 1999-10-27 | 株式会社东芝 | Traction elevator |
| CN1738761A (en) * | 2003-01-11 | 2006-02-22 | 催正斗 | Apparatus for equalizing tension of main ropes of elevator |
| CN1771185A (en) * | 2003-05-30 | 2006-05-10 | 奥蒂斯电梯公司 | Tie-down compensation structure for an elevator system |
| CN101959783A (en) * | 2008-02-26 | 2011-01-26 | 奥蒂斯电梯公司 | Dynamic compensation during elevator car re-leveling |
| CN102398834A (en) * | 2010-09-11 | 2012-04-04 | 鲁继成 | Direct connection type hydraulic rope regulator |
| CN104995117A (en) * | 2013-02-04 | 2015-10-21 | 因温特奥股份公司 | Compensation element with blocking device |
| CN104140019A (en) * | 2014-07-07 | 2014-11-12 | 日立电梯（中国）有限公司 | Control device and control method of elevator lift car position |
Also Published As
| Publication number | Publication date |
|---|---|
| RS59438B1 (en) | 2019-11-29 |
| CA3006961C (en) | 2020-04-14 |
| EP3176122A1 (en) | 2017-06-07 |
| PL3365262T3 (en) | 2020-03-31 |
| LT3365262T (en) | 2019-10-25 |
| WO2017092959A1 (en) | 2017-06-08 |
| CA3006961A1 (en) | 2017-06-08 |
| EP3365262B1 (en) | 2019-08-28 |
| EP3365262A1 (en) | 2018-08-29 |
| AU2016363478A1 (en) | 2018-06-14 |
| ZA201803558B (en) | 2019-03-27 |
| RU2700906C1 (en) | 2019-09-23 |
| AU2016363478B2 (en) | 2019-07-04 |
| CN108290717A (en) | 2018-07-17 |
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Effective date of registration: 20240206 Address after: Nuremberg, Germany Patentee after: Yinmengda Co.,Ltd. Country or region after: Germany Address before: Munich, Germany Patentee before: SIEMENS AG Country or region before: Germany |
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