CN114558331A - Redundant drive apparatus and control method thereof - Google Patents
Redundant drive apparatus and control method thereof Download PDFInfo
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- CN114558331A CN114558331A CN202210010521.XA CN202210010521A CN114558331A CN 114558331 A CN114558331 A CN 114558331A CN 202210010521 A CN202210010521 A CN 202210010521A CN 114558331 A CN114558331 A CN 114558331A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 abstract description 4
- 238000004804 winding Methods 0.000 description 9
- 230000005284 excitation Effects 0.000 description 5
- 239000000725 suspension Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J5/00—Auxiliaries for producing special effects on stages, or in circuses or arenas
- A63J5/02—Arrangements for making stage effects; Auxiliary stage appliances
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a redundant driving device and a control method thereof, wherein the redundant driving device comprises a main driving device, a standby driving device, a linkage mechanism and a lifting object, a control instruction is sent out, and a motor is selected to operate as the main driving device; judging whether the lifting object reaches a target position, if so, finishing the execution of the control instruction, and if not, carrying out fault detection on the main driving equipment; detecting and analyzing whether the selected motor is in fault, if so, switching to a standby driving device, and finishing the execution of the control instruction; if not, judging that the reset frequency converter of the main driving equipment has a fault, and continuously executing the instruction until the control instruction is completely executed. When the main driving equipment fails to operate, the standby driving equipment is switched to in time, so that the standby driving equipment replaces the main driving equipment to operate, the effect of normal performance of subsequent programs is not influenced, the service time of the two equipment can be set on average, and the failure occurrence probability is effectively reduced.
Description
Technical Field
The invention relates to the technical field of redundant drive, in particular to redundant drive equipment and a control method thereof.
Background
In the performance program, the number of devices is large, the scene switching is frequent, if one device breaks down in the performance process, the device occupies the performance space, the next scene switching cannot be performed as expected, or the normal getting-on and getting-off of actors are influenced, even more serious consequences occur, the whole performance is stopped unexpectedly, the operation income of a theater is seriously influenced, and huge economic loss is brought. At present, most of existing scene switching equipment is driven by single equipment, and if the driving equipment has problems in the middle of performance, the scene switching cannot be guaranteed to be carried out as expected.
If chinese patent CN214455925U, open day 2021, 10 months and 22 days, a curtain winding and unwinding mechanism for opera performance relates to the technical field of curtain winding and unwinding mechanisms, including the suspension plate, the equal fixed mounting of four corners of suspension plate top surface has the suspension clasp, the middle part fixed mounting of suspension plate bottom surface has the curtain rolling housing, there is a curtain winding and unwinding roller at the middle part of curtain rolling housing inner chamber through connecting bearing movable mounting, the left end of curtain winding and unwinding roller winding shaft runs through the left flank transmission of curtain rolling housing and is connected with the reduction box that is fixed connection with the bottom surface of suspension plate, the curtain winding and unwinding roller is connected with the winding motor that is fixed connection with the left flank of reduction box through the reduction box transmission. Two cleaning brush plates formed by connecting the transverse plate and the fiber brush are movably arranged on the front and back surfaces of the curtain winding and unwinding roller through a combined framework of two hoisting movable buckles and two electromagnetic opening and closing devices respectively, and the cleaning brush plates are used for lightly brushing the surface of the curtain through the fiber brush so as to reduce the erosion of dust to the curtain. The system is lack of standby driving equipment, and if the driving equipment fails during performance, the scene switching cannot be guaranteed to be carried out as expected.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the existing control system of the performance equipment lacks of standby equipment, and the technical problem that the whole program performance is influenced because the scene switching cannot be carried out as expected when the driving equipment fails in the middle of the performance exists. A redundant drive device and a control method thereof are provided which enable a standby device when a drive device fails during a show without affecting the normal show of the program.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a control method of redundant driving equipment is characterized by comprising the driving equipment and an object to be lifted, wherein the driving equipment comprises a main driving equipment and a standby driving equipment, and the control process of the redundant driving equipment comprises the following steps:
sending a control instruction, and selecting a motor as main driving equipment to operate;
judging whether the lifting object reaches a target position, if so, finishing the execution of the control instruction, and if not, carrying out fault detection on the main driving equipment;
detecting and analyzing whether the selected motor is in fault, if so, switching to a standby driving device, and finishing the execution of the control instruction; if not, judging that the reset frequency converter of the main driving equipment has a fault, and continuously executing the instruction until the control instruction is completely executed.
When the main driving device is faultless, the main driving device is selected to operate and drag the lifting object, at the moment, the main driving device simultaneously drives the standby driving device to perform idle running, and the standby driving device is not excited; when the main driving device fails and cannot operate, the standby driving device is switched to replace the main driving device to operate, the standby driving device drives the main driving device to operate in an idle running mode at the same time, and the main driving device is not excited. Therefore, the motor is switched to another motor after the failure, the original running speed of the equipment is not influenced, the time requirement of scene switching is met, the failure rate of the equipment is greatly reduced by the double-motor backup control system, and the safe and stable running of the equipment in the performance using process is guaranteed.
Preferably, the driving device comprises two motors, wherein the two motors are both provided with encoders for detecting speed and position, when the two motors are not in fault, one motor is randomly selected as a main driving device, and the other motor is selected as a standby driving device; when the main driving device runs, the standby driving device runs passively, the encoder data of the standby driving device synchronously changes along with the standby driving device, and the encoder data of the standby driving device is consistent with the encoder data of the main driving device. The driving device comprises a motor and an encoder arranged at the tail part of the motor, the driver adopts a Siemens vector frequency converter PM240-2 power module and a CU250S control module, and the frequency converter has the functions of fault self-diagnosis, self-adaptive control, misoperation prevention, closed-loop control and the like.
Preferably, when the main driving device fails and the motor stops running, the control management system switches to the standby driving device to continue running by using the encoder data of the standby driving device.
When a main motor fails, a main motor encoder fails, a main frequency converter fails and the like, the main motor stops, the control system judges that the main motor control system fails, the main motor control system is switched to the standby motor to continue to operate, and the control system adopts the data of the standby motor encoder to guarantee the accuracy of the actual position of the equipment.
Preferably, at intervals of time T, in a non-working state, stopping the original main driving device, and taking the original main driving device as a new standby driving device; and starting the original standby driving equipment, and taking the original standby driving equipment as new main driving equipment. And T can be adjusted according to the use frequency at intervals of T, the work positions of the two driving devices are interchanged in a non-working state, and the use time of the two devices is averaged, so that the fault occurrence probability is lower compared with that of a single driving device which is used for a long time. And starting the original standby driving equipment, detecting the running condition of the standby driving equipment, and checking whether running faults exist.
Preferably, the process of controlling the operation of the driving device through the control command comprises the following steps: and transmitting a control instruction to the control cabinet through the operation interface, and controlling the driving equipment to operate by the control cabinet according to the control instruction. The PC upper computer can be used as an operation interface, the control cabinet comprises an S7-1500PLC and two drivers corresponding to the main driving device and the standby driving device, namely a main driver and a standby driver, and the controlled driving device comprises a main motor and a standby motor.
Preferably, the main driving device and the standby driving device are respectively connected to two ends of the same roller, and when the brake excitation of the main driving device is enabled, the brake of the standby driving device is forcedly opened to enable the motor of the standby driving device to be not excited. The mutual influence of the simultaneous start of the main driving device and the standby driving device is avoided, the two motors are respectively provided with an encoder, and the two motors of the main driving device and the standby driving device are respectively connected with the respective encoders.
A redundant driving device utilizes the control method and comprises a main driving device, a standby driving device, a linkage mechanism and a lifting object, wherein the linkage mechanism comprises a roller, a pulley transmission set and a connecting rope, the main driving device and the standby driving device are both connected with the roller, and the pulley transmission set is respectively connected with the roller and the lifting object through the connecting rope. A redundant driving device comprises a main driving device, a standby driving device, a linkage mechanism and a lifting object, wherein the main driving device and the standby driving device are composed of two motors with the same model parameters, and debugging time is reduced when the standby driving device is replaced due to the failure of the main driving device. By arranging the main driving device and the standby driving device, when the main driving device fails to operate, the standby driving device is switched to replace the main driving device to operate, and when the main driving device fails in the midway of the performance, the standby device can be started at the highest speed immediately, so that the aim of not influencing the normal performance of the subsequent program is fulfilled.
Preferably, the main driving device is located at one end of the drum, the standby driving device is located at the other end of the drum, and the main driving device and the standby driving device are coaxially connected with the drum. The output ports of the main driving device and the standby driving device are respectively connected with the two ends of the roller, and the motion axes of the output ports of the main driving device and the standby driving device are superposed with the axis of the roller, so that the influence on the movement of the roller when the driving devices are replaced is reduced.
Preferably, the pulley transmission set comprises a first pulley set located above the drum and a second pulley set located above the lifting object. The wheel transmission set comprises a first pulley block positioned right above the roller and a second pulley block positioned right above the lifting object, the first pulley block and the second pulley block respectively comprise a plurality of groups of fixed pulleys corresponding to each other, and the horizontal heights of the fixed pulleys corresponding to each other are kept consistent.
The substantial effects of the invention are as follows: according to the invention, by arranging the main driving device and the standby driving device, when the main driving device fails to operate, the standby driving device is switched to the standby driving device in time, so that the standby driving device replaces the main driving device to operate, when the main driving device fails in the middle of the performance, the effect of normal performance of the subsequent program is not influenced by a mode of quickly starting the standby device, the service time of two devices can be set on average, and compared with the long-time use of a single driving device, the device has lower failure occurrence probability.
Drawings
FIG. 1 is a schematic view of the composition of the present embodiment;
FIG. 2 is a schematic control flow chart of the present embodiment;
FIG. 3 is a schematic diagram illustrating instruction transmission according to the present embodiment.
Wherein: 1. the system comprises a main driving device, 2, a standby driving device, 3, a roller, 4, a first pulley block, 5, a second pulley block, 6, a lifting object, 7, a connecting rope, 8, an operation interface, 9, a control cabinet, 10, a driving device, 11, a PC upper computer, 12, S7-1500PLC, 13, a main driver, 14, a standby driver, 15, a main motor, 16 and a standby motor.
Detailed Description
The following provides a more detailed description of the present invention, with reference to the accompanying drawings.
A redundant driving device is shown in figure 1 and comprises a main driving device 1, a standby driving device 2, a linkage mechanism and a lifting object 6, wherein the linkage mechanism comprises a roller 3, a pulley transmission set and a connecting rope 7, the main driving device 1 and the standby driving device 2 are driven by motors, and the models and parameters of the two motors are consistent. The main driving device 1 and the standby driving device 2 are composed of two motors with the same model parameters, so that the debugging time is reduced when the main driving device 1 fails and the standby driving device 2 is replaced. The main driving device 1 is positioned at one end of the roller 3, the standby driving device 2 is positioned at the other end of the roller 3, and the main driving device 1 and the standby driving device 2 are coaxially connected with the roller 3. The output ports of the main driving device 1 and the standby driving device 2 are respectively connected with the two ends of the roller 3, and the motion axes of the output ports of the main driving device 1 and the standby driving device 2 coincide with the axis of the roller 3, so that the influence on the motion of the roller 3 when the driving devices are replaced is reduced.
The main driving device 1 and the standby driving device 2 are both connected with the roller 3, and the pulley transmission set is respectively connected with the roller 3 and the lifting object 6 through a connecting rope 7. The connecting rope 7 can be a steel wire rope with high strength and toughness, the pulley transmission group comprises a first pulley block 4 and a second pulley block 5, the first pulley block 4 is positioned above the roller 3, and the second pulley block 5 is positioned above the lifting object 6. The wheel transmission set comprises a first pulley block 4 positioned right above the roller 3 and a second pulley block 5 positioned right above the lifting object 6, the first pulley block 4 and the second pulley block 5 respectively comprise a plurality of groups of fixed pulleys corresponding to each other, and the horizontal heights of the fixed pulleys corresponding to each other are kept consistent.
A control method of a redundant drive apparatus, as shown in fig. 2, the control process of the redundant drive apparatus includes the steps of:
sending a control instruction, and selecting a motor as main driving equipment to operate;
judging whether the lifting object reaches a target position, if so, finishing the execution of the control instruction, and if not, carrying out fault detection on the main driving equipment;
detecting and analyzing whether the selected motor is in fault, if so, switching to a standby driving device, and finishing the execution of the control instruction; if not, judging that the reset frequency converter of the main driving equipment has a fault, and continuously executing the instruction until the control instruction is completely executed.
When the main driving device 1 has no fault, the main driving device 1 is selected to operate to pull the lifting object 6, at the moment, the main driving device 1 simultaneously drives the standby driving device 2 to perform idle running, and the standby driving device 2 has no excitation; when the main driving device 1 fails and cannot operate, the standby driving device 2 is switched to replace the main driving device 1 to operate, the standby driving device 2 drives the main driving device 1 to operate in an idle running mode at the same time, and the main driving device 1 is not excited. The winding length of the roller 3 is designed conventionally, the main driving device 1 is selected to pull the lifting object 6 during normal work, the main driving device 1 can be set normally, any one of the main driving devices can be randomly selected to operate as the main driving device 1 during work, one motor is switched to the other motor after being in fault, the original operating speed of the device is not influenced, the time requirement of scene switching is met, and the normal performance of subsequent programs can be guaranteed to be unaffected.
When the main driving device 1 is enabled by brake excitation, the standby driving device 2 is forcedly opened by braking to enable the motor of the standby driving device 2 to be free of excitation; the main driving device 1 and the standby driving device 2 are respectively connected to two ends of the same roller 3, and the main driving device 1 and the standby driving device 2 are respectively connected with corresponding encoders. The mutual influence of the simultaneous start of the main driving device 1 and the standby driving device 2 is avoided, the two motors are respectively provided with an encoder, and the two motors of the main driving device 1 and the standby driving device 2 are connected with the respective encoders, so that the regulation and control of related devices are convenient to carry out during switching.
Stopping the original main driving equipment 1 at a time interval T in a non-working state, and taking the original main driving equipment 1 as new standby driving equipment 2; and starting the original standby driving device 2, and taking the original standby driving device 2 as a new main driving device 1. And T can be adjusted according to the use frequency at intervals of T, the work positions of the two driving devices are interchanged in a non-working state, and the use time of the two devices is averaged, so that the fault occurrence probability is lower compared with that of a single driving device which is used for a long time. The original backup driving device 2 is started, and the operation state of the backup driving device 2 is detected to check whether an operation failure exists.
The redundancy control management system of the embodiment adopts an S7-1500 series PLC of Siemens of Germany, and performance parameters such as basic instructions, application instructions, running time, scanning period, capacity of a memory and the like of a programmable controller meet the requirements of a control and operation system. The redundancy control management system adopts a PC upper computer, an S7-1500 series PLC, a vector frequency converter PM240-2 and a CU250S control unit, data connection of all components is carried out through a Siemens Ethernet PROFINET communication protocol, the PC upper computer is installed in a control room, control components such as the S7-1500PLC, a main and standby frequency converter PM240-2 and the CU250S control unit are installed in a control cabinet of an electric machine room, the main and standby electric machines are installed on an equipment site, and related cables meeting requirements are arranged in the control room, the electric machine room and the equipment site.
The transmission flow of the control instruction of the redundancy control management system is shown in fig. 3, and comprises an operation interface 8, a control cabinet 9 and a drive device 10, wherein an operation command is sent to an S7-1500PLC12 through a PC upper computer 11, after the PLC data is processed, a working signal is sent to a driver, the driver comprises a main driver 13 and a standby driver 14, the main driver 13 and the standby driver 14 are respectively used for driving a main motor 15 and a standby motor 16, encoder data on the motors are fed back to the drivers, and the drivers feed back the encoder data and the working information of the drivers to the PLC.
In the embodiment, a double-motor single-roller backup system is adopted, and two motors with the same model parameters are coaxially connected with a roller 3 to drive one device; taking a suspender machine as an example, two 15KW motors are coaxially connected through a roller 3, one of the two motors is usually used and is standby, any one of the two motors is selected to run during normal use, and when the brake excitation of one of the two motors is enabled, the other motor is forcedly switched on to be not excited by the brake.
At present, a frequency converter alarm is generally arranged on a driving device, or manual inspection is carried out in advance by the device before a performance, and hidden dangers which can be detected in advance are eliminated in advance, in the embodiment, a main driving device 1 and a standby driving device 2 are arranged, when the main driving device 1 fails to operate, the standby driving device 2 is switched to the standby driving device 2 in time, so that the standby driving device 2 replaces the main driving device 1 to be put into operation, when the main driving device 1 fails in the middle of the performance, the effect of normal performance of a subsequent program is not influenced by a mode of quickly starting the standby device,
the embodiment can average the service time of two devices, and has lower failure occurrence probability compared with the long-time service of a single driving device. The device has the advantages that the phenomenon that the performance space is occupied due to the fact that one driving motor fails to operate continuously in the performance using process and the serious consequence that the whole program continues to perform the performance cannot be influenced due to the fact that scenes are switched according to time is avoided, the failure rate of the device is greatly reduced, the safe and stable operation of the device in the performance using process is guaranteed, and unnecessary operation loss is reduced.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (9)
1. A control method of a redundant drive device, characterized by comprising a drive device and a lifting object (6), wherein the drive device comprises a main drive device (1) and a standby drive device (2), and the control process of the redundant drive device comprises the following steps:
sending a control instruction, and selecting a motor as main driving equipment (1) to operate;
judging whether the lifting object (6) reaches a target position, if so, finishing the execution of the control instruction, and if not, carrying out fault detection on the main driving equipment (1);
detecting and analyzing whether the selected motor is in fault, if so, switching to the standby driving equipment (2), and controlling the instruction execution to be finished; if not, judging that the reset frequency converter of the main driving equipment (1) has a fault, and continuously executing the instruction until the execution of the control instruction is finished.
2. A control method of a redundant driving apparatus according to claim 1, wherein the driving apparatus includes two motors, both of which are installed with encoders for speed and position detection, and when neither of the motors is failed, one of the motors is randomly selected as a main driving apparatus (1) and the other motor is selected as a backup driving apparatus (2); when the main driving device (1) runs, the standby driving device (2) passively follows the running, the encoder data of the standby driving device (2) synchronously changes along with the running, and the encoder data of the standby driving device (2) is consistent with the encoder data of the main driving device (1).
3. A control method for a redundant drive according to claim 1 or 2, characterized in that when the main drive (1) fails and the motor stops running, the control management system uses the encoder data of the backup drive (2) to switch to the backup drive (2) to continue running.
4. A control method of a redundant drive according to claim 1 or 2, characterized in that at intervals T, in the inactive state, the original main drive (1) is stopped, and the original main drive (1) is used as the new backup drive (2); and starting the original standby driving device (2), and taking the original standby driving device (2) as a new main driving device (1).
5. A control method for a redundant drive according to claim 1, wherein the process of controlling the operation of the drive (10) by the control command is: and transmitting a control instruction to the control cabinet (9) through the operation interface (8), and controlling the driving device (10) to operate by the control cabinet (9) according to the control instruction.
6. A control method of a redundant drive according to claim 1, characterized in that the main drive (1) and the backup drive (2) are coupled to both ends of the same drum (3), respectively; when the main driving device (1) is enabled to be braked and excited, the standby driving device (2) is forcedly opened to enable the motor of the standby driving device (2) to be not excited.
7. A redundant driving device, using any one of the control methods of claims 1-6, characterized by comprising a main driving device (1), a backup driving device (2), a linkage mechanism and a lifting object (6), wherein the linkage mechanism comprises a drum (3), a pulley transmission set and a connecting rope (7), the main driving device (1) and the backup driving device (2) are both connected with the drum (3), and the pulley transmission set is respectively connected with the drum (3) and the lifting object (6) through the connecting rope (7).
8. A redundant drive according to claim 7, characterized in that the main drive (1) is located at one end of the drum (3) and the backup drive (2) is located at the other end of the drum (3), the main drive (1) and the backup drive (2) being coaxially connected to the drum (3).
9. A redundant driving arrangement according to claim 7, characterized in that the pulley transmission set comprises a first pulley block (4) above the drum (3) and a second pulley block (5) above the lifting object (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210010521.XA CN114558331A (en) | 2022-01-06 | 2022-01-06 | Redundant drive apparatus and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210010521.XA CN114558331A (en) | 2022-01-06 | 2022-01-06 | Redundant drive apparatus and control method thereof |
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| CN114558331A true CN114558331A (en) | 2022-05-31 |
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| CN202210010521.XA Pending CN114558331A (en) | 2022-01-06 | 2022-01-06 | Redundant drive apparatus and control method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102953677A (en) * | 2012-11-16 | 2013-03-06 | 成都宏天电传工程有限公司 | Drilling machine using motors as main power |
| KR101500583B1 (en) * | 2014-11-19 | 2015-03-10 | 김은숙 | lifting apparatus for stage equipment |
| CN104836484A (en) * | 2015-05-28 | 2015-08-12 | 北京航空航天大学 | Redundant backup-based rope driving system and control method thereof |
| CN108336945A (en) * | 2018-02-11 | 2018-07-27 | 中科合成油工程股份有限公司 | Motor is mutually for control method |
| CN209797337U (en) * | 2019-04-01 | 2019-12-17 | 南京神天起重机械设备有限公司 | Redundant electric hoist |
| CN114803907A (en) * | 2022-03-10 | 2022-07-29 | 浙江佳合文化科技股份有限公司 | Drive device having redundancy function and control method thereof |
-
2022
- 2022-01-06 CN CN202210010521.XA patent/CN114558331A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102953677A (en) * | 2012-11-16 | 2013-03-06 | 成都宏天电传工程有限公司 | Drilling machine using motors as main power |
| KR101500583B1 (en) * | 2014-11-19 | 2015-03-10 | 김은숙 | lifting apparatus for stage equipment |
| CN104836484A (en) * | 2015-05-28 | 2015-08-12 | 北京航空航天大学 | Redundant backup-based rope driving system and control method thereof |
| CN108336945A (en) * | 2018-02-11 | 2018-07-27 | 中科合成油工程股份有限公司 | Motor is mutually for control method |
| CN209797337U (en) * | 2019-04-01 | 2019-12-17 | 南京神天起重机械设备有限公司 | Redundant electric hoist |
| CN114803907A (en) * | 2022-03-10 | 2022-07-29 | 浙江佳合文化科技股份有限公司 | Drive device having redundancy function and control method thereof |
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