EP0192513B1 - Process for the regulated control of an electric motor for the displacement of a moving body, and control device for carrying out the process - Google Patents

Process for the regulated control of an electric motor for the displacement of a moving body, and control device for carrying out the process Download PDF

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Publication number
EP0192513B1
EP0192513B1 EP86400111A EP86400111A EP0192513B1 EP 0192513 B1 EP0192513 B1 EP 0192513B1 EP 86400111 A EP86400111 A EP 86400111A EP 86400111 A EP86400111 A EP 86400111A EP 0192513 B1 EP0192513 B1 EP 0192513B1
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EP
European Patent Office
Prior art keywords
moving body
level
speed
index
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP86400111A
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German (de)
French (fr)
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EP0192513A1 (en
Inventor
Jean Evin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Logilift SARL
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Logilift SARL
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Publication date
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Priority to AT86400111T priority Critical patent/ATE39675T1/en
Publication of EP0192513A1 publication Critical patent/EP0192513A1/en
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Publication of EP0192513B1 publication Critical patent/EP0192513B1/en
Expired legal-status Critical Current

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    • 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
    • B66B1/3492—Position or motion detectors or driving means for the detector
    • 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
    • B66B1/285—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical with the use of a speed pattern generator

Definitions

  • the invention relates to a method of controlled control of an electric motor for the movement of a mobile along a determined route comprising stop levels and zones of movement between the levels.
  • the invention also relates to a controlled device for controlling an electric motor for implementing the method.
  • the invention applies to the controlled control of an electric motor causing the movement of a freight elevator, an elevator, a trolley for a storage and handling installation.
  • This feeling of optimum comfort for a user is one of the aims of the present invention.
  • This control mode constitutes a clear improvement in terms of user comfort compared to previous installations where the electric motor included one or two speeds and where at least part of the braking was obtained by a friction device with therefore wear problems. mechanical.
  • One of the aims of the present invention is to propose a method of controlled control of an electric motor for the movement of an engine along a determined route, in particular an elevator, which overcomes these drawbacks, and which ensures perfect progressive slowdown in optimum time whatever the mobile charging conditions.
  • Another object of the present invention is to provide a regulated control method which can advantageously be applied to already existing installations, with a minimum of transformation.
  • Another object of the present invention is to provide a regulated control device for an electric motor which can advantageously be integrated into an already existing installation with a minimum of transformation.
  • an elevator installation 1 is shown diagrammatically, which in known manner comprises a car 2, a counterweight 3 and an electric motor 4 driving a cable 6.
  • the cabin 2 is movable inside a sheath 5, along suitable guide means, this sheath defining its predetermined path.
  • the cabin also serves levels which have been shown schematically by way of illustration from 7 to 10.
  • the invention applies to three-phase electric motors of one speed or else of two speeds, and in the latter case, only the windings corresponding to one of the speeds will be used.
  • the electrical control installation mainly comprises operating means shown diagrammatically at 11 in FIG. 2.
  • These means receive information relating to the security of the installation, for example, lock contacts which have been shown diagrammatically at 12, as well as other information relating to the security of the installation which has not been shown.
  • the maneuvering means 11 also receive movement orders, in particular from the cabin call buttons at the different levels shown diagrammatically in 13 and the cabin send buttons shown diagrammatically at 14.
  • the operating means receive information on the position of the cabin 2 inside the sheath 5 which are generally delivered by contactors shown diagrammatically at 15 disposed inside the sheath.
  • these contactors are located both at the level of the different levels and on either side of these levels, at the entrance to the deceleration zones.
  • the maneuvering means 11 generally process all of this information in a combinatorial manner and on the one hand determine the strategy for moving the cabin 2, and on the other hand the additional orders such as the opening of the doors.
  • the operating means 11 control actuation means 16 of the motor which are generally constituted by contactors capable of connecting the various phases of the network to the terminals of the windings of the electric motor 4.
  • the orders transmitted to the actuating means are orders of ascent or descent, of acceleration, of passage at high speed, if necessary at low speed, as well as braking orders.
  • FIG. 2 schematically represents a link 18 between the operating means 11 and the actuation means 16 by which these orders pass and a link 17, by which the information relating to safety passes.
  • the electrical installation of the control motor 4 also includes a control (not shown) of the fall or of the lifting of the brake.
  • the direct link 18 is replaced by regulated control means 19, which, in response to the orders of ascent, descent, setting in motion, braking from the operating means 11, send to the actuating means 16 a regulated voltage control capable of ensuring optimum user comfort.
  • a means 20 coded by regularly spaced marks.
  • FIG. 3 Such means are shown by way of illustration in FIG. 3 in the form of a strip 21, pierced at regular intervals by oblong perforations with a horizontal axis 22.
  • the marks 22 of the coded strip 21 are read by a reader 23 integral with the cabin 2.
  • FIG. 3 shows by way of illustration the reader 23 in the form of a stirrup, the two branches of which extend on either side of the strip 21.
  • the arms of the stirrup 23 are equipped with optical readers, which, in a known manner, deliver pulses as and when they meet perforations 22 in the strip 21.
  • the stirrup 23 is equipped with two sets of optical readers 24, 25 whose spacing "e” measured in the direction defined by the strip 21 is equal to a quarter of the pitch "p" between two successive perforations 22, at a whole number near step "p".
  • This arrangement advantageously makes it possible to multiply by four the precision of the distances measured along the strip 21 and to obtain information on the direction of movement of the reader 23 along the strip 21, from a logical processing of the signals transmitted. by reader sets 24, 25.
  • the coded means 20 is positioned by any appropriate means in the sheath 5 of the installation, to which it is secured.
  • At least one reference mark 26 is defined on the coded means 20 which preferably corresponds to a reference position of the cabin 2 shown diagrammatically at 27 and for example the position of the cabin 2 at its level the lowest.
  • these pulses are first shaped at the means 28, which determine the number of pins encountered, and the direction of movement of the cabin.
  • the position index 1, of the cabin that is to say the number of marks located between the reader 23 of the cabin and the reference mark 26 of the strip.
  • the speed of the cabin is also determined at the level of the means 30, from the counting of the marks encountered by the reader 23 and therefore from variations in the position index lp.
  • the position index and the speed of the cabin are known in terms of means 29 and 30 in a sequential manner which, it should be emphasized, is particularly well suited digital processing which is carried out downstream.
  • the reader determining the direction of movement itself, it directly and automatically increments the counter in the direction suitable, which avoids any error which, during the stopping of the cabin, is due to counts of non-directed pulses consecutive to tremors during the loading and unloading of the cabin.
  • the digital processing unit 31 of the regulated control means 19 located downstream of the means 29, 30 is of any suitable type and preferably comprises a microprocessor as well as its usual environment.
  • This unit also includes memory tables which are for example of the saved RAM type, or of the erasable ROM type. These tables are for example accessible by means of an access terminal 32 and are in principle programmed once and for all when the installation is started up.
  • the level index table 33 contains the level indexes I N, that is to say the different numbers of marks located between the marks associated with the different levels 7 to 10 of the installation and the reference mark 26 .
  • the slowdown index table 34 contains the slowdown indexes I R , which are associated with the various level indexes I N and which define on the coded means 20 the slowdown zones to reach a defined level.
  • these slowdown indexes correspond substantially to the old contactors located in the sheath which were located at the entrance to a slowdown zone in order to reach a defined level.
  • this deceleration order is in fact interpreted only as a validation of the deceleration and it is the central processing unit 31 which determines the benchmark from which the deceleration command will be effectively applied to the electric motor 4.
  • the level index 33 and slowdown index 34 tables make it possible to suppress the sheath contactors 15, and the regulated control means 19 generate signals which, seen from the operating means 11, are similar to the signals issued by former contactors 15.
  • the contactors 15 can be maintained.
  • the central processing unit 31 also contains in memory other parameter tables, in particular a table 36 containing the parameters for setting in motion of the cabin 2, a table 37 containing parameters for slowing down the cabin as well as a table 38 containing the initialization parameters.
  • a table 36 containing the parameters for setting in motion of the cabin 2
  • a table 37 containing parameters for slowing down the cabin as well as a table 38 containing the initialization parameters.
  • the central processing unit 31 comprises processing means, such as a microprocessor, and means for storing the processing software.
  • the central processing unit controls the actuators 16 which determine the direction of rotation of the motor and connect the windings of the motor 4 to the different phases of the network via a power stage 39 also controlled by the central processing unit and, for example, constituted by sets of thyristors or any other suitable electronic means, which makes it possible to dose the energy delivered from the network to the electric motor 4.
  • the regulated control means 19 are arranged between the operating means 11 and the actuation means 16 of the motor.
  • the regulated control means 19 receive from the operating means 11 the up and down movement orders as well as the deceleration orders.
  • the regulated control means 19 Given these orders and the information received from the reader 23 of the coded means 20, the regulated control means 19 generate a command which is exerted on the actuators 16 of the motor and on the thyristor stage 39.
  • this command is of the dimmer type, that is to say that it consists in controlling for each alternating sector, the duration during which each thyristor is conductive.
  • the thyristor dimmer type control can however be replaced by a more complex control.
  • the regulated control device preferably comprises an input interface 40 for the operating means 11 and an output interface 41 for the actuation means 16.
  • the distinction between the central processing unit 31, the means 29 for determining the absolute position of the cabin 2 and the means 30 for determining its speed, may be less marked than that shown in FIG. 4 and the description above for reasons of understanding the invention.
  • the counting of the pulses and the calculation of the speed of the cabin can be carried out by the microprocessor of the central processing unit 31, that is to say that the means 28, 29, 30, 31 can be grouped by example on the same electronic card, under the same global processing software. It should be emphasized that, unlike certain installations which use a coded band making it possible to determine the position of the cabin by direct reading, in the present case, the absolute position of the cabin is obtained by counting / down counting.
  • the device Compared to existing devices implementing a coded strip, the device has the advantage that the code for strip 21, that is to say the perforations 22, is particularly simple compared to the codes which allow to directly obtain the absolute position of the cabin.
  • the invention has the advantage of greater precision in determining the position of the cabin, since there is no need to take into account the slippage of the cables.
  • the invention provides at least one and preferably two initialization marks 42,43 on the coded means 20.
  • references 42, 43 determine on the coded means 20, three zones, a low zone 44, a high zone 46 and an intermediate zone 45.
  • the reader 23 in addition to the optical reading assemblies 24, 25 is equipped with contactors 47, 48 which are sensitive to the marks 42, 43.
  • the pins 42, 43 are constituted by ferrites oriented in the opposite direction, and the contactors 47, 48 are magnetic contactors with mechanical memory also oriented in the opposite direction.
  • the regulated control means 19 will react to an ascent or descent order which they will execute, whatever or the level selected, until the reader 23 of the cabin 2 meets one of the two initialization marks 42, 43.
  • the regulated control means 19 will only control the movement of the cabin 2 for a climb if it is in the low zone 44, in which case, their initialization will be made to meet the high mark 43 or vice versa for a descent if the cabin is in the upper zone 46 with initialization at the lower mark 42.
  • the regulated control device according to the invention is therefore particularly advantageous for equipping existing installations, given that it is autonomous and does not require the installation of optional means depending on the already existing installation.
  • FIG. 5 illustrates the setting in motion of cabin 2 from a stopping station to a selected station.
  • the maneuvering means 11 deliver an order for lifting the brake and an order for movement in a determined direction, for example an ascent, which positions the actuators 16 so that the motor is powered for rotation in the desired meaning.
  • the control of the thyristors of the power stage 39 is initially substantially zero and therefore the thyristors are substantially closed.
  • the regulated control means 19 deliver to the thyristor triggers an incremented command, in open loop, and the incrementation is carried out according to two different main modes.
  • the thyristor control 39 is incremented in time by a small increment i f .
  • the speed variations are represented in FIG. 5, by the curve 50, which has an "S" shape whose departure is substantially linear and which stabilizes substantially above the value V N.
  • This regulated control mode of the electric motor 14 is adopted by the regulated control means 19 for a driving torque exerted by the cabin / counterweight assembly on the motor, that is to say in particular for a rise with empty load and a descent at full load.
  • the resistive torque exerted by the cabin drives the cabin in the opposite direction to the desired direction, which is immediately detected at the level of the position index 1 which varies in an irrational manner.
  • This irrational variation detected by the central processing unit 31 causes the thyristor control increment 39 to increase. which goes to a strong increment value i F.
  • Curve 51 represents the variations of the square of the speed of the mobile for this starting mode.
  • the curve 51 has an initial part 52 located below the horizontal axis, then it has an "S" shape which stabilizes in the vicinity of the nominal speed V N.
  • the reverse movement of the cabin is detected from the first i pulse transmitted by the optical readers 24, 25, after a course of a quarter of this step, that is to say after a distance of the order of only two millimeters.
  • FIGS. 6 and 7 relate to the deceleration of the mobile, with a view to stopping it at a level N with which the level index l N is associated, as well as a deceleration index I R , which are respectively stored in the tables 33 and 34.
  • the central processing unit 31 sends by means of operation 11 information AN 35 indicating the approach of the level N.
  • the operating means 11 send to the regulated control means 19 a deceleration order so as to stabilize the cabin at level N.
  • the deceleration commands are generated with reference to a speed setpoint as a function of the difference between the position index lp of the cabin and the level index I N.
  • the speed setpoint 54 represented in FIG. 6 consists of an oblique curve which is linear and extends over an interval Z R corresponding to the zone of deceleration of the cabin.
  • this slowdown zone Z R is limited by an index I ZR from which the regulated control means are capable of generating a slowdown command, and on the other side the zone is limited by the index I N of the level.
  • the index 1 ZR is located after the deceleration index I R which has validated the deceleration command.
  • the oblique curve 54 on the deceleration zone Z R decreases from the nominal speed V N to a zero speed.
  • the regulated control means generate a slowdown command inside the slowdown zone Z R only as soon as, for a defined position index, the speed of the mobile is equal to or greater than the set speed .
  • the curve 56 corresponds to a speed of movement of the mobile substantially greater than the speed V N.
  • the deceleration command generated by the means 19 is applied as soon as the position index lp has reached the value I ZR, that is to say from point 57.
  • the engine slowdown command is only generated from the position index Ip for which the speed of the mobile corresponds to the speed setpoint, i.e. point 59.
  • the engine acceleration control is maintained until the speed of the mobile intersects the target speed curve.
  • the regulated control means 19 close the thyristors 39 and control a phase inversion at the actuators 16. Then, the means continuously generate a variable command on the thyristors which mainly depends on the difference between the position index lp and the level index l N , and the difference between the speed of the mobile and the set speed.
  • the setpoint also depends on the speed variation of the mobile.
  • the deceleration control consists in varying their opening as a function of the position index lp and the speed of the cabin.
  • the slowdown command generated by the regulated control means 19 tends to reduce the difference between the speed of the mobile and the set speed which becomes low at the end of the slowdown, as shown in FIG. 6.
  • This figure shows that the setpoint curve 54 does not exactly target the index I N on the horizontal axis of the indexes but an index located substantially before the index I N taking into account the direction of movement of the mobile.
  • the regulated control means 19 calculate as a function of the real speed of the mobile, the theoretical time T RF necessary for the speed of the mobile is canceled.
  • the thyristor control which was applied to the transition to the I RF index is maintained at the start of the Z RF zone and for a predetermined final period of time, the regulated control means generate on the thyristors a command for temporary stabilization of the rotor.
  • this command consists in desynchronizing the thyristor command with respect to the mains frequency so as to send a direct current in the motor windings.
  • the final period of time during which this stabilization command is generated is constant and taking into account the possible difference between the speed of the mobile and the speed setpoint in the final phase of deceleration, it corresponds approximately to one third of the time interval T RF .
  • FIG. 7 shows by way of illustration two curves 62 and 63, located on either side of the setpoint curve 54.
  • the rounded lower ends of the curves 62 and 63 correspond to the stabilization control of the rotor.
  • the central processing unit When the speed of the mobile has been canceled, the central processing unit generates the brake 64 release command.
  • the operating means 11 control the opening of the doors.
  • Such a controlled slowdown command makes it possible to reach the level N with a precision which, in the example mentioned above, is less than plus or minus only two millimeters, without any jerking mainly in the final phase of braking.
  • the device is autonomous and, as stated above, it can easily be integrated into the existing installation.
  • the means 19 can be in the form of an electronic card, contained inside a box, which can be easily mounted in the existing installation.
  • the method and the device of the invention can also be implemented for new installations and, in this case, the operating means 11, the regulated control means 19 and the actuating means 16 can be grouped in the same assembly.
  • the invention relates not only to elevator installations but also to freight elevator, handling and storage installations.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Electric Motors In General (AREA)
  • Elevator Control (AREA)
  • Stopping Of Electric Motors (AREA)
  • Aerials With Secondary Devices (AREA)
  • Medicines Containing Material From Animals Or Micro-Organisms (AREA)
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  • Control Of Position Or Direction (AREA)

Abstract

The invention provides a process for the regulated control of an electric motor more particularly for an elevator, goods lift or storage installation. According to the method of the invention, along the path a coded strip (20) is disposed comprising evenly spaced marks which are read by a reader (23) fixed to the moving body. Counting means (29) give the absolute position of the moving body and means (30) are provided for calculating its speed from counting of the marks. These means are followed by the central processing unit (31) which sends to the motor a regulated voltage control.

Description

L'invention concerne un procédé de commande régulée d'un moteur électrique pour le déplacement d'un mobile le long d'un parcours déterminé comprenant des niveaux d'arret et des zones de déplacement entre les niveaux.The invention relates to a method of controlled control of an electric motor for the movement of a mobile along a determined route comprising stop levels and zones of movement between the levels.

L'invention concerne également un dispositif de commande régulée d'un moteur électrique pour la mise en oeuvre du procédé.The invention also relates to a controlled device for controlling an electric motor for implementing the method.

Notamment mais non exclusivement, l'invention s'applique à la commande régulée d'un moteur électrique entraînant le déplacement d'un monte-charge, d'un ascenseur, d'un chariot pour une installation de stockage, de manutention.In particular but not exclusively, the invention applies to the controlled control of an electric motor causing the movement of a freight elevator, an elevator, a trolley for a storage and handling installation.

Plus précisément, dans le cas d'installation d'ascenseurs, il est actuellement recherché un confort optimum pour les utilisateurs qui se traduit par une accélération et une décélération progressive de la cabine, et une absence totale de secousse.More specifically, in the case of installation of elevators, optimum comfort for users is currently sought, which results in progressive acceleration and deceleration of the cabin, and a total absence of shaking.

Cette sensation de confort optimum pour un utilisateur est un des buts recherchés par la présente invention.This feeling of optimum comfort for a user is one of the aims of the present invention.

Il est actuellement connu d'atteindre une progressivité des variations de vitesse, au démarrage et au freinage, au moyen d'une régulation électronique qui pilote l'alimentation électrique du moteur.It is currently known to achieve progressive speed variations, at start-up and at braking, by means of an electronic regulation which controls the electrical supply of the motor.

Ce mode de commande constitue une amélioration nette au niveau du confort des utilisateurs par rapport aux installations antérieures où le moteur électrique comprenait une ou deux vitesses et où au moins une partie du freinage était obtenue par un dispositif à friction avec donc des problèmes d'usure mécanique.This control mode constitutes a clear improvement in terms of user comfort compared to previous installations where the electric motor included one or two speeds and where at least part of the braking was obtained by a friction device with therefore wear problems. mechanical.

En ce qui concerne la règulation électronique du moteur, elle peut s'appliquer à des installations dont le moteur est alimenté en courant continu et notamment par un groupe moteur générateur WARD LEONARD et comprenant (FR-A-2 047 535) disposé au long du parcours du mobile:

  • - un moyen code porteur de repères espacés régulièrement,
  • - un buteur solidaire du mobile qui détecte et comptabilise les repères pour en déduire la vitesse du mobile,
  • - des moyens de comptage algébrique du nombre de repères rencontrés depuis une position de référence du mobile pour en déduire la position de la cabine au long du trajet,
  • - des moyens de traitement pour envoyer au moteur électrique une commande de freinage.
As regards the electronic regulation of the motor, it can be applied to installations the motor of which is supplied with direct current and in particular by a generator group WARD LEONARD and comprising (FR-A-2 047 535) arranged along the mobile route:
  • - a medium code carrying regularly spaced marks,
  • - a stopper secured to the mobile which detects and accounts for the marks to deduce the speed of the mobile,
  • means of algebraic counting of the number of marks encountered from a reference position of the mobile in order to deduce therefrom the position of the cabin along the journey,
  • - processing means for sending the braking command to the electric motor.

Ces installations, cependant, se caractérisent par leur coût élevé et donc ne peuvent être réalisées qu'en nombre limité.These installations, however, are characterized by their high cost and therefore can only be carried out in limited numbers.

D'autres installations à moteur électrique alternatif, le plus souvent triphasé, sont pourvus d'une régulation électronique visant, d'une part, à améliorer le confort des utilisateurs et, d'autre part, à limiter la durée du freinage mécanique et donc à réduire les problèmes d'usure du frein.Other installations with an alternating electric motor, most often three-phase, are provided with electronic regulation aiming, on the one hand, to improve user comfort and, on the other hand, to limit the duration of mechanical braking and therefore reduce brake wear problems.

De telles régulations, cependant, sont complexes à mettre en oeuvre.Such regulations, however, are complex to implement.

Elles nécessitent généralement des informations sur la position de la cabine qùi sont données le plus souvent par des contacteurs en gaine que la cabine actionne lors de son passage. Elles nécessitent également des informations sur la vitesse de la cabine qui sont données par d'autres moyens, par exemple une génératrice tachymétrique ou un disque codé monté sur l'arbre moteur.They generally require information on the position of the cabin which is most often given by sheath contactors which the cabin actuates during its passage. They also require information on the speed of the cabin which is given by other means, for example a tachometer generator or a coded disc mounted on the motor shaft.

De plus, les régulations électroniques actuellement existantes trouvent difficilement le meilleur compromis entre le confort des usagers, la progressivité des variations de vitesse et l'optimisation du temps de ralentissement jusqu'à l'arrêt de la cabine et ceci quelles que soient les conditions d'utilisation de la cabine, c'est à dire que cette dernière soit en surcharge ou en souscharge par rapport au contrepoids.In addition, currently existing electronic regulations find it difficult to find the best compromise between user comfort, progressive speed variations and optimization of the deceleration time until the cabin stops, regardless of the conditions. use of the cabin, that is to say that the latter is overloaded or underloaded with respect to the counterweight.

Un des buts de la présente invention est de proposer un procédé de commande régulée d'un moteur électrique pour le déplacement d'un moteur le long d'un parcours déterminé, notamment un ascenseur, qui remédie à ces inconvénients, et qui assure une parfaite progressivité du ralentissement dans un temps optimum quelles que soient les conditions de charge du mobile.One of the aims of the present invention is to propose a method of controlled control of an electric motor for the movement of an engine along a determined route, in particular an elevator, which overcomes these drawbacks, and which ensures perfect progressive slowdown in optimum time whatever the mobile charging conditions.

Un autre but de la présente invention est de proposer un procédé de commande régulée qui peut s'appliquer avantageusement à des installations déjà existantes, moyennant un minimum de transformation.Another object of the present invention is to provide a regulated control method which can advantageously be applied to already existing installations, with a minimum of transformation.

Un autre but de la présente invention est de proposer un dispositif de commande régulée d'un moteur électrique qui peut s'intégrer avantageusement dans une installation déjà existante moyennant un minimum de transformation.Another object of the present invention is to provide a regulated control device for an electric motor which can advantageously be integrated into an already existing installation with a minimum of transformation.

D'autres buts et avantages de la présente invention apparaîtront au cours de la description qui va suivre.Other objects and advantages of the present invention will become apparent from the following description.

A cet effet, elle a pour objet un procédé de commande régulée d'un moteur électrique pour le déplacement d'un mobile le long d'un parcours déterminé comprenant des niveaux d'arrêt et des zones de déplacement entre les niveaux, au long duquel parcours est disposé un moyen codé porteur de repères espacés régulièrement que, par un lecteur, on détecte et qu'on comptabilise pour en déduire la vitesse du mobile et dans lequel:

  • - au long du moyen codé, on définit au moins une position de référence du mobile, à laquelle on associe un repère de référence du moyen codé,
  • - on associe à chaque niveau d'arrêt un nombre de repères comprés depuis le repère de référence, lequel nombre est dit index de niveau,
  • - lors du déplacement du mobile, le nombre de repères rencontrés par le lecteur solidaire du mobile est compté algébriquement et, par comptage/décomptage des repères, on calcule l'index de position du mobile par rapport au repère de référence,
To this end, it relates to a process for the regulated control of an electric motor for the movement of a mobile along a determined route comprising stop levels and zones of movement between the levels, along which a coded means is arranged carrying regularly spaced markers which, by a reader, are detected and counted to deduce the speed of the mobile and in which:
  • - along the coded means, at least one reference position of the mobile is defined, to which a reference mark of the coded means is associated,
  • - a number of markers understood from the reference mark is associated with each stop level, which number is called the level index,
  • - when the mobile is moving, the number of marks encountered by the reader integral with the mobile is counted algebraically and, by counting / counting the marks, the position index of the mobile is calculated relative to the reference mark,

ce procédé étant notamment caractérisé en ce que:

  • - pour chaque niveau, à partir de l'index de niveau correspondant, on définit un intervalle de repères correspondant à la zone de ralentissement du mobile pour atteindre le niveau,
  • - pour arrêter le mobile à un niveau défini, on définit à l'intérieur de l'intervalle de repères correspondant à la zone de ralentissement, une consigne de vitesse en fonction de l'écart entre l'index de position de la cabine et l'index de niveau et on ne pilote la commande continue de freinage électrique du moteur d'après la consigne de ralentissement qu'à partir du repère de la zone de ralentissement pour lequel la vitesse du mobile est au moins égale à la vitesse de consigne.
this process being in particular characterized in that:
  • - for each level, from the corresponding level index, a range of benchmarks is defined corresponding to the area of deceleration of the mobile to reach the level,
  • - to stop the mobile at a defined level, a speed setpoint is defined within the reference interval corresponding to the deceleration zone as a function of the difference between the cabin position index and the 'level index and the continuous command of the electric braking of the motor is controlled according to the deceleration instruction only from the reference point of the deceleration zone for which the speed of the moving body is at least equal to the reference speed.

Le dispositif en vue de la commande régulée d'un mobile comprend:

  • - disposé au long du parcours du mobile, un moyen codé, porteur de repères espacés régulièrement que, par un lecteur, on détecte et qu'on comptabilise pour en déduire la vitesse mobile, sur le moyen codé, au moins un repère de référence correspondant à une position de référence du mobile, - un lecteur solidaire du mobile pour la lecture des repères du moyen codé,
  • - des moyens de comptage algébrique du nombre de repères rencontrés par le lecteur au cours des déplacements du mobile et
  • - par comptage/décomptage des repères, des moyens de calcul de l'index de position du mobile,
  • - des moyens de traitement pour envoyer au moteur électrique une commande continue de tension de freinage,
The device for the regulated control of a mobile comprises:
  • - arranged along the path of the mobile, a coded means, carrying regularly spaced marks which, by a reader, are detected and counted to deduce the mobile speed, on the coded means, at least one corresponding reference mark at a reference position of the mobile, - a reader secured to the mobile for reading the marks of the coded means,
  • means of algebraic counting of the number of marks encountered by the reader during the movements of the mobile and
  • - by counting / counting down the marks, means for calculating the position index of the mobile,
  • processing means for sending the electric motor a continuous braking voltage command,

ce dispositif étant caractérisé en ce qu'il comprend en outre en combinaison:

  • - des moyens qui, pour chaque niveau, à partir de l'index de niveau correspondant, définissent un intervalle de repères correspondant à la zone de ralentissement du mobile pour atteindre le niveau,
  • - des moyens qui, pour envoyer au moteur une commande continue de tension de freinage progressif à l'intérieur d'un intervalle défini de repères correspondant à une zone de ralentissement, déterminent la dite commande d'après l'écart entre l'index de position du moteur et l'index de niveau et l'écart entre la vitesse du mobile et la vitesse de consigne pour l'index de position.
this device being characterized in that it further comprises in combination:
  • means which, for each level, on the basis of the corresponding level index, define an interval of benchmarks corresponding to the zone of deceleration of the mobile to reach the level,
  • means which, in order to send the motor a continuous command of progressive braking voltage within a defined interval of marks corresponding to a deceleration zone, determine said command according to the difference between the index of position of the motor and the level index and the difference between the speed of the mobile and the speed setpoint for the position index.

L'invention sera mieux comprise à l'aide de la description qui va suivre, qui pour faciliter sa compréhension sera faite dans l'application à l'équipement d'une installation d'ascenseur existante.The invention will be better understood with the aid of the description which follows, which, in order to facilitate its understanding, will be made in the application to the equipment of an existing elevator installation.

Cette application, naturellement, n'est pas limitative et telle que cela ressortira de manière évidente de la description, l'invention s'applique également à d'autres types d'installations et en particulier à des installations neuves d'ascenseurs.This application, of course, is not limiting and as will become apparent from the description, the invention also applies to other types of installations and in particular to new installations of elevators.

Dans cette application à une installation existante, l'invention sera mieux comprise à l'aide du dessin en annexe qui représente schématiquement:

  • - figure 1 : une vue d'une installation d'ascenseur,
  • - figure 2 : une vue du circuit électrique d'alimentation du moteur électrique,
  • - figure 3 : une illustration du moyen codé et de son lecteur,
  • - figure 4 : une vue schématique illustrant le traitement des signaux recueillis par le lecteur du moyen codé,
  • - figure 5 : une courbe illustrant la commande de régulation pour la mise en mouvement de la cabine de l'ascenseur,
  • - figure 6 : une courbe illustrant la commande de régulation pour le ralentissement de la cabine d'ascenseur,
  • - figure 7 : une courbe illustrant la phase finale de ralentissement.
In this application to an existing installation, the invention will be better understood using the appended drawing which schematically represents:
  • - Figure 1: a view of an elevator installation,
  • FIG. 2: a view of the electric supply circuit of the electric motor,
  • - Figure 3: an illustration of the coded means and its reader,
  • FIG. 4: a schematic view illustrating the processing of the signals collected by the reader of the coded means,
  • - Figure 5: a curve illustrating the regulation command for setting in motion the elevator car,
  • - Figure 6: a curve illustrating the control command for slowing down the elevator car,
  • - Figure 7: a curve illustrating the final phase of deceleration.

Dans la figure 1, on a représenté schématiquement une installation d'ascenseur 1, qui de manière connue comprend une cabine 2, un contrepoids 3 et un moteur électrique 4 entraînant un cable 6.In FIG. 1, an elevator installation 1 is shown diagrammatically, which in known manner comprises a car 2, a counterweight 3 and an electric motor 4 driving a cable 6.

La cabine 2 est mobile à l'intérieur d'une gaine 5, le long de moyens de guidage appropriés, cette gaine définissant son parcours prédéterminé.The cabin 2 is movable inside a sheath 5, along suitable guide means, this sheath defining its predetermined path.

La cabine dessert en outre des niveaux qui ont été schématisés à titre d'illustration de 7 à 10.The cabin also serves levels which have been shown schematically by way of illustration from 7 to 10.

Pour une installation déjà existante, l'invention s'applique pour des moteurs électriques d'entraînement triphasés à une vitesse ou bien à deux vitesses, et dans ce dernier cas, seuls les enroulements correspondant à l'une des vitesses seront utilisés.For an already existing installation, the invention applies to three-phase electric motors of one speed or else of two speeds, and in the latter case, only the windings corresponding to one of the speeds will be used.

L'installation électrique de commande comprend principalement des moyens de manoeuvre schématisés en 11 dans la figure 2.The electrical control installation mainly comprises operating means shown diagrammatically at 11 in FIG. 2.

Ces moyens recoivent des informations concernant la sécurité de l'installation, par exemple, des contacts de serrure qui ont été schématisés en 12, ainsi que d'autres informations relatives à la sécurité de l'installation qui n'ont pas été représentées.These means receive information relating to the security of the installation, for example, lock contacts which have been shown diagrammatically at 12, as well as other information relating to the security of the installation which has not been shown.

Les moyens de manoeuvre 11 recoivent également des ordres de déplacement, notamment en provenance des boutons d'appel de la cabine aux différents niveaux schématisés en 13 et des boutons d'envoi de la cabine schématisés en 14.The maneuvering means 11 also receive movement orders, in particular from the cabin call buttons at the different levels shown diagrammatically in 13 and the cabin send buttons shown diagrammatically at 14.

Enfin, les moyens de manoeuvre recoivent des informations sur la position de la cabine 2 à l'intérieur de la gaine 5 qui sont généralement délivrés par des contacteurs schématisés en 15 disposés à l'intérieur de la gaine.Finally, the operating means receive information on the position of the cabin 2 inside the sheath 5 which are generally delivered by contactors shown diagrammatically at 15 disposed inside the sheath.

D'une manière courante, ces contacteurs sont situés tant à la hauteur des différents niveaux que de part et d'autre de ces niveaux, à l'entrée des zones de ralentissement.In a common way, these contactors are located both at the level of the different levels and on either side of these levels, at the entrance to the deceleration zones.

Les moyens de manoeuvre 11 traitent, généralement, de manière combinatoire, l'ensemble de ces informations et déterminent l'une part la stratégie de déplacement de la cabine 2, et, l'autre part, les ordres annexes tels que l'ouverture des portes.The maneuvering means 11 generally process all of this information in a combinatorial manner and on the one hand determine the strategy for moving the cabin 2, and on the other hand the additional orders such as the opening of the doors.

Les moyens de manoeuvre 11 pilotent des moyens d'actionnement 16 du moteur qui sont généralement constitués par des contacteurs susceptibles de relier les différentes phases du réseau aux bornes des enroulements du moteur électrique 4.The operating means 11 control actuation means 16 of the motor which are generally constituted by contactors capable of connecting the various phases of the network to the terminals of the windings of the electric motor 4.

En fonction de la stratégie de fonctionnement définie par les moyens de manoeuvre, les ordres transmis aux moyens d'actionnement sont des ordres de montée ou de descente, d'accélération, de passage en grande vitesse, le cas échéant en petite vitesse, ainsi que des ordres de freinage.Depending on the operating strategy defined by the maneuvering means, the orders transmitted to the actuating means are orders of ascent or descent, of acceleration, of passage at high speed, if necessary at low speed, as well as braking orders.

La figure 2 représente schématiquement une liaison 18 entre les moyens de manoeuvre 11 et les moyens d'actionnement 16 par laquelle transitent ces ordres et une liaison 17, par laquelle transitent les informations relatives à la sécurité.FIG. 2 schematically represents a link 18 between the operating means 11 and the actuation means 16 by which these orders pass and a link 17, by which the information relating to safety passes.

L'installation électrique du moteur de commande 4 comprend également une commande non représentée de la tombée ou de la levée du frein.The electrical installation of the control motor 4 also includes a control (not shown) of the fall or of the lifting of the brake.

Dans le dispositif, la liaison directe 18 est remplacée par des moyens de commande régulée 19, qui, en réponse aux ordres de montée, descente, mise en mouvement, freinage en provenance des moyens de manoeuvre 11, envoient aux moyens d'actionnement 16 une commande de tension régulée apte à assurer le confort optimum des utilisateurs.In the device, the direct link 18 is replaced by regulated control means 19, which, in response to the orders of ascent, descent, setting in motion, braking from the operating means 11, send to the actuating means 16 a regulated voltage control capable of ensuring optimum user comfort.

A cet effet, on dispose le long du parcours prédéterminé du mobile, c'est à dire à l'intérieur de la gaine 5 de l'ascenseur un moyen 20 codé par des repères régulièrement espacés.To this end, along the predetermined path of the mobile, that is to say inside the sheath 5 of the elevator, a means 20 coded by regularly spaced marks.

Un tel moyen est représenté à titre d'illustration en figure 3 sous la forme d'une bande 21, perçée à intervalles réguliers par des perforations oblongues d'axe horizontal 22.Such means are shown by way of illustration in FIG. 3 in the form of a strip 21, pierced at regular intervals by oblong perforations with a horizontal axis 22.

Les repères 22 de la bande codée 21 sont lus par un lecteur 23 solidaire de la cabine 2.The marks 22 of the coded strip 21 are read by a reader 23 integral with the cabin 2.

La figure 3 représente à titre d'illustration le lecteur 23 sous la forme d'un étrier dont les deux branches s'étendent de part et d'autre de la bande 21.FIG. 3 shows by way of illustration the reader 23 in the form of a stirrup, the two branches of which extend on either side of the strip 21.

Les branches de l'étrier 23 sont équipées de lecteurs optiques, qui, d'une manière connue, délivrent des impulsions fur et à mesure qu'ils rencontrent des perforations 22 de la bande 21.The arms of the stirrup 23 are equipped with optical readers, which, in a known manner, deliver pulses as and when they meet perforations 22 in the strip 21.

Avantageusement, l'étrier 23 est équipé de deux ensembles de lecteurs optiques 24, 25 dont l'écartement "e" mesuré dans la direction définie par la bande 21 est égal au quart du pas "p" entre deux perforations 22 successives, à un nombre entier près de pas "p".Advantageously, the stirrup 23 is equipped with two sets of optical readers 24, 25 whose spacing "e" measured in the direction defined by the strip 21 is equal to a quarter of the pitch "p" between two successive perforations 22, at a whole number near step "p".

Cette disposition permet avantageusement de multiplier par quatre la précision des distances mesurées le long de la bande 21 et d'obtenir une information sur le sens de déplacement du lecteur 23 le long de la bande 21, à partir d'un traitement logique des signaux transmis par les ensembles de lecteurs 24, 25.This arrangement advantageously makes it possible to multiply by four the precision of the distances measured along the strip 21 and to obtain information on the direction of movement of the reader 23 along the strip 21, from a logical processing of the signals transmitted. by reader sets 24, 25.

A titre d'exemple non limitatif, on a obtenu de bons résultats au moyen d'une bande métallique 21 réalisée en un alliage d'aluminium de soixante millimètres de large, présentant des perforations 22 de trente cinq millimètres de large, de trois millimètres de hauteur dont le pas d'écartement est de huit millimètres.By way of nonlimiting example, good results have been obtained by means of a metal strip 21 made of an aluminum alloy sixty millimeters wide, having perforations 22 of thirty five millimeters wide, three millimeters wide. height with a spacing of eight millimeters.

Ceci n'est donné naturellement qu'à titre d'illustration.This is naturally given for illustration only.

Le moyen codé 20 est positionné par tout moyen approprié dans la gaine 5 de l'installation, à laquelle il est solidarisé.The coded means 20 is positioned by any appropriate means in the sheath 5 of the installation, to which it is secured.

Pour déterminer la position de la cabine, on définit sur le moyen codé 20 au moins un repère de référence 26 qui correspond de préférence à une position de référence de la cabine 2 schématisée en 27 et par exemple la position de la cabine 2 à son niveau le plus bas.To determine the position of the cabin, at least one reference mark 26 is defined on the coded means 20 which preferably corresponds to a reference position of the cabin 2 shown diagrammatically at 27 and for example the position of the cabin 2 at its level the lowest.

Lors de déplacements de la cabine 2, le passage des ensembles de lecteurs optiques 24, 25 devant les perforations successives 22 de la bande codée 21 provoque des impulsions qui sont transmises au moyen de commande régulée 19.During movements of the cabin 2, the passage of the sets of optical readers 24, 25 in front of the successive perforations 22 of the coded strip 21 causes pulses which are transmitted to the regulated control means 19.

En se référant à la figure 4, ces impulsions sont tout d'abord mises en forme au niveau des moyens 28, qui déterminent le nombre de repères rencontrés, et le sens de déplacement de la cabine.Referring to Figure 4, these pulses are first shaped at the means 28, which determine the number of pins encountered, and the direction of movement of the cabin.

Ensuite, par comptage/décomptage des repères rencontrés depuis le repère de référence 26, on détermine au niveau des moyens 29 l'index de position 1, de la cabine, c'est à dire le nombre de repères situés entre le lecteur 23 de la cabine et le repère de référence 26 de la bande.Then, by counting / counting down the marks encountered from the reference mark 26, the position index 1, of the cabin, that is to say the number of marks located between the reader 23 of the cabin and the reference mark 26 of the strip.

On détermine également, la vitesse de la cabine au niveau des moyens 30, à partir du comptage des repères recontrés par le lecteur 23 et donc à partir des variations de l'index de position lp.The speed of the cabin is also determined at the level of the means 30, from the counting of the marks encountered by the reader 23 and therefore from variations in the position index lp.

Compte tenu du mode adopté pour connaître la position absolue de la cabine, l'index de position et la vitesse de la cabine sont connues au niveau des moyens 29 et 30 d'une manière séquentielle qui, il faut le souligner, est particulièrement bien adaptée au traitement numérique qui est effectué en aval.In view of the mode adopted for determining the absolute position of the cabin, the position index and the speed of the cabin are known in terms of means 29 and 30 in a sequential manner which, it should be emphasized, is particularly well suited digital processing which is carried out downstream.

Le lecteur déterminant lui-même le sens de déplacement, il incrémente directement et automatiquement le compteur dans le sens convenable, ce qui évite toute erreur qui, pendant l'arrêt de la cabine, est due à des comptages d'impulsions non dirigées consécutives à des secousses pendant les chargement et déchargement de la cabine.The reader determining the direction of movement itself, it directly and automatically increments the counter in the direction suitable, which avoids any error which, during the stopping of the cabin, is due to counts of non-directed pulses consecutive to tremors during the loading and unloading of the cabin.

L'unité de traitement numérique 31 des moyens de commande régulée 19 située en aval des moyens 29, 30 est de tout type approprié et comprend de préférence un microprocesseur ainsi que son environnement habituel.The digital processing unit 31 of the regulated control means 19 located downstream of the means 29, 30 is of any suitable type and preferably comprises a microprocessor as well as its usual environment.

Cette unité comprend également des tables de mémoire qui sont par exemple du type RAM sauvegardées, ou du type ROM effacables. Ces tables sont par exemple accessibles au moyen d'un terminal d'accès 32 et sont en principe programmées une fois pour toutes lors de la mise en route de l'installation.This unit also includes memory tables which are for example of the saved RAM type, or of the erasable ROM type. These tables are for example accessible by means of an access terminal 32 and are in principle programmed once and for all when the installation is started up.

Parmi ces tables, la table 33 d'index de niveau contient les index de niveau IN c'est à dire les différents nombres de repères situés entre les repères associés aux différents niveaux 7 à 10 de l'installation et le repère de référence 26.Among these tables, the level index table 33 contains the level indexes I N, that is to say the different numbers of marks located between the marks associated with the different levels 7 to 10 of the installation and the reference mark 26 .

Egalement, la table 34 d'index de ralentissement contient les index de ralentissement IR, qui sont associés aux différents index de niveau IN et qui définissent sur le moyen codé 20 les zones de ralentissement pour atteindre un niveau défini.Also, the slowdown index table 34 contains the slowdown indexes I R , which are associated with the various level indexes I N and which define on the coded means 20 the slowdown zones to reach a defined level.

Plus exactement, dans le cas d'une installation déjà existante, ces index de ralentissement correspondent sensiblement aux anciens contacteurs situés en gaine qui étaient situés à l'entrée d'une zone de ralentissement pour atteindre un niveau défini.More precisely, in the case of an already existing installation, these slowdown indexes correspond substantially to the old contactors located in the sheath which were located at the entrance to a slowdown zone in order to reach a defined level.

En fait, dans le cas d'une installation déjà existante, lorsque l'index de position Ip atteint la valeur de l'un des index de ralentissement Ip, un signal AN 35 est envoyé par les moyens de commande régulés 19 en direction des moyens de manoeuvre 11 et ceux-ci, en retour, envoient un ordre de ralentissement si la cabine doit s'arrêter au niveau associé à l'index de ralentissement.In fact, in the case of an already existing installation, when the position index Ip reaches the value of one of the slowdown indexes Ip, a signal AN 35 is sent by the regulated control means 19 towards the means maneuver 11 and these, in return, send a deceleration command if the car must stop at the level associated with the deceleration index.

Au niveau des moyens de commande régulée 19, cet ordre de ralentissement n'est en fait interprété que comme une validation du ralentissement et c'est l'unité centrale de traitement 31 qui détermine le repère à partir duquel la commande de ralentissement sera effectivement appliquée au moteur électrique 4.At the level of the regulated control means 19, this deceleration order is in fact interpreted only as a validation of the deceleration and it is the central processing unit 31 which determines the benchmark from which the deceleration command will be effectively applied to the electric motor 4.

Ainsi, les tables d'index de niveau 33 et d'index de ralentissement 34, permettent de supprimer les contacteurs en gaine 15, et les moyens de commande régulée 19 génèrent des signaux qui, vus des moyens de manoeuvre 11, sont semblables aux signaux émis par les anciens contacteurs 15.Thus, the level index 33 and slowdown index 34 tables make it possible to suppress the sheath contactors 15, and the regulated control means 19 generate signals which, seen from the operating means 11, are similar to the signals issued by former contactors 15.

Dans certains cas, cependant, les contacteurs 15 peuvent être maintenus.In some cases, however, the contactors 15 can be maintained.

L'unité centrale de traitement 31 contient également en mémoire d'autres tables de paramètres, notamment une table 36 contenant les paramètres de mises en mouvement de la cabine 2, une table 37 contenant des paramètres de ralentissement de la cabine ainsi qu'une table 38 contenant les paramètres d'initialisation.The central processing unit 31 also contains in memory other parameter tables, in particular a table 36 containing the parameters for setting in motion of the cabin 2, a table 37 containing parameters for slowing down the cabin as well as a table 38 containing the initialization parameters.

L'unité centrale de traitement 31 comprend des moyens de traitement, tels qu'un microprocesseur, et des moyens de mémorisation du logiciel de traitement.The central processing unit 31 comprises processing means, such as a microprocessor, and means for storing the processing software.

En sortie, l'unité centrale de traitement commande les actionneurs 16 qui déterminent le sens de rotation du moteur et relient les enroulements du moteur 4 aux différentes phases du réseau en passant par un étage de puissance 39 également commandé par l'unité centrale de traitement et, par exemple, constitué par des ensembles de thyristors ou de tout autre moyen électronique approprié, qui permet de doser l'énergie délivrée depuis le réseau au moteur électrique 4.At the output, the central processing unit controls the actuators 16 which determine the direction of rotation of the motor and connect the windings of the motor 4 to the different phases of the network via a power stage 39 also controlled by the central processing unit and, for example, constituted by sets of thyristors or any other suitable electronic means, which makes it possible to dose the energy delivered from the network to the electric motor 4.

Ainsi, dans le cas d'une installation déjà existante, les moyens de commande régulée 19 sont disposés entre les moyens de manoeuvre 11 et les moyens d'actionnement 16 du moteur.Thus, in the case of an already existing installation, the regulated control means 19 are arranged between the operating means 11 and the actuation means 16 of the motor.

Les moyens de commande régulée 19 recoivent en provenance des moyens de manoeuvre 11 les ordres de déplacement en montée et en descente ainsi que les ordres de ralentissement.The regulated control means 19 receive from the operating means 11 the up and down movement orders as well as the deceleration orders.

Compte tenu de ces ordres et des informations reçues du lecteur 23 du moyen codé 20, les moyens de commande régulée 19 génèrent une commande qui est exercée sur les actionneurs 16 du moteur et sur l'étage de thyristors 39.Given these orders and the information received from the reader 23 of the coded means 20, the regulated control means 19 generate a command which is exerted on the actuators 16 of the motor and on the thyristor stage 39.

De préférence, cette commande est du type gradateur c'est à dire qu'elle consiste à piloter pour chaque alternance de secteur, la durée pendant laquelle chaque thyristor est conducteur.Preferably, this command is of the dimmer type, that is to say that it consists in controlling for each alternating sector, the duration during which each thyristor is conductive.

La commande type gradateur des thyristors peut cependant être remplacée par une commande plus complexe.The thyristor dimmer type control can however be replaced by a more complex control.

Outre les moyens de commande régulée 19, le dispositif de commande régulée comprend de préférence une interface d'entrée 40 pour les moyens de manoeuvre 11 et une interface de sortie 41 pour les moyens d'actionnement 16.In addition to the regulated control means 19, the regulated control device preferably comprises an input interface 40 for the operating means 11 and an output interface 41 for the actuation means 16.

Selon les cas, la distinction entre l'unité centrale de traitement 31, les moyens 29 pour déterminer la position absolue de la cabine 2 et les moyens 30 pour déterminer sa vitesse, peut être moins marquée que ce que fait ressortir la figure 4 et la description ci-dessus pour des raisons de compréhension de l'invention.Depending on the case, the distinction between the central processing unit 31, the means 29 for determining the absolute position of the cabin 2 and the means 30 for determining its speed, may be less marked than that shown in FIG. 4 and the description above for reasons of understanding the invention.

En fait, le comptage des impulsions et le calcul de la vitesse de la cabine peuvent être réalisés par le microprocesseur de l'unité centrale de traitement 31, c'est à dire que les moyens 28, 29, 30, 31 peuvent être regroupés par exemple sur une même carte électronique, sous un même logiciel global de traitement. Il faut souligner que, contrairement à certaines installations qui mettent en oeuvre une bande codée permettant de déterminer par lecture directe la position de la cabine, dans le cas présent, la position absolue de la cabine est obtenue par comptage/décomptage.In fact, the counting of the pulses and the calculation of the speed of the cabin can be carried out by the microprocessor of the central processing unit 31, that is to say that the means 28, 29, 30, 31 can be grouped by example on the same electronic card, under the same global processing software. It should be emphasized that, unlike certain installations which use a coded band making it possible to determine the position of the cabin by direct reading, in the present case, the absolute position of the cabin is obtained by counting / down counting.

Par rapport aux dispositifs existants mettant en oeuvre une bande codée, le dispositif présente l'avantage que le code de la bande 21, c'est à dire les perforations 22, est particulièrement simple en regard des codes qui permettent d'obtenir directement la position absolue de la cabine.Compared to existing devices implementing a coded strip, the device has the advantage that the code for strip 21, that is to say the perforations 22, is particularly simple compared to the codes which allow to directly obtain the absolute position of the cabin.

Ces derniers codes en effet nécessitent le décodage complexe d'un nombre important d'informations par exemple sous la forme de perforations qui sont disposées ou bien horizontalement sur la bande codée ou bien verticalement.These latter codes in fact require the complex decoding of a large number of pieces of information, for example in the form of perforations which are arranged either horizontally on the coded strip or else vertically.

Pour connaître la vitesse du mobile, il est nécessaire de traiter ces informations complexes ou d'adjoindre un dispositif tel qu'une génératrice tachymétrique indépendante.To know the speed of the mobile, it is necessary to process this complex information or to add a device such as an independent tachometer generator.

En regard des dispositifs comprenant un disque codé monté sur l'arbre moteur, l'invention présente l'avantage d'une plus grande précision dans la détermination de la position de la cabine, étant donné qu'il n'y a pas lieu de tenir compte du glissement des cables.With regard to devices comprising a coded disc mounted on the motor shaft, the invention has the advantage of greater precision in determining the position of the cabin, since there is no need to take into account the slippage of the cables.

Dans le but d'initialiser les moyens de commande régulée, en particulier l'index de position Ip, ou de réinitialiser notamment après une coupure de courant, l'invention prévoit au moins un et de préférence deux repères d'initialisation 42,43 sur le moyen codé 20.In order to initialize the regulated control means, in particular the position index Ip, or to reinitialize in particular after a power failure, the invention provides at least one and preferably two initialization marks 42,43 on the coded means 20.

Ces repères 42, 43 déterminent sur le moyen codé 20, trois zones, une zone basse 44, une zone haute 46 et une zone intermédiaire 45.These references 42, 43 determine on the coded means 20, three zones, a low zone 44, a high zone 46 and an intermediate zone 45.

Le lecteur 23 outre les ensembles de lecture optique 24, 25 est équipé de contacteurs 47, 48 qui sont sensibles aux repères 42, 43.The reader 23 in addition to the optical reading assemblies 24, 25 is equipped with contactors 47, 48 which are sensitive to the marks 42, 43.

Par exemple, les repères 42 , 43 sont constitués par des ferrites orientés en sens contraire, et les contacteurs 47, 48 sont des contacteurs magnétiques à mémoire mécanique également orientés en sens contraire.For example, the pins 42, 43 are constituted by ferrites oriented in the opposite direction, and the contactors 47, 48 are magnetic contactors with mechanical memory also oriented in the opposite direction.

Ainsi, quelles que soient les circonstances, la position de la cabine dans l'une des trois zones 44,45,46 est connue en permanence aux moyens de contacteurs 47, 48.Thus, whatever the circumstances, the position of the cabin in one of the three zones 44,45,46 is permanently known to the contactor means 47, 48.

Après une coupure de courant et donc la perte de l'index de position 29, si la cabine 2 se trouve dans la zone intermédiaire 45, les moyens de commande régulée 19 réagiront à un ordre de montée ou de descente qu'ils exécuteront, quelque soit le niveau sélectionné, jusqu'à ce que le lecteur 23 de la cabine 2 rencontre l'un des deux repères d'initialisation 42, 43.After a power failure and therefore the loss of the position index 29, if the car 2 is in the intermediate zone 45, the regulated control means 19 will react to an ascent or descent order which they will execute, whatever or the level selected, until the reader 23 of the cabin 2 meets one of the two initialization marks 42, 43.

Ceci provoque au niveau des moyens de commande régulée 19 la réinitialisation de l'index de position 29 et commande ensuite l'arrêt de la cabine à la station immédiatement inférieure ou immédiatement supérieure selon les cas puis éventuellement le déplacement de la cabine vers la station sélectionnée.This causes the leveled control means 19 to reset the position index 29 and then controls the stopping of the cabin at the immediately lower or immediately higher station as appropriate, then possibly the movement of the cabin to the selected station. .

Les moyens de commande régulée 19 ne commanderont le mouvement de la cabine 2 que pour une montée si elle se trouve dans la zone basse 44, auquel cas, leur initialisation se fera à la rencontre du repère haut 43 ou bien inversement pour une descente si la cabine se trouve dans la zone haute 46 avec initialisation au repère bas 42.The regulated control means 19 will only control the movement of the cabin 2 for a climb if it is in the low zone 44, in which case, their initialization will be made to meet the high mark 43 or vice versa for a descent if the cabin is in the upper zone 46 with initialization at the lower mark 42.

Le dispositif de commande régulée selon l'invention est donc particulièrement avantageux pour équiper les installations existantes, étant donné qu'il est autonome et ne nécessite pas la mise en place de moyens optionnels en fonction de l'installation déjà existante.The regulated control device according to the invention is therefore particularly advantageous for equipping existing installations, given that it is autonomous and does not require the installation of optional means depending on the already existing installation.

Pour des installations neuves, naturellement, la mise en place du dispositif de l'invention ne pose aucun problème.For new installations, of course, the installation of the device of the invention poses no problem.

La figure 5 illustre la mise en mouvement de la cabine 2 d'une station d'arrêt vers une station sélectionnée.FIG. 5 illustrates the setting in motion of cabin 2 from a stopping station to a selected station.

Pour cette mise en mouvement, les moyens de manoeuvre 11 délivrent un ordre de levée du frein et un ordre de mouvement dans un sens déterminé par exemple une montée, ce qui positionne les actionneurs 16 de façon que le moteur soit alimenté pour une rotation dans le sens désiré.For this setting in motion, the maneuvering means 11 deliver an order for lifting the brake and an order for movement in a determined direction, for example an ascent, which positions the actuators 16 so that the motor is powered for rotation in the desired meaning.

La commande des thyristors de l'étage de puissance 39 est initialement sensiblement nulle et donc les thyristors sont sensiblement fermés.The control of the thyristors of the power stage 39 is initially substantially zero and therefore the thyristors are substantially closed.

Les moyens de commande régulée 19 délivrent aux gachettes de thyristors une commande incrémentée, en boucle ouverte, et l'incrémentation est réalisée selon deux modes principaux différents.The regulated control means 19 deliver to the thyristor triggers an incremented command, in open loop, and the incrementation is carried out according to two different main modes.

Selon un premier mode correspondant à un couple entraînant exercé par la cabine 2 sur le moteur 4, la commande des thyristors 39 est incrémentée dans le temps par un incrément faible if.According to a first mode corresponding to a driving torque exerted by the cabin 2 on the motor 4, the thyristor control 39 is incremented in time by a small increment i f .

De cette façon, c'est le couple entraînant de la cabine qui agit principalement, dans la première phase de mise en mouvement de la cabine d'où une grande impression de confort pour les utilisateurs.In this way, it is the driving torque of the cabin which acts mainly, in the first phase of setting in motion of the cabin from where a great impression of comfort for the users.

Ensuite, compte tenu de l'incrémentation, l'effet du moteur devient prédominant et la cabine accélère jusqu'à atteindre une vitesse voisine de la vitesse nominale de déplacement VN correspondant à l'ouverture totale des thyristors.Then, taking into account the increment, the effect of the motor becomes predominant and the cabin accelerates until reaching a speed close to the nominal speed of movement V N corresponding to the total opening of the thyristors.

Pour ce mode, les variations de vitesse sont représentées dans la figure 5, par la courbe 50, qui présente une forme en "S" dont le départ est sensiblement linéaire et qui se stabilise sensiblement au dessus de la valeur VN.For this mode, the speed variations are represented in FIG. 5, by the curve 50, which has an "S" shape whose departure is substantially linear and which stabilizes substantially above the value V N.

Ce mode de commande régulée du moteur électrique 14 est adopté par les moyens de commande régulée 19 pour un couple entraînant exercé par l'ensemble cabine/contrepoids sur le moteur, c'est à dire notamment pour une montée à charge vide et une descente à pleine charge.This regulated control mode of the electric motor 14 is adopted by the regulated control means 19 for a driving torque exerted by the cabin / counterweight assembly on the motor, that is to say in particular for a rise with empty load and a descent at full load.

Dans le cas inverse, pour un couple résistant, c'est à dire dans le cas d'une descente à vide ou d'une montée à pleine charge, la commande des thyristors 39 qui initialement est sensiblement nulle est incrémentée également avec un incrément faible if.In the opposite case, for a resistive torque, that is to say in the case of a descent at no load or an ascent at full load, the control of the thyristors 39 which initially is substantially zero is also incremented with a small increment i f .

Le couple résistant exercé par la cabine entraîne la cabine dans le sens inverse du sens désiré, ce qui est immédiatement détecté au niveau de l'index de position 1 qui varie de manière irrationnelle.The resistive torque exerted by the cabin drives the cabin in the opposite direction to the desired direction, which is immediately detected at the level of the position index 1 which varies in an irrational manner.

Cette variation irrationnelle détectée par l'unité centrale de traitement 31 entraîne l'augmentation de l'incrément de commande des thyristors 39 qui passe à une valeur d'incrément fort iF.This irrational variation detected by the central processing unit 31 causes the thyristor control increment 39 to increase. which goes to a strong increment value i F.

La courbe 51 représente les variations du carré de la vitesse du mobile pour ce mode de démarrage.Curve 51 represents the variations of the square of the speed of the mobile for this starting mode.

La courbe 51 présente une partie initiale 52 située en dessous de l'axe horizontal, puis elle présente une forme en "S" qui se stabilise au voisinage de la vitesse nominale VN.The curve 51 has an initial part 52 located below the horizontal axis, then it has an "S" shape which stabilizes in the vicinity of the nominal speed V N.

Il faut souligner que le mouvement inverse de la cabine au démarrage est tout à fait limité.It should be noted that the reverse movement of the cabin at startup is quite limited.

En effet, dans le cas où le pas "p" d'écartement des perforations est de huit millimètres, le mouvement inverse de la cabine est détecté dès la première i impulsion transmise par les lecteurs optiques 24, 25, après un parcours du quart de ce pas, soit après une distance de l'ordre de deux millimètres seulement.In fact, in the case where the pitch "p" of the perforation spacing is eight millimeters, the reverse movement of the cabin is detected from the first i pulse transmitted by the optical readers 24, 25, after a course of a quarter of this step, that is to say after a distance of the order of only two millimeters.

Ces deux modes de mises en mouvement du mobile par une incrémentation faible ou forte, selon que le couple exercé par la cabine sur le moteur est entraînant ou résistant, permettent d'assurer un confort optimum pour les utilisateurs.These two modes of setting in motion of the mobile by a weak or strong increment, depending on whether the torque exerted by the cabin on the engine is driving or resistant, make it possible to ensure optimum comfort for the users.

Les figures 6 et 7 sont relatives au ralentissement du mobile, en vue de l'arrêter à un niveau N auquel est associé l'index de niveau lN, ainsi qu'un index de ralentissement IR, qui sont respectivement mémorisés dans les tables 33 et 34.FIGS. 6 and 7 relate to the deceleration of the mobile, with a view to stopping it at a level N with which the level index l N is associated, as well as a deceleration index I R , which are respectively stored in the tables 33 and 34.

Au cours du déplacement de la cabine 2, lorsque l'index de position Ip atteint la valeur IR de l'index de ralentissement, l'unité centrale de traitement 31 adresse au moyen de manoeuvre 11 une information AN 35 indiquant l'approche du niveau N.During the movement of the cabin 2, when the position index Ip reaches the value I R of the deceleration index, the central processing unit 31 sends by means of operation 11 information AN 35 indicating the approach of the level N.

Etant donné, dans le cas présent, que le niveau N est sélectionné, les moyens de manoeuvre 11 adressent aux moyens de commande régulée 19 un ordre de ralentissement de façon à stabiliser la cabine au niveau N.Given, in this case, that the level N is selected, the operating means 11 send to the regulated control means 19 a deceleration order so as to stabilize the cabin at level N.

Au niveau de l'unité centrale de traitement 31, les commandes de ralentissement sont générés en référence à une consigne de vitesse en fonction de l'écart entre l'index de position lp de la cabine et l'index de niveau IN.At the central processing unit 31, the deceleration commands are generated with reference to a speed setpoint as a function of the difference between the position index lp of the cabin and the level index I N.

La consigne de vitesse 54 représentée en figure 6 est constituée par une courbe oblique qui est linéaire et s'étend sur un intervalle ZR correspondant à la zone de ralentissement de la cabine.The speed setpoint 54 represented in FIG. 6 consists of an oblique curve which is linear and extends over an interval Z R corresponding to the zone of deceleration of the cabin.

Compte tenu du sens de déplacement de la cabine, cette zone de ralentissement ZR est limitée par un index IZR à partir duquel les moyens de commande régulée sont susceptibles de générer une commande de ralentissement, et de l'autre côté la zone est limitée par l'index IN du niveau.Given the direction of movement of the cabin, this slowdown zone Z R is limited by an index I ZR from which the regulated control means are capable of generating a slowdown command, and on the other side the zone is limited by the index I N of the level.

Généralement, l'index 1ZR est situé après l'index de ralentissement IR qui a validé la commande de ralentissement.Generally, the index 1 ZR is located after the deceleration index I R which has validated the deceleration command.

Ceci correspond à une diminution de la course de ralentissement de la cabine 2 que les moyens de commande régulée permettent d'obtenir.This corresponds to a reduction in the deceleration stroke of the cabin 2 that the regulated control means make it possible to obtain.

La courbe oblique 54 sur la zone de ralentissement ZR décroit depuis la vitesse nominale VN jusqu'à une vitesse nulle.The oblique curve 54 on the deceleration zone Z R decreases from the nominal speed V N to a zero speed.

Elle correspond à une décélération constante qui, à titre l'exemple, peut être de l'ordre de 0,50 m/s2. It corresponds to a constant deceleration which, for example, can be of the order of 0.50 m / s2 .

Selon l'invention, les moyens de commande régulée génèrent une commande de ralentissement à l'intérieur de la zone de ralentissement ZR uniquement dès que, pour un index de position défini, la vitesse du mobile est égale ou supérieure à la vitesse de consigne.According to the invention, the regulated control means generate a slowdown command inside the slowdown zone Z R only as soon as, for a defined position index, the speed of the mobile is equal to or greater than the set speed .

En se référant à la figure 6, la courbe 56 correspond à une vitesse de déplacement du mobile sensiblement supérieure à la vitesse VN.Referring to FIG. 6, the curve 56 corresponds to a speed of movement of the mobile substantially greater than the speed V N.

Dans ce cas, la commande de ralentissement générée par les moyens 19 est appliquée dès que l'index de position lp a atteint la valeur IZR c'est à dire dès le point 57.In this case, the deceleration command generated by the means 19 is applied as soon as the position index lp has reached the value I ZR, that is to say from point 57.

Par contre, pour la courbe 58 qui correspond à une vitesse sensiblement inférieure à la vitesse VN la commande de ralentissement du moteur n'est générée qu'à partir de l'index de position Ip pour lequel la vitesse du mobile correspond à la vitesse de consigne, c'est à dire le point 59.On the other hand, for the curve 58 which corresponds to a speed substantially lower than the speed V N, the engine slowdown command is only generated from the position index Ip for which the speed of the mobile corresponds to the speed setpoint, i.e. point 59.

Avantageusement, dans le cas où le mobile est encore en phase de mise en mouvement lorsque l'ordre de ralentissement arrive, notamment pour un parcours de courte distance, la commande d'accélération du moteur est maintenue jusqu'à ce que la vitesse du mobile recoupe la courbe de vitesse de consigne.Advantageously, in the case where the mobile is still in the setting in motion phase when the slowdown order arrives, in particular for a short distance journey, the engine acceleration control is maintained until the speed of the mobile intersects the target speed curve.

Ceci est schématisé en figure 6 par la courbe en traits mixtes 60 et la commande d'accélération est maintenue jusqu'au point 61 de croisement avec la courbe de consigne.This is shown diagrammatically in FIG. 6 by the dashed line curve 60 and the acceleration control is maintained up to the point 61 of crossing with the setpoint curve.

Dans un premier temps du ralentissement de la cabine 2, les moyens de commande régulée 19 ferment les thyristors 39 et commandent une inversion de phases au niveau des actionneurs 16. Ensuite, les moyens génèrent en continu une commande variable sur les thyristors qui dépend principalement de l'écart entre l'index de position lp et l'index de niveau lN, et de l'écart entre la vitesse du mobile et la vitesse de consigne.First of all when the cabin 2 slows down, the regulated control means 19 close the thyristors 39 and control a phase inversion at the actuators 16. Then, the means continuously generate a variable command on the thyristors which mainly depends on the difference between the position index lp and the level index l N , and the difference between the speed of the mobile and the set speed.

De préférence, la consigne dépend également de la variation de vitesse du mobile.Preferably, the setpoint also depends on the speed variation of the mobile.

Au niveau des thyristors 39 d'alimentation du moteur 4, la commande de ralentissement consiste en une variation de leur ouverture en fonction de l'index de position lp et de la vitesse de la cabine.At the thyristors 39 supplying the motor 4, the deceleration control consists in varying their opening as a function of the position index lp and the speed of the cabin.

Il faut souligner que le ralentissement est uniquement électrique, par une inversion de phases qui est maintenue jusqu'à l'arrêt de la cabine.It should be emphasized that the deceleration is only electrical, by a phase inversion which is maintained until the cabin stops.

La commande de ralentissement générée par les moyens de commande régulée 19 tend à réduire l'écart entre la vitesse du mobile et la vitesse de consigne qui devient faible en fin de ralentissement ainsi que le montre la figure 6.The slowdown command generated by the regulated control means 19 tends to reduce the difference between the speed of the mobile and the set speed which becomes low at the end of the slowdown, as shown in FIG. 6.

Dans la figure 7, on a schématisé la phase finale du ralentissement du mobile.In Figure 7, we have schematized the final phase of the deceleration of the mobile.

Cette figure fait ressortir que la courbe de consigne 54 ne vise pas exactement l'index IN sur l'axe horizontal des index mais un index situé sensiblement avant l'index IN compte tenu du sens de déplacement du mobile.This figure shows that the setpoint curve 54 does not exactly target the index I N on the horizontal axis of the indexes but an index located substantially before the index I N taking into account the direction of movement of the mobile.

Lorsque l'index de position Ip atteint une valeur IRF délimitant une zone de ralentissement final ZRF déterminée, les moyens de commande régulée 19 calculent en fonction de la vitesse réelle du mobile, le temps théorique TRF nécessaire pour que la vitesse du mobile s'annule.When the position index Ip reaches a value I RF delimiting a final deceleration zone Z RF determined, the regulated control means 19 calculate as a function of the real speed of the mobile, the theoretical time T RF necessary for the speed of the mobile is canceled.

La commande des thyristors qui était appliquée au passage à l'index IRF est maintenue au début de la zone ZRF et durant un laps de temps final prédéterminé, les moyens de commande régulée génèrent sur les thyristors une commande de stabilisation temporaire du rotor.The thyristor control which was applied to the transition to the I RF index is maintained at the start of the Z RF zone and for a predetermined final period of time, the regulated control means generate on the thyristors a command for temporary stabilization of the rotor.

Par exemple, cette commande consiste à désynchroniser la commande des thyristors par rapport à la fréquence du secteur de façon à envoyer un courant continu dans les enroulements du moteur.For example, this command consists in desynchronizing the thyristor command with respect to the mains frequency so as to send a direct current in the motor windings.

Le laps de temps final pendant lequel cette commande de stabilisation est générée est constant et compte tenu de l'écart possible entre la vitesse du mobile et la vitesse de consigne en phase finale de ralentissement, il correspond approximativement au tiers de l'intervalle de temps TRF.The final period of time during which this stabilization command is generated is constant and taking into account the possible difference between the speed of the mobile and the speed setpoint in the final phase of deceleration, it corresponds approximately to one third of the time interval T RF .

La figure 7 représente à titre d'illustration deux courbes 62 et 63, situées de part et d'autre de la courbe de consigne 54.FIG. 7 shows by way of illustration two curves 62 and 63, located on either side of the setpoint curve 54.

Les extrémités inférieures arrondies des courbes 62 et 63 correspondent à la commande de stabilisation du rotor.The rounded lower ends of the curves 62 and 63 correspond to the stabilization control of the rotor.

Lorsque la vitesse du mobile s'est annulée, l'unité centrale de traitement génère la commande de tombée du frein 64.When the speed of the mobile has been canceled, the central processing unit generates the brake 64 release command.

Ensuite, d'une manière connue, les moyens de manoeuvre 11 commandent l'ouverture des portes.Then, in a known manner, the operating means 11 control the opening of the doors.

Une telle commande de ralentissement régulé permet d'atteindre le niveau N avec une précision qui, dans l'exemple évoqué plus haut, est inférieure à plus ou moins deux millimètres seulement, sans aucune secousse principalement dans la phase finale du freinage.Such a controlled slowdown command makes it possible to reach the level N with a precision which, in the example mentioned above, is less than plus or minus only two millimeters, without any jerking mainly in the final phase of braking.

Elle permet en outre d'optimiser le temps du ralentissement grâce à la consigne vitesse/écart d'index.It also makes it possible to optimize the deceleration time thanks to the speed / index difference setpoint.

Le procédé et le dispositif de commande régulée qui viennent d'être décrits trouvent une application avantageuse dans le cadre de la rénovation d'installations existantes.The process and the regulated control device which have just been described find an advantageous application in the context of the renovation of existing installations.

Dans ce cas, le dispositif est autonome et comme cela est précisé précédemment, il s'intégre facilement dans l'installation existante.In this case, the device is autonomous and, as stated above, it can easily be integrated into the existing installation.

Notamment, les moyens 19 peuvent se présenter sous la forme d'une carte électronique, contenue à l'intérieur d'un boîter, qui peut être facilement monté dans l'installation existante.In particular, the means 19 can be in the form of an electronic card, contained inside a box, which can be easily mounted in the existing installation.

Ceci, naturellement, n'est pas limitatif, et le procédé et le dispositif de l'invention peuvent également être mis en oeuvre pour des installations neuves et, dans ce cas, les moyens de manoeuvre 11, les moyens de commande régulée 19 et les moyens d'actionnement 16 peuvent être regroupés dans un même ensemble. Enfin, l'invention concerne non seulement les installations d'ascenseurs mais également les installations de monte charge, de manutention, de stockage.This, of course, is not limiting, and the method and the device of the invention can also be implemented for new installations and, in this case, the operating means 11, the regulated control means 19 and the actuating means 16 can be grouped in the same assembly. Finally, the invention relates not only to elevator installations but also to freight elevator, handling and storage installations.

Naturellement, la présente description n'est donnée qu'à titre indicatif et l'on pourrait adopter d'autres mises en oeuvre de l'invention sans pour autant sortir du cadre de celle-ci.Naturally, the present description is given for information only and other implementations of the invention could be adopted without departing from the scope thereof.

Claims (10)

1. A process for the regulated control of an electric motor (4) for the displacement of a moving body (2) along a specified path (5) comprising levels (7 to 10) and displacement zones between the levels, notably but not exclusively a goods lift, a lift for people, the trolley of an installation for handling stores, along the path of which is arranged a coded means (20) bearing guide marks (22) at regular intervals which are detected by a reader (23) and which are used as a basis for calculating the speed of the moving body, and in which:
- along the coded means (20) at least one reference position (27) of the moving body (2) is defined, with which is associated a reference mark (26) of the coded means (20);
- with each stopping level (7 to 10) is associated a number of guide marks counted starting from the reference mark (26), which number is called level index (IN);
- when the moving body (2) is being displaced, the number of guide marks encountered by the reader (23) which is in one piece with the moving body (2) is algebraically counted and, by
counting/decouting the guide marks, the position index (Ip) of the moving body in relation to the reference mark (26) is calculated; this process being characterised in that:
- for each level, starting from the corresponding level index (IN), a guide marks interval (IZR) is defined corresponding to the slowing-down zone (ZR) of the moving body (2) in order to reach the level (N);
- in order to stop the moving body (2) at a defined level (N), a speed instruction is defined within the guide marks interval (ZR) corresponding to the slowing-down zone, depending on the distance between the position index (Ip) of the lift cabin and the level index (IN), and the continuous control of electric braking of the motor according to the slowing-down instruction (53) is only actuated starting from the guide mark of the slowing-down zone (ZR) for which the speed of the moving body is at least equal to the instruction speed.
2. A process according to Claim 1, characterised in that, in the final braking phase, when moving to a guide mark whose distance from the level guide mark is defined,
- the time interval (TRF) necessary to reach zero speed is calculated depending on the instantaneous speed of the moving body (2);
- the instruction for continuous electric braking is maintained up to a final defined time lapse during which an electric command for stabilisation of the rotor is sent to the motor (4), and finally,
- the brake is dropped.
3. A process according to Claim 2, characterised in that the speed instruction (53) is specified depending on the distance between the position index (I ) of the cabin and the level index (IN) outside the final braking phase, in such a way as to seek to reach, at zero speed, a point situated appreciably before the level mark (IN), taking into account the direction of displacement of the moving body.
4. A process according to Claim 1, characterised in that, for setting the moving body (2) in motion from a defined level towards a selected level,
- the brake is released:
- after the brake is released, a command for voltage which is initially substantially zero is sent to the motor and increased with time by a slight increase (if) corresponding to a driving torque exerted by the moving body on the motor (4):
- the variation in the position index (Ip) is observed, and if this variation corresponds to an inverse movement from that selected, the value of the increase in voltage command is increased, in such a way as to send to the motor a command for voltage increased with time by a large increase (iF) corresponding to a load moment exerted by the moving body (2) on the motor (4).
5. A process according to any one of Claims 1 to 4, characterised in that:
- by means of at least two initialisation marks of the coded means (20) on the path of the moving body, the limits of two extreme zones of slowing-down (44, 46) and one intermediate zone (45) are defined;
- the position of- the moving body is constantly memorised in one of the three zones, and
- the position index (Ip) is re-initialised according to one of the initialisation marks (42,43).
6. A device with a view to the regulated control of a moving body by the process according to any one of Claims 1 to 5, comprising, arranged along the path of the moving body, a coded means (20) bearing guide marks (22) at regular intervals which are detected by a reader (23) and used as a basis for calculating the speed of the moving body, this device comprising:
- on the coded means (20), at least one reference mark (26) corresponding to a reference position (27) of the moving body (2);
- a reader (23) in one piece with the moving body, for reading the guide marks (22) of the coded means (20);
- means for algebraically counting the number of guide marks encountered by the reader (23) during the movements of the moving body (2), and
- by counting/deducting the guide marks, means (29) for calculating the position index (Ip) of the moving body;
- processing means (31) for sending to the electric motor (4) a continuous command for braking voltage; this device being characterised in that it further comprises the following in combination:
- means which, for each level, starting from the corresponding level index (IN) define a guide marks interval (IZR) corresponding to the slowing-down zone (ZR) of the moving body (2) in order to reach the level (N);
- means which, in order to send to the motor a continuous command for voltage for progressive braking within a defined guide marks interval (IZR) corresponding to a slowing-down zone, specify the said command according to the distance between the position index (Ip) of the motor and the level index (IN) and the difference between the speed of the moving body and the instruction speed for the position index (IP).
7. A device according to Claim 6, characterised in that it further comprises means (31) for sending to the electric motor (4) a command for voltage for setting in motion which is initially substantially zero and is increased with time by a slight increase (if) corresponding to a driving torque exerted by the moving body (2) on the motor (4), means for analysing the first variation of the position index, and means for increasing the value of the increase to a value of great increase (iF) if the position index varies in the opposite direction from that selected.
8. A device according to Claim 6, characterised in that it comprises on the coded strip (21) at least two initialisation marks (42,43) which define the limits of two extreme zones of slowing-down (44, 46) and an intermediate zone (45) and permanent means (47, 48) of memorising the position of the moving body in one of the three zones (44,45,46).
9. A device according to Claim 6 or 7, characterised in that it comprises an entry interface (40) for the orders to set in motion and the orders for slowing-down emanating from handling means (11) of an existing installation, and an exit interface (41) towards the means (16) for driving the motor (4) of the said installation.
EP86400111A 1985-02-12 1986-01-21 Process for the regulated control of an electric motor for the displacement of a moving body, and control device for carrying out the process Expired EP0192513B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT86400111T ATE39675T1 (en) 1985-02-12 1986-01-21 REGULATED CONTROL METHOD OF AN ELECTRIC MOTOR FOR ADJUSTMENT OF A MOVING BODY AND CONTROL DEVICE FOR IMPLEMENTING THE METHOD.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8502381A FR2577329B1 (en) 1985-02-12 1985-02-12 CONTROLLED CONTROL METHOD OF AN ELECTRIC MOTOR FOR MOVING A MOBILE AND CONTROL DEVICE FOR IMPLEMENTING THE METHOD
FR8502381 1985-02-12

Publications (2)

Publication Number Publication Date
EP0192513A1 EP0192513A1 (en) 1986-08-27
EP0192513B1 true EP0192513B1 (en) 1989-01-04

Family

ID=9316425

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86400111A Expired EP0192513B1 (en) 1985-02-12 1986-01-21 Process for the regulated control of an electric motor for the displacement of a moving body, and control device for carrying out the process

Country Status (10)

Country Link
US (1) US4789050A (en)
EP (1) EP0192513B1 (en)
JP (1) JPS622872A (en)
AT (1) ATE39675T1 (en)
DE (1) DE3661620D1 (en)
ES (1) ES8703385A1 (en)
FI (1) FI87641C (en)
FR (1) FR2577329B1 (en)
MA (1) MA20624A1 (en)
TN (1) TNSN86022A1 (en)

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DE3911391C5 (en) * 1989-04-07 2010-04-29 TÜV SÜD Industrie Service GmbH Method and device for checking the driving ability
DE8904375U1 (en) * 1989-04-07 1989-07-27 TÜV Bayern e.V., 8000 München Device for recording physical parameters of an elevator
IT1257416B (en) * 1992-08-05 1996-01-15 METHOD AND APPARATUS FOR THE AUTOMATIC CONTROL AND CORRECTION OF THE DECELERATION-STOP COMMAND OF THE CABIN OF AN ELEVATOR OR A LIFT WHEN VARIING THE OPERATING DATA OF THE SYSTEM.
FI112857B (en) * 1995-07-14 2004-01-30 Kone Corp Procedure for stopping an elevator on a floor
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DE20208469U1 (en) * 2002-05-27 2002-08-14 LONGUS Paul Lange & Co., 70191 Stuttgart Absolute position and / or displacement measuring system and device with one movable part
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Also Published As

Publication number Publication date
FI87641C (en) 1993-02-10
FI860642A0 (en) 1986-02-12
FI860642A (en) 1986-08-13
DE3661620D1 (en) 1989-02-09
EP0192513A1 (en) 1986-08-27
FR2577329B1 (en) 1988-04-29
ATE39675T1 (en) 1989-01-15
FI87641B (en) 1992-10-30
JPS622872A (en) 1987-01-08
MA20624A1 (en) 1986-10-01
TNSN86022A1 (en) 1990-01-01
ES8703385A1 (en) 1987-02-16
US4789050A (en) 1988-12-06
FR2577329A1 (en) 1986-08-14
ES551840A0 (en) 1987-02-16

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