CN1201753A - Method and device for regulation of drive - Google Patents
Method and device for regulation of drive Download PDFInfo
- Publication number
- CN1201753A CN1201753A CN 98109589 CN98109589A CN1201753A CN 1201753 A CN1201753 A CN 1201753A CN 98109589 CN98109589 CN 98109589 CN 98109589 A CN98109589 A CN 98109589A CN 1201753 A CN1201753 A CN 1201753A
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- CN
- China
- Prior art keywords
- value
- torque
- adjustment
- adjustment unit
- cage
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B19/00—Mining-hoist operation
- B66B19/007—Mining-hoist operation method for modernisation of elevators
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Control (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
In this method and with this device for the regulation of a drive, apart from an existing drive regulation (1) provided with subordinate rotational speed and torque regulation, a superimposed rapid rotational speed regulation (2) is provided for holding of th e load after opening of the holding brake. In addition, computation of the load in a lift cag e (5) is possible by means of a processing unit (3) with the aid of a target torque value (TMSOLL) and an actual rotational speed value (vist) Thereby, the drive can be so regulat ed with little material effort that jerk-free starting is made possible. Further, the cost can be remarkably reduce.
Description
The present invention relates to a kind of be used to adjust method of driving and equipment, be intended to not have the starting of the ground of impact for example elevator, hoisting crane or a vehicle.
From U.S. Pat 4 995 478, learned a kind of driving arrangement, it make a kind of can meticulous measurement and the situation of no surge start become possibility.With data is the adjustment that the basis drives; This data are supplied with by a load measuring equipment that is loaded in the cage on the one hand, and on the other hand by one measure the CD-ROM drive motor rotating speed and the rotating speed direct ratio convert speed to speed sensor supply with.In order on direction that makes progress or downward direction, to guarantee no surge start, also to compensate its friction value in this case.
Under the situation of above-mentioned driving arrangement, must could consider adjustment process by the load in the load measuring equipment measurement cage that is loaded in the cage.Adjusting required accurate load value needs the high load measuring equipment of a kind of total cost, and this equipment must be installed and be routed in the cage with sizable work capacity.
The objective of the invention is to propose to be used to adjust a kind of method and a kind of equipment of above-mentioned the sort of driving, this method and apparatus does not have above-mentioned shortcoming, and favourable pattern and mode carried out shock-free starting on the enough costs of energy.
For this reason, the invention provides a kind of method of driving that is used to adjust, be intended to not have for example elevator of the ground of impact starting, this elevator also comprises a CD-ROM drive motor except cage, a drive pulley, a bob-weight, a speed limit hoist cable, some wheel flutters and some transportation hoist cables; Wherein, drive adjustment unit and a torque adjustment arrangement adjustment CD-ROM drive motor with one; It is characterized in that relying on a driving torque expected value (TMSOL10) that drives adjustment unit and a torque target value (TMSOL1) of adding quick rotating speed adjustment unit, go to determine a target torque value (TMSOLL) that is used for torque adjustment arrangement, so that keep load.
Advantage of the present invention is basically: except the existing driving that provides rotating speed and torque to adjust is adjusted, also provide the additional quick rotating speed adjustment that enough minimum technology work capacitys realize of a kind of energy, so that keep load later at the take-off the brake lock.
By described measurement in the dependent claims, might advantageously develop and improve in being used to described in the claim 1 and adjust method of driving and equipment.By further processing target torque value and actual speed value, the load in the energy measurement cage, thus can adjust driving in fact like a dream, make shock-free starting become possibility.Because need not provide additional hardware in cage, load measuring equipment for example is so can obtain considerable cost savings.In addition, the structure of cage is simplified, and in the lift appliance course of modernization, make expensive ressemble become unnecessary.
An example of description of drawings embodiments of the invention illustrates this example below in more detail.
Fig. 1 illustrates the existing block schematic diagram of adjusting, adding load calculation in fast rotating speed adjustment and the cage that drives;
Fig. 2 illustrates the signal course that does not have the starting of load measure behavior;
Fig. 3 illustrates the signal course of the starting behavior of load measure; With
Fig. 4 illustrates the signal course in the load measure process.
Fig. 1 illustrates a total block schematic diagram with the example of a lift appliance, this device has an existing driving adjustment unit 1, an additional quick rotating speed adjustment unit 2 and a processing unit 3, and they are used for by a target torque value and the load that the actual speed value is calculated cage 5.7, one bob-weights 8 of 6, one drive pulley of a CD-ROM drive motor and a speed limit hoist cable 9 also schematically are shown; Speed limit hoist cable 9 runs on the wheel flutter 10, and is fixed in the cage 5.The method that is used for keeping cage 5 loads and calculates its load is described in more detail below by this example.
At revolution counter DT1 of CD-ROM drive motor 6 usefulness, for example a digital revolution counter is measured an actual speed value V
Ist, and moving also with actual movement value S of a revolution counter DT2 measurement according to the speed limit hoist cable 9 of cage 5
Ist, these two values are supplied with existing driving adjustment unit 1; From this element, determine a target torque value TMSOLL with target stroke value REF, and obtain a target drive torque value TMSOL10 by the first adjuster S-REG and the second adjuster V-REG.Target torque value TMSOLL and actual current value I
IstSupply with an attached torque adjustment arrangement 12, and import a changer UR who is used for CD-ROM drive motor 6 at last.
According to the method utilization of proposition of the present invention traverse after the take-off the brake lock, go to detect torque at the damper brake place at the revolution counter DT1 at CD-ROM drive motor 6 places.
In principle, before the expected value REF that is used for stroke begins, CD-ROM drive motor 6 is adjusted to rotating speed of target value zero by the device of quick rotating speed adjustment unit 2.A certain section time T SW (for example less than 0.1 second time), one and the cooresponding location torque of target torque value TMSOL1 are established, and are adjusted to a fixing end value.
One number word adjuster 20 is at actual speed value V
Ist1 millisecond period in carry out fast detecting and processing, wherein, the target torque value TMSOL1 that obtains is thus consigned to attached torque adjustment arrangement 12 immediately, perhaps the current adjusting device under the DC driving situation.This quick rotating speed adjustment unit 2 moves a period of time TSW simultaneously with the existing adjustment unit 1 that drives; It moves during cage 5 strokes, and moves 10 millisecond periods.Scheme under the situation of abundant computation processor power, can be used for two work to the quick adjusting device of a conversion adjuster parameter as an alternative.After elapsed-time standards TSW, keep the output signal TMSOL1 of this adjustment with last state, and enable target stroke value REF.
For 2 pairs one of rotating speed adjustment unit is not equal to zero actual speed value V
IstMake fast oppositely, adjuster 20 is operated with the initial coefficient of amplification of height under stability limit.This coefficient of amplification can be chosen to exceed and many times than being used for the existing coefficient of amplification that drives adjustment unit 1, because shorten sweep time (replacing 10 milliseconds with 1 millisecond), and because have only the direct coupling rotating mass of CD-ROM drive motor 6 and drive pulley 7 to play a decisive role to adjusting stability under the situation of very fast adjustment process.
Under the situation of the very fast motion of drive pulley 7, it only continues several milliseconds, and in fact the elasticity coupling of cage 5 and bob-weight 8 and the quality of underdamping keep static.This means that also the compensating motion of drive pulley 7 is tangible hardly in cage 5.
For fear of vibrating the perturbation action that causes to cage 5 by adjusting, transship with the power adjustment member, just the coefficient of amplification of adjuster 20 is reduced a definite quantity from high initial value at each time gap of 1 millisecond, so that after one section preset time of experience, make and adjust vibration damping to zero.Select the lower limit of coefficient of amplification, make the adjustment loop show aperiodic stability characteristic (quality).
For less overbalance, that is, under the fractional load situation in cage 5, have a kind of possibility: because the cause that short arc changes, the tach signal of inquiring in 1 millisecond period does not detect the motion of drive pulley 7.If do not adjusting actual speed value V in later setable period
IstKeep zero, a sign " overbalance is little " just is set.This sign has following effect: adjust only the tach signal from 10 millisecond periods to be changed with higher amplitudes and handle.
In addition, as long as 7 motions of one of two tach signals display driver pulley just are added to an expected value TMKOR on the torque adjustment unit.The direction of select target value is to set up the torque facing to moving direction.Its quantity should be: produce about 50% of maximum demand holding torque.
In order to determine that a quick adjusting process of partly controlling by fixed time sequence does not also have by reference signal according to actual speed value V
IstStarting just provides a response threshold.Have only as actual speed value signal V
IstAbsolute value surpass the threshold value preset, and when presenting the order that is used for the take-off the brake lock, just start above-mentioned adjustment process.
Describe more exactly below by processing unit 3 and calculate the process of load in the cage 5.In order to control one group of elevator effectively, need know the loading condition of each independent cage 5.Especially, detected state " sky ", transships also owing to adjustment at " expiring " and " overload " quite exactly.In order to reach this purpose, must adopt following method to realize some boundary condition.These conditions comprise:
-friction not too big and
--static friction can not be obviously greater than cliding friction.
Do not have the elevator of driving device and driving device is arranged but do not have the elevator of self-locking to be particularly suitable for this method.
Really fix time by the transient time that is equivalent to stablize end value approximately at one period and at interval each scanning period to be added target torque value TMSOLL and by amplifying a COEFFICIENT K 1, to form an aviation value TMMIT.By amplifying one second COEFFICIENT K 2 this aviation value is converted to a load measure value TMMITkg in kg again.Constant coefficients K2 comprises a handle and becomes the conversion factor of equivalent load in the cage 5 in the torque conversion of CD-ROM drive motor 6, that is, the transmitting ratio in transmission device that may present and/or hoist cable loop wherein comprises the radius and the gravity constant of drive pulley 7.In addition, also volume value UNBAL comprehensively all influences values; The used load, they also produce a torque in CD-ROM drive motor 6 in cage 5.These values have:
-bob-weight 8;
-there is not fully weight by the transportation hoist cable 25 of compensating unit compensation; With
-suspension hoist cable.
Two of backs influence value and depend on the position of cage 5 in lift well.Yet control is known to the position in lift well to elevator, thereby can calculate corresponding numerical value.
Load calculated observed reading TMMITkg comprises the friction portion in the system in the above, and this can influence the result who draws according to sense of motion in the quick adjustment process.Yet, if owing to direction variation and amplitude fading vibrate (such as at first to quick rotating speed adjustment unit 2 description), and only form one section time-interval averaging value that is equivalent to vibration duration, the aviation value of friction portion is near equalling zero so.Thereby can eliminate measured error to a great extent, these errors are owing to producing in CD-ROM drive motor 6, driving device and drive pulley 7 frictions.Like this, damped vibration is a key factor of this load measure method.
According to the loading condition of cage 5 and the position in lift well, because hoist cable power can influence above-mentioned vibration processes to the counteractive result of drive pulley 7.Under extreme case, this undesirable vibration can not take place fully.In order to detect in these cases owing to form the composition that rubs in the above-mentioned observed reading, just to the absolute value integration of a tacho signal IVT10 and this tacho signal IVT10.Draw two value IVTS and ABSIVTS and quotient IVTQ=IVTS/ABSIVTS thus.Value IVTQ is a factor, it be multiplied by relate to drive pulley 7 garden contours the friction force of surveying and the loop factor and gravity constant K3.This result is added on the load measure value TMMITkg that considers based on polarity.Finally draw the cage 5 load from these values in kg.
By finding out the stroke up and down in the whole hoisting depth scope, relevant unbalanced measurement with the position rubs between the lift appliance trial run period.
Fig. 2 and 3 explanations are having and are being not used in starting characteristic signal course under the situation of processing unit 3 of calculated load.Motor torque TMH is shown, the speed VK of acceleration A K and cage in the cage.Especially be apparent that to have comparison pulsation-free starting characteristic, its reason is to add processing unit 3, can utilize much smaller acceleration peak value and transient process faster.
Fig. 4 further specifies the signal course that is used for from the processing unit 3 of target torque value TMSOLL and tacho signal IVT10 calculated load, and the correlated results course of expected value TMS and comprehensive tacho signal IVTS.
Claims (8)
1. one kind is used to adjust method of driving, be intended to not have for example elevator of the ground of impact starting, this elevator also comprises a CD-ROM drive motor (6) except cage (5), a drive pulley (7), a bob-weight (8), a speed limit hoist cable (9), some wheel flutters (10) and some transportation hoist cables (25); Wherein, drive adjustment unit (1) and a torque adjustment arrangement (12) adjustment CD-ROM drive motor (6) with one; It is characterized in that, rely on a driving torque expected value (TMSOL10) that drives adjustment unit (1) and a torque target value (TMSOL1) of adding quick rotating speed adjustment unit (2), go to determine a target torque value (TMSOLL) that is used for torque adjustment arrangement (12), so that keep load.
2. according to the method for claim 1, it is characterized in that, according to actual speed value (V
Ist) and target torque value (TMSOLL) determine load in the cage (5) with a processing unit (3).
3. according to the method for claim 1 or 2, it is characterized in that fast rotating speed adjustment unit (2) was operated with driving adjustment unit (1) concurrently in a period of time (TSW), setting up the holding torque of target torque value (TMSOLL) during this period of time.
4. according to any one method in the claim 1 to 3, it is characterized in that, on the target torque value (TMSOL1) in quick rotating speed adjustment unit (2), one of superposition is equivalent to the target torque value (TMKOR) facing to the torque of drive pulley (7) sense of motion.
5. according to any one method in the claim 1 to 4, it is characterized in that, with a factor (UNBAL) come more comprehensive produce torques influence value, for example bob-weight (8), there is not fully weight by the transportation hoist cable (25) of equalizing feature balance, and the weight that hangs hoist cable; And in being used for calculating the processing unit (3) of cage (5) load, consider these values.
6. equipment that is used to adjust driving, be intended to not have for example elevator of the ground of impact starting, this elevator also comprises a CD-ROM drive motor (6) except cage (5), a drive pulley (7), a bob-weight (8), a speed limit hoist cable (9), some wheel flutters (10) and some transportation hoist cables (25); Wherein, drive adjustment unit (1) and a torque adjustment arrangement (12) adjustment CD-ROM drive motor (6) with one; It is characterized in that the adjustment equipment of CD-ROM drive motor (6) except the driving adjustment unit (1) that torque adjustment arrangement (12) is housed, also comprises an additional quick rotating speed adjustment unit (2).
7. according to the equipment of claim 6, it is characterized in that, a processing unit (3) is provided, described unit (3) are according to an actual speed value (V
Ist) and a target torque value (TMSOLL), determine the load in the cage (5).
8. according to the equipment of claim 6 or 7, it is characterized in that, a revolution counter (DT1) is housed and a revolution counter (DT2) is housed, be intended to represent actual speed value (V at speed limit hoist cable (9) in CD-ROM drive motor (6)
Ist) and actual motion value (S
Ist), be used to drive adjustment unit (1), fast rotating speed adjustment unit (2) and processing unit (3).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP97810358.8 | 1997-06-09 | ||
| EP97810358 | 1997-06-09 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1201753A true CN1201753A (en) | 1998-12-16 |
Family
ID=8230254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 98109589 Pending CN1201753A (en) | 1997-06-09 | 1998-06-08 | Method and device for regulation of drive |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP0884264A1 (en) |
| JP (1) | JPH1160089A (en) |
| CN (1) | CN1201753A (en) |
| CA (1) | CA2240106A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287937A (en) * | 2013-05-09 | 2013-09-11 | 深圳市海浦蒙特科技有限公司 | Automatic adjustment method and system of elevator starting torque |
| CN105600627A (en) * | 2014-12-11 | 2016-05-25 | 冯春魁 | Method and system for obtaining, controlling and operating elevator parameters and monitoring load |
| CN109328175A (en) * | 2016-06-30 | 2019-02-12 | 三菱电机株式会社 | The control device of elevator |
| CN113104688A (en) * | 2020-01-10 | 2021-07-13 | 株式会社日立制作所 | Elevator control device and elevator control method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011101860A1 (en) * | 2011-05-12 | 2012-11-15 | Thyssenkrupp Aufzugswerke Gmbh | Method and device for controlling an elevator installation |
| CN102311023B (en) * | 2011-08-18 | 2014-04-02 | 上海交通大学 | Given method for on-line detection of additional starting moment loaded mine hoist |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0433627A3 (en) * | 1989-12-20 | 1992-08-12 | Siemens Aktiengesellschaft | Method and apparatus to compensate for load of a biased moment position drive at the time of starting |
-
1998
- 1998-06-02 EP EP98110016A patent/EP0884264A1/en not_active Withdrawn
- 1998-06-08 CN CN 98109589 patent/CN1201753A/en active Pending
- 1998-06-09 JP JP10161128A patent/JPH1160089A/en active Pending
- 1998-06-09 CA CA 2240106 patent/CA2240106A1/en not_active Abandoned
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287937A (en) * | 2013-05-09 | 2013-09-11 | 深圳市海浦蒙特科技有限公司 | Automatic adjustment method and system of elevator starting torque |
| CN103287937B (en) * | 2013-05-09 | 2015-09-09 | 深圳市海浦蒙特科技有限公司 | Elevator starter torque Automatic adjustment method and system |
| CN105600627A (en) * | 2014-12-11 | 2016-05-25 | 冯春魁 | Method and system for obtaining, controlling and operating elevator parameters and monitoring load |
| CN109328175A (en) * | 2016-06-30 | 2019-02-12 | 三菱电机株式会社 | The control device of elevator |
| CN109328175B (en) * | 2016-06-30 | 2021-01-05 | 三菱电机株式会社 | Control device for elevator |
| CN113104688A (en) * | 2020-01-10 | 2021-07-13 | 株式会社日立制作所 | Elevator control device and elevator control method |
Also Published As
| Publication number | Publication date |
|---|---|
| EP0884264A1 (en) | 1998-12-16 |
| CA2240106A1 (en) | 1998-12-09 |
| JPH1160089A (en) | 1999-03-02 |
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |