CN85104877A - The control of braking of transmission equipment - Google Patents
The control of braking of transmission equipment Download PDFInfo
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- CN85104877A CN85104877A CN 85104877 CN85104877A CN85104877A CN 85104877 A CN85104877 A CN 85104877A CN 85104877 CN85104877 CN 85104877 CN 85104877 A CN85104877 A CN 85104877A CN 85104877 A CN85104877 A CN 85104877A
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Abstract
A kind of have the load transfer device of improved control of braking with this equipment (V
5) with the actual speed (V of reference speed signal
R) compare (68) and when actual speed surpasses reference velocity brake activation device (67) with the speed of the load transfer device that slows down.For the control brake device, used the device in the duration of pulse of a modulator control signal, rather than unexpected all one's effort square of brake activation device simply.This drg is in response to duration of pulse modulated control signal averaging, like this lock torque be little by little and substantial linear apply.This equipment also can be used on the situation of acceleration, so that make the load transfer device gentle acceleration.
Description
What the present invention related to basically is transmission equipment, in particular, relates to the improvement of transmission equipment control of braking.
The drg of a tele-release pine and mechanical braking is housed in the companion ladder, and the companion ladder during the upstream or downstream that this drg can make charge capacity be lower than this drg design load are moved stops.
In downstream state, if companion ladder has enough loads, when sending halt instruction, unless start drg simultaneously with halt instruction, companion ladder also can move quickly because of acceleration.For fear of this situation, when companion ladder one outage, should brake immediately.For the descending companion ladder of full load, even be continuously applied braking, companion ladder still may just stop fully through behind several inches the stroke.For the descending operation of zero load and when sending danger signal brake activation, then companion ladder can stop in the stroke of about 3.8cm.Because it is too fast that this deceleration is carried out, therefore wish and to modulate brakeage according to certain mode, so that the stopping distance of descending companion ladder can be roughly the same when full load.Equally also wish obtaining identical deceleration/decel under any load situation.
When companion ladder works in uplink state, and when when sending danger signal, starting drg, then from the zero load to the fully loaded in any case companion ladder all in the stroke of 3.18cm, stop, cease and desist order and do not start drg if provide, then companion ladder stops after the stroke of 40.64cm under no-load condition, is about 10.16cm under full load conditions.If load is arranged, companion ladder runs back if do not brake then.Can adopt a flywheel to enlarge the stroke of companion ladder, so that obtain more smooth deceleration at up direction.
Different service directions and load as everyone knows, in the technical field of transmission equipment, adopt feedback system usually, so that can obtain a more uniform rate of deceleration.In such system, to represent the reference signal of desirable acceleration/accel of transmission equipment or deceleration/decel (or speed) and the actual acceleration of a representative transmitting device or the signal of deceleration (or speed) to compare, then, under the acceleration situation, use the difference signal control motor, and be used to control a drg in that the deceleration situation is next.In the prior art, the example of this system is a lot.
For example, in the vertical transport system, the certificate No.1273301(of British patent U.S. Patent No. 3,589,474) disclose a kind of reference signal and this reference signal and elevator actual speed have been compared the device that slows down with the control elevator; This patent transfers cessionary of the present invention.Similarly system also can be used for the horizontal transport device.For example, the certificate No.1181338(of British patent U.S. Patent No. 3,519,805) disclose a closed loop acceleration control system, wherein the actual acceleration of means of delivery or deceleration/decel are fed with a desirable acceleration of means of delivery or retardation curve and compare; This patent has transferred same cessionary of the present invention.Difference signal is used to control stopping of means of delivery, makes the passenger still feel comfortable like this in the process that stops.U.S. Patent No. 4,231,452 also disclose a similar feedback scheme that is used for companion ladder, and this patent has transferred cessionary of the present invention.It compares for actual speed rate and the deceleration mode with companion ladder, and difference signal is with the coil of analog system control brake device.That is,, utilize mechanical spring and shock absorber to apply step by step or the loosen the brake device by simulation shock absorber feedback system in order to follow the tracks of a predetermined velocity curve.U.S. Patent No. 3,701,414 have announced that another one is used for the similar system of transmission equipment.Wherein remain and represent the signal of transmission equipment speed to compare reference signal and one, to produce a command signal.By a brake equipment transmission equipment is slowed down with this command signal then.
For braking in the prior art discussed above and speeding scheme, a problem is, a kind of on/off (that is, based on pulse or two states) braking or Acceleration Signal are provided in the alternative plans.
Main purpose of the present invention be for transmission equipment provide a kind of can be gradually rather than braking that suddenly applies or Acceleration Signal.
From this purpose, the invention belongs to the transmission equipment that when needs stop, producing an excitation signal, this equipment comprises: feedway; Measure the speed of described feedway and produce the sensing device of the signal of actual speed with analog form, the signal of wherein said actual speed has direct current and AC compounent; Described excitation signal is responded device with the reference speed signal that produces analog form; The signal of described reference velocity and actual speed is compared and produces the discriminator of a control signal, this control signal has one first state when described reference speed signal surpasses described actual speed signal, and when described actual speed signal surpasses described reference speed signal, having one second state, the pulse conduction ratio of described like this control signal (duty CyCle) changes with the AC compounent of described actual speed signal; And the brake equipment that starts by described control signal, this brake equipment responds the aviation value of described control signal, so that control the speed of described feedway reposefully, makes described actual speed signal follow the tracks of described reference speed signal like this.
Fig. 1 is the front elevation by the elevator of the method construct of the present invention's introduction;
Fig. 2 is the part square frame and the part scheme drawing of braking control system of the present invention;
Fig. 3 is the reference speed signal of contact Fig. 2 discussion and the relation curve between the actual speed signal;
Fig. 4 A is a partial enlarged drawing in Fig. 3 curve;
Fig. 4 B is a control signal curve of discussing in conjunction with Fig. 2;
Fig. 5 is second embodiment of braking control system shown in Figure 2;
Fig. 6 is the block diagram of an embodiment of triangular-wave generator shown in Figure 5; And
Fig. 7 is the 3rd embodiment of braking control system shown in Figure 2.
In brief, revealed a kind of braking control system that is applicable to any transmission equipment in the open file of the present invention, wherein the actual speed of delivery means and a reference velocity compare, with the acceleration or deceleration of control delivery means. Modulate to provide gradually acceleration or deceleration to the control signal that produces.
Now referring to Fig. 1, wherein be depicted as a companion ladder 10 that can utilize the forecast scheme configuration that the present invention introduces.
This companion ladder 10 used a transmission equipment 12 in case first or lower platform 14 and second or upper mounting plate 16 between transport the passenger.Transmission equipment 12 is circulating, has the ascender 18 of the load of bearing, and when transporting the passenger between upper mounting plate 16 and lower platform 14, the passenger stands on this part.This companion ladder 10 also has the descender 20 that returns.Railing 22 also is equipped with to guide continuous flexible handrail 24 in the top of transmission equipment 12.Transmission equipment 12 comprises a plurality of steps 26, and it only illustrates wherein several Fig. 1.Each step is stuck in (not shown in figure 1) and mobile on the route of a closure on the step axle in the step 26.Transmission equipment 12 can drive with any well-known mode, comprises the certificate No.1371519(of British patent U.S. Patent No. 3,677,388) disclosed modular actuating device; This patent has transferred same cessionary of the present invention.
As U.S. Patent No. 3,677,388 done disclose, this transmission equipment 12 comprises a circulating belt 30, and this belt has first and second sides, is formed with the hinge 38 of tooth on each side, this hinge is interconnected by the step axle, and step 26 is connected again on the step axle.Step 26 is supported by main roller 40 that is positioned at circulating belt 30 relative both sides and tail roller 42 respectively.Main roller 40 and tail roller 42 respectively with support 46, guide rail 48 cooperatively interacts, thus in circulating path or the ring in the guiding step 26.
Step 26 is driven by a modular driver element 52, and this driver element is powered by power supply 53, and comprises a plurality of sprocket wheels and one and hinge 38
The driving chain that closes.This modular driver element 52 also comprises the handrail drive pulley 54 that is positioned at transmission equipment 12 each side, in order to drive handrail 56.
Referring to Fig. 2, shown in the figure companion ladder braking control system 57, comprising a reference speed signal producer 58, it is input as excitation signal, and produces a reference signal, represents with VR.A speed sensor 59 comprises a runner 60 that tooth is arranged, this runner 60 is driven with the method for synchronization by one of modular driver element 52 selected parts, also be furnished with a sensor 62, tooth on the tooth runner 60 arranged, measure the speed of elevator 10 therefrom in order to detection.Sensor 62 can be type optics or magnetic.Signal from sensor 62 is input to a frequency-voltage converter 64.Output signal from frequency-voltage converter 64 is input to filter 65 to produce the speed signal of representing with US.The in-phase input end of comparator 66 reacts signal VR, and its inverting input reacts signal VS.Comparator 66 produces a signal VC, and signal VC is input to the base stage of transistor 68.The grounded emitter of transistor 68, its collecting electrode is received on the direct supply by a control of braking coil 70.Brake block 72 of control of braking coil 70 controls.Diode 73 is in parallel with control of braking coil 70, and the negative pole of diode 73 is connected on the direct supply.Transistor 68, control of braking coil 70, brake block 72 and diode 73 constitute drg 67.
Be in operation, speed sensor 59 has produced the speed signal of companion ladder.Sensor 62 is installed near the runner 60 of tooth, and this runner 60 can be installed on the brake axle of companion ladder 10.An example of this installation and design is disclosed among above-mentioned U.S. Patent No. 4,231,452.In one embodiment of the invention, sensor 62 is magnetic pickup devices, and the magnetic field that this sensor produces is with the close of the tooth that tooth runner 60 is arranged with by changing.This variation produces a voltage on sensor 62, this is identical with conventional electrical generator.In such a way, on behalf of the mechanical rotation of the speed of companion ladder 10, sensor 62 will be converted to a pulse train, and the frequency of this pulse is proportional to the speed of companion ladder 10.
When excitation signal was responded, reference speed signal producer 58 produced the reference signal VR that descends, and this reference signal is with the desirable velocity curve that stops of the form simulation of ramp voltage.This ramp voltage can by, for example, the capacitor discharge of a RC circuit and produce (during acceleration by a constant current source charging).Fig. 3 illustrates this reference signal VR, wherein at moment t
oThe time cause the generation of downward-sloping ramp voltage by excitation signal.Actuation signal can be produced by multiple situation.For example, if companion ladder or handrail have born the situation that speed is too high or speed is low excessively, just can produce excitation signal.Danger signal that equally, manually produce or that produced automatically by sleeve switch or chain rupture switch also can produce excitation signal.This excitation signal also disconnects modular driver element among Fig. 1 52 and power supply 53.
Behind the brake activation device 67, the actual speed of companion ladder is slowly vibration around reference velocity.Represent companion ladder speed and convert a direct current signal that slowly changes to by frequency-voltage converter 64 by the pulse train that speed sensor 59 produces.The actual frequency of the direct current signal of this variation depends on the characteristic of drg 67 and companion ladder system.In addition, owing to had a mind to select be lower than the filter effect of optimum value in the filter 65, a high fdrequency component has wittingly therefore superposeed on the direct current signal that slowly changes.The amplitude of this high fdrequency component is controlled by filtering amount (capacitance) in the filter 65.This amplitude is all influential to pulse conduction ratio and the pulse width of VC, and this will discuss hereinafter.The frequency of high fdrequency component must be more much bigger than the frequency of the direct current signal of slow variation, preferably is about 1000HZ.
Fig. 4 A is the partial enlarged drawing of signal VS and VR among Fig. 3, with the form of exaggeration a little this high fdrequency component has been carried out diagram in Fig. 4 A.In Fig. 4 A, be labeled as VDC from the slow variation direct current signal of frequency one electric pressure converter 64.Sprinkle device 65 from ripple, the slow variation direct current signal with high fdrequency component is labeled as VS.Reference signal VR simply is expressed as a horizontal linear.Yet, must confirm that as shown in Figure 3, in fact the amplitude of signal VR is to descend in time.
Speed signal VS adjusts according to their relative amplitude with reference signal VR, and maximum magnitude of inclination is substantially equal to and the corresponding signal VS of the command speed of companion ladder 10.Signal VS and signal VR compare in comparator 66.From the control signal VC of comparator 66, according to the algebraic difference between two signal input parts of comparator, or connect, or disconnect.Control signal VC is controlling transistor 68.
Under steady state conditions, reference signal VR is greater than speed signal VS, so control signal VC is the high potential (see figure 3).At this moment transistor 68 conductings, and the current i by control of braking coil 70.Make drg keep unclamping.When reference speed signal producer 58 received excitation signal, the amplitude of reference signal VR descended, and finally makes speed signal VS surpass reference signal VR.At this moment control signal VO becomes active potential, and transistor 68 ends, and makes ie=0, drg 72 generation effects this moment.Be noted that this scheme can produce unsafe operation, that is, when power fail takes place, just apply maximum braking torque entirely.Brake activation device 72 slows down the speed of companion ladder 10, shown in speed signal VS downward-sloping among Fig. 3.
Fig. 4 A and Fig. 4 B explanation when reference signal VR be a downward-sloping slope and when having applied drg 72, the running condition of companion ladder braking control system 57.Equally, in accompanying drawing 4A and 4B, also be clearly shown that the effect of the high fdrequency component of speed signal VS.In Fig. 4 A, as VR during greater than VS, the V among Fig. 4 B
CBe high potential, transistor 68 conductings, ic ≠ 0, not brake activation torque.As VS during greater than VR, V
CBe active potential, transistor 68 ends, ic=0, promptly applied the braking of drg 72 this moment, must be noted that, high fdrequency component can make among Fig. 4 B control signal frequently, and be to change its state at interval by fitfull.Should be noted that then the speed of companion ladder is by V if there is not high fdrequency component
DCRepresent.So, from T
1To T
2During in actual speed will be reduced to below the reference velocity.Therefore, control signal Ve is at t
1The Shi Bianwei active potential is at t
2The time be high potential, be continuously applied drg 72 in during this period.Yet, because the existence of high fdrequency component makes signal Vc at t
1To t
2During before or comprise the pulse of a plurality of change width subsequently.The pulse conduction ratio from 100% to 0% that forms the spike train of control signal Vc returns 100% little by little to be changed, and the aviation value of signal Vc changes lentamente rather than changes suddenly like this.Control of braking coil 70 is being followed gradually changing of signal Ve basically, and this is because the inductance of control of braking coil 70 has filtered the rapid changing unit of pulse.In addition, when transistor 68 not conductings, it is with (quasi-analog) mode brake activation gradually or that quasi-mode is intended rather than with mode bifurcation or on/off that diode 73 provides its net effect of " free discharge " electric current by restraining coil 70.This technology provides comparatively level and smooth and control rapidly, and speed and the reference speed signal VR for companion ladder 10 provides coupling more closely in all time.A similar techniques also can be used for the startup of companion ladder, and unique difference is that reference speed signal VR is the slope of a rising.
For signal, also have many other technology to give high fdrequency component to it from frequency-voltage converter 64.Accompanying drawing 5 and 7 has been introduced two kinds of such technology.Use identical on 26S Proteasome Structure and Function among parts among Fig. 5 and Fig. 7 and Fig. 2 with the parts of reference symbol.
Referring to Fig. 5, be depicted as a companion ladder braking control system 57 '.This system comprises that one is connected to triangular signal generator based 78 on the node 77 through resistance 76.Frequency-voltage transitions resistance 64 also is connected on this node 77 through a resistance 74.On node 77, formed the signal VS that comprises high fdrequency component.The frequency of selecting for use triangular-wave generator 78 to produce its frequency ratio control signal Vc is wanted much bigger chopping sea.With this chopping sea on the signal that is added on the node 77 from the slow variation of frequency-voltage converter 64, to produce speed signal VS as shown in Figure 4.
At speed sensor 59 is to resemble under the situation of the sort of dc generator that is usually used in handrail speed sensor, also can adopt companion ladder braking control system 57 '.Such dc generator produces one and the proportional vdc of speed, thereby allows to save frequency-voltage converter.In this embodiment, dc generator will directly be connected with resistance 74.
An embodiment of triangular-wave generator shown in Fig. 6, this known embodiment are one the op amp of feedback to be arranged, and comprise the frequency that is respectively applied for the control triangular signal and the variable resistance 82 and 84 of amplitude.
Shown in the illustration 7 for high fdrequency component is added to from the another one embodiment on the signal of frequency-voltage converter 64.Among Fig. 7, by will carrying out integration from the pulse of speed sensor 59, and on the signal that on the node 77 resulting chopping sea is added to from frequency-voltage converter 64, realized above-mentioned functions at integrator 80.Formed the signal VS shown in Fig. 4 A like this.
Except that the speed of the above discussion, also available sensing of disclosed invention and control setup act on the acceleration of companion ladder or slow down and go up and enforcement the present invention.
Claims (7)
1, can produce the load transfer device of an excitation signal when needs stop, it is characterized in that, this load transfer device comprises:
Transmitting device (33);
Be used to the sensing device (59) of the actual speed signal (VS) measuring the speed of above-mentioned transmitting device and produce an analog form, wherein above-mentioned actual speed signal has direct current and AC compounent;
Above-mentioned excitation signal is responded device (58) with the reference speed signal (VR) that produces an analog form;
Be used for more above-mentioned reference speed signal and actual speed signal to produce the discriminator (66) of a control signal (VC), this control signal has one first state when above-mentioned reference speed signal surpasses above-mentioned actual speed signal, and when above-mentioned actual speed signal surpasses above-mentioned reference speed signal, having one second state, the pulse conduction ratio of this control signal changes owing to the AC compounent of above-mentioned actual speed signal like this; With by
The brake equipment (67) that above-mentioned control signal starts, this brake equipment responds the aviation value of above-mentioned control signal, so that control the speed of above-mentioned transmitting device smoothly, makes above-mentioned actual speed signal follow the tracks of above-mentioned reference speed signal.
2, as claim 1 desired load transfer device, transmitting device wherein comprises a companion ladder (10).
3,, wherein when being cut off, the power supply of driver element produces excitation signal as claim 1 or 2 desired load transfer devices.
4, as claim 1 desired load transfer device, wherein sensing device comprises:
One driven in response to the motion of transmitting device a tooth runner (60);
One is closed on the above-mentioned hard-wired sensor of tooth runner (62) that has, and whenever the above-mentioned tooth that the tooth runner arranged during by this sensor, an output signal of this sensor promptly changes like this;
To frequency-voltage conversion device (64) that above-mentioned output signal responds, wherein select for use this frequency-voltage conversion device so that the actual speed signal with direct current and AC compounent to be provided.
5, as claim 1 or 4 desired load transfer devices, wherein the pulse conduction ratio of control signal is maximum when reference speed signal surpasses actual speed signal, and this ratio descends when actual speed signal surpasses reference speed signal.
6, as claim 1,2 or 4 desired load transfer devices, wherein from the actual speed signal of described sensing device by producing triangular signal (V
T) device (78), (80) are revised;
Above-mentioned triangular signal and actual speed signal are produced mutually the speed signal (V of a correction by two resistance (74,76) formed nodes (77)
s);
Above-mentioned discriminator compares the speed signal of this reference speed signal and correction to produce a control signal (Vc), this control signal has one first state (high potential) when above-mentioned reference speed signal surpasses the speed signal of revising, and when the speed signal of this correction surpasses reference speed signal, have one second state (active potential), the pulse conduction ratio of this control signal is owing to the triangular signal component of described erection rate signal changes like this, like this triangular signal cause the duration of pulse when the speed signal that this reference speed signal surpass to be revised for the longest, and shorten during the approaching above-mentioned reference speed signal of the speed signal of this correction.
7, by a drive unit drives so that be characterised in that for load provides a load transfer device of level and smooth acceleration, this load transfer device, comprising:
Transmitting device (38);
Be used to the sensing device (59) of the actual speed signal (VS) measuring the speed of above-mentioned transmitting device and produce an analog form, wherein above-mentioned actual speed signal has direct current and AC compounent;
When requiring to start above-mentioned load transfer device, produce the device of an excitation signal;
Above-mentioned excitation signal is responded to produce a reference signal (V
R) device (58);
Be used for more above-mentioned reference speed signal and actual speed signal discriminator (66) to produce a control signal, this control signal has one first state (high potential) when above-mentioned reference speed signal surpasses above-mentioned actual speed signal, and when above-mentioned actual speed signal surpasses above-mentioned reference speed signal, have one second state (active potential), the pulse conduction ratio of this control signal is owing to the AC compounent of above-mentioned actual speed signal changes like this, and wherein driver element responds to control the speed of above-mentioned transmitting device above-mentioned control signal, and above-mentioned like this actual speed signal is followed the tracks of above-mentioned reference speed signal smoothly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85104877 CN85104877A (en) | 1985-05-26 | 1985-05-26 | The control of braking of transmission equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85104877 CN85104877A (en) | 1985-05-26 | 1985-05-26 | The control of braking of transmission equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN85104877A true CN85104877A (en) | 1987-01-07 |
Family
ID=4794117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 85104877 Pending CN85104877A (en) | 1985-05-26 | 1985-05-26 | The control of braking of transmission equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN85104877A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110498330A (en) * | 2018-05-16 | 2019-11-26 | 奥的斯电梯公司 | Chain defect inspection in personnel's conveyer |
| CN111123787A (en) * | 2019-12-26 | 2020-05-08 | 浙江大学台州研究院 | Sweep frequency driving device and method of quartz wafer feeding device |
-
1985
- 1985-05-26 CN CN 85104877 patent/CN85104877A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110498330A (en) * | 2018-05-16 | 2019-11-26 | 奥的斯电梯公司 | Chain defect inspection in personnel's conveyer |
| CN111123787A (en) * | 2019-12-26 | 2020-05-08 | 浙江大学台州研究院 | Sweep frequency driving device and method of quartz wafer feeding device |
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