EP0198249A1 - Commande moteur alternatif, en particulier pour ascenseurs - Google Patents

Commande moteur alternatif, en particulier pour ascenseurs Download PDF

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Publication number
EP0198249A1
EP0198249A1 EP86103589A EP86103589A EP0198249A1 EP 0198249 A1 EP0198249 A1 EP 0198249A1 EP 86103589 A EP86103589 A EP 86103589A EP 86103589 A EP86103589 A EP 86103589A EP 0198249 A1 EP0198249 A1 EP 0198249A1
Authority
EP
European Patent Office
Prior art keywords
phase
drive according
control unit
setpoints
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.)
Withdrawn
Application number
EP86103589A
Other languages
German (de)
English (en)
Inventor
Günther Dr. Dipl.-Ing. Vogt
Rainer Dr. Dipl.-Ing. Würslin
Arnold Müller
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.)
Arnold Mueller & Co KG GmbH
Original Assignee
Arnold Mueller & Co KG GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Arnold Mueller & Co KG GmbH filed Critical Arnold Mueller & Co KG GmbH
Publication of EP0198249A1 publication Critical patent/EP0198249A1/fr
Withdrawn legal-status Critical Current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
    • B66B1/24—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
    • 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
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B66B1/308—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor with AC powered elevator drive

Definitions

  • the invention relates to an electrical three-phase control drive, in particular a hoist drive for use in elevators, with a three-phase motor, a frequency converter and a control unit.
  • the primary side of the frequency converter is fed from the normal 220/380 V AC or three-phase network with a frequency of 50 Hz.
  • the converter contains a rectifier section and an inverter section as well as the control electronics.
  • alternating or three-phase current of the desired frequency is composed from the direct voltage obtained.
  • the three-phase motor is operated with this alternating or three-phase network of the desired and adjustable frequency on the secondary side.
  • the control unit determines the setpoints for guiding and steering the converter and thus the motor, in accordance with external requirements and loads on the drive.
  • Three-phase control drives are used in a variety of ways.
  • the problem occurs with the drive in the car, particularly when used in elevators or, generally speaking, the load of entering the stops precisely and bringing them to a standstill. This is often not possible with different loads.
  • the suspension cable is stretched differently so that there are differences in height between the boarding platform and the floor of the car when stopping or moving off.
  • Another problem is the starting and braking or stopping process. Often, the vehicle is only started with a jerk, that is, from standstill it switches to the operating speed with one step, then to the operating speed almost suddenly in a further step. This is not noted as comfortable. Furthermore, when entering the stopping position, the system switches suddenly from operating speed to lower speed, so-called creep speed, from which the vehicle then stops suddenly. This is an attempt to achieve a more precise positioning in the breakpoint. In addition to doubtful success in positioning, the jerky shutdown is felt to be uncomfortable.
  • the object of the present invention is to design the electric three-phase control drive according to the preamble of claim 1 in such a way that jerk-free starting and stopping is made possible, as is the precise reaching of the stopping point regardless of the load. This is to be achieved with relatively small, very adaptable and energy-saving means.
  • the object on which the present invention is based is achieved in a very advantageous manner in the said three-phase electric control drive by applying the features set out in the characterizing part of claim 1.
  • Another particular advantage of using the three-phase control drive designed according to the invention as an elevator drive is that a much simpler gear, in particular a spur gear, can be used instead of a more expensive and energy-consuming worm gear. This means that the overall efficiency, consisting of the electric drive and gearbox, can be increased from 35% to 40% to approx. 70%.
  • FIG. 1 the overall structure of the three-phase control drive 10 according to the invention is shown schematically using the example of the application as a hoist drive for an elevator.
  • the three-phase control drive 10 drives via a shaft 13, a transmission 30. Its output shaft 32 is connected to a cable guide roller 34, via which the support cable 35 of the car F of the elevator is guided. The other end of the support cable 35 is connected to the counterweight G.
  • the three-phase control drive 10 consists, for example, of a synchronous motor or, as shown, an asynchronous motor 12, which is preferably a low-scatter cage run g r asynchronous gate.
  • the asynchronous motor 12 is ver via its rotor shaft 14 with an angle encoder 16 bound.
  • Another essential component of the drive 10 is the frequency converter 18 and the control unit 24.
  • the frequency converter 18, which is designed as a transistor pulse inverter, feeds the motor 12 via the lines 20 with a three-phase system adjustable in frequency from 0 Hz to maximum frequency.
  • This three-phase system has a low harmonic content due to the design and the type of control of the transistor pulse inverter.
  • the converter is powered by the usual 220 V or 380 V network 22.
  • the control unit 24 is connected to the transistor pulse inverter 18 via a bus 26. Setpoints for controlling and regulating the motor 12 are supplied to the converter 18 via this collecting line. At the same time, feedback is made available via the collecting line of the control unit 24.
  • the control unit 24 continues to be supplied with the pulses of the angle stepper 16 via a line 15.
  • the pulses from the angular step encoder 16 provide information about the position of the rotor of the motor 12 or about the angular position of the shaft 14. Both the angular position and the speed of the rotor can be determined from these signals. In addition, these signals can also be used for distance measurement if a suitable calibration has been carried out. Primarily, the pulses from the angle stepper 16 are used and processed for optimal and dynamic guidance of the motor 12 within the control unit 24.
  • the control unit 24 is supplied with initiator signals via the line Ixo and via the line Ixu. External superordinate setpoint signals are supplied to the control unit 24 via a further input 28 to be understood as a collective input.
  • the lines Ixu and Ixo are outputs of O-circuits 37 and 39, respectively.
  • the inputs of the D-circuit 37 are signals from the initiators I 2u , 1 3u and I 4u . These signals always occur when the car F of the elevator travels with its lower edge 40 at initiator points from bottom to top to the floors labeled two, three and four.
  • Such initiator position sensors are provided within the elevator shaft at precisely defined points below the stop lines. If the stops are approached from above, then there are pulses at the initiator positions I 10 , 12o and I 30 , which are combined via the OR circuit 39 and supplied to the control circuit 24 on the line I xo .
  • FIG. 2 shows schematically as a block diagram the frequency converter 18 used with its essential parts and with its essential inputs and outputs.
  • the converter 18 contains a part GR / NT with rectifier and low-voltage power supply.
  • the rectifier supplies the DC voltage to the transistor inverter WR.
  • the low-voltage power supply supplies the converter electronics.
  • Both the GR / NT part and the WR inverter part are managed by the control and regulating electronics SR.
  • the main inputs of the control and regulating part are the control inputs UE for switching on the converter and UA for switching off the converter as well as IF as pulse enable for the inverter and FS as an error signal, signals that enable a two-phase setpoint specification are connected via the Rund S connections.
  • the actual phase current values can be removed at the connections R i , S., T i .
  • the inverter WR which is designed as a transistor pulse inverter, supplies the three strings U, V, W of the motor supply lines 20. Since the inverter WR is operated with an interrogation frequency of up to 100 kHz, its branches can not only generate almost purely sinusoidal phase currents, but can also carry direct currents or rapid phase current changes force. This is essential for dynamic guidance of the squirrel-cage asynchronous motor.
  • the field weakening range can be exploited, i.e. Achieve high torques at low speeds and low torques at high speeds and thus achieve high tightening torques without high currents and still provide the required lifting capacity from the converter.
  • the control and regulating electronics SR of the converter 18 is designed so that four-quadrant operation is possible. Furthermore, it enables either phase current or phase voltage regulation with two-phase setpoint specification.
  • the current limitation is adjustable so that the mains peak currents do not exceed the desired or permissible level.
  • the control unit 24 is provided with a microcomputer. This is used for optimal current control, for displacement or speed control and for generating jerk-free starting and braking or stopping movements of the asynchronous motor 12.
  • the microcomputer-controlled control unit 24 generates setpoints as a function of and in accordance with supplied actual values, superordinate setpoint signals, external position signals and internally specified control parameters. Such higher-order setpoint signals are, for example, the requirements for driving the drive supplied via connection 28
  • Elevator to a specific location from a specific location.
  • the actual values supplied can be the position; the current actual values for the individual phases R, S and T can also be involved.
  • External position signals are, for example, the lower or upper initiator position signals from the elevator shaft that are supplied via lines Ixu and I xo .
  • max. Acceleration max. permissible speed and max. To name currents and voltages.
  • FIGS. 3 to 5 show three diagrams as a function of time t.
  • a profile of the acceleration a for a specific movement cycle is plotted in the uppermost diagram in FIG. 3.
  • the acceleration increases linearly in a first area, then remains at the max. permissible value and then decreases to zero.
  • the acceleration becomes negative, i.e. it increases linearly in the sense of braking, then remains at a constant negative maximum value for a while and then increases linearly again to the value zero.
  • the diagram shown in the middle in FIG. 3 shows the profile of the speed v over the time t for the acceleration profile shown in the first diagram.
  • the speed roughly follows the shape of a parabola, that is, this corresponds to the linearly increasing part of the acceleration between times t D to t 1 .
  • the speed increases linearly between t1 and t2.
  • the on slowed down The speed increased parabolically, in order to then remain constant at the maximum value Vmax in the range between t 3 and t4.
  • the speed decreases parabolically, then decreases linearly between times t5 and t 6 , in order to continue to decrease in the range between t 6 and t7 following a parabola, in order to decrease the value at time t 7 To reach 0.
  • the bottom diagram in FIG. 3 shows the position X over the time t between the times t0 and t7 in accordance with the acceleration profile a and the speed profile v at the corresponding times.
  • the position profile x corresponds, for example, to the course and the respective location depending on the time of the elevator cage F between the second floor and the third floor.
  • the lower line, corresponding to the time axis t corresponds to the stop line of the second floor and the upper dashed line corresponds to it the stop line of the floor three, as shown in Fig. 1.
  • the course of the location of the position of the basket this corresponds to curve X s , rises gently following a curve from time t0 to time t 3 , at which the speed reaches its max. Has reached value.
  • the time at which the initiator signal 1 3u (cf. also FIG. 1) occurs is shown in the linear region of the position diagram shown in FIG. 3 with the aid of an arrow.
  • This signal I 3u indicates that when the car F travels between two floors and three floors, the lower initiator point is reached before the third floor by the lower edge 40 of the car. From there, there is still a defined way to travel Xinit. In practice, this can correspond to the distance of 1 m. From this value and the stored value of the necessary braking distance, the control unit 24 calculates those further setpoints that can still be output in a linear manner until braking is initiated.
  • FIG. 4 in addition to the three diagrams of FIG. 3, the sequence in which each individual position setpoint X s is created is schematically explained.
  • a summation process is carried out for a specific ⁇ a of the acceleration profile, which leads to an acceleration value a.
  • This acceleration value a must be less than the maximum.
  • the associated speed value V is determined by summation or integration, which is also less than the permissible maximum speed V max .
  • a further summation is used to determine the value for the initial ⁇ a and, accordingly, the current target value X s for the position at the specific point in time of the car F.
  • this process is carried out cyclically in a certain cycle.
  • FIG. 5 shows schematically in the block diagram the relationship between the generation of the position setpoints X s and the control of the motor by the converter.
  • the position setpoints X s are determined in accordance with the starting conditions and the occurrence of the initiator pulses 11 0 to I 4 u .
  • position setpoints X are fed to a position controller.
  • the two phase setpoints Rs and Ss are then available at the output, which either specify the phase current or the phase voltage according to the setpoint.
  • These values are fed to the converter, which uses them to output the motor phase currents with the aid of its control and regulating electronics SR.
  • the control unit 24 determines a specific starting target path Xs during the starting process between the time to t 3 , as shown in FIG. 3, in particular in the lower diagram.
  • This approach path or the individual setpoints determined in the process are stored as the braking distance and are used in reverse order as setpoints in the braking process for the braking distance during the subsequent braking process. This ensures a braking distance analogous to the approach path.
  • the braking process is initiated when the signal I xo or I xu comes at a specific position before the stopping point.
  • the control unit determines when the braking process must be initiated.
  • the braking process is carried out in the same way as the start-up process and then initiated after the initiator pulse when the car position corresponds to the total distance minus the approach path.
  • Approach and braking distance are those routes on which, as can be seen from the diagrams in FIG. 3, a change in speed of the load or. of the car F occurs.
  • the position setpoints X s for the drive guided in the position are generated by the microcomputer-controlled control unit 24 in such a way that a continuous movement is achieved from the time of starting, t D to the time of complete stopping at time t 7 .
  • Fig. 3 shows this continuous jerk-free course, which ensures particularly pleasant driving comfort.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)
EP86103589A 1985-04-17 1986-03-17 Commande moteur alternatif, en particulier pour ascenseurs Withdrawn EP0198249A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3513773 1985-04-17
DE19853513773 DE3513773A1 (de) 1985-04-17 1985-04-17 Drehstromregelantrieb, insbesondere hebzeugantrieb

Publications (1)

Publication Number Publication Date
EP0198249A1 true EP0198249A1 (fr) 1986-10-22

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EP86103589A Withdrawn EP0198249A1 (fr) 1985-04-17 1986-03-17 Commande moteur alternatif, en particulier pour ascenseurs

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0544084A2 (fr) * 1991-11-23 1993-06-02 ABUS Kransysteme GmbH & Co. KG. Dispositif de levage avec vitesse de fonctionnement variable
EP0924156A2 (fr) * 1997-12-09 1999-06-23 Maspero Elevatori S.r.l. Ascenseur avec motorisation embarquée
CN101434357B (zh) * 2008-12-01 2011-01-05 希姆斯电梯(中国)有限公司 一种适用于短楼层且远距离驱动曳引机的电梯控制系统
CN103253565A (zh) * 2013-04-08 2013-08-21 深圳市海浦蒙特科技有限公司 电梯及其运行速度设置的方法和装置
EP2597062A3 (fr) * 2011-11-24 2014-04-16 LSIS Co., Ltd. Procédé de commande d'ascenseur, dispositif de commande d'ascenseur et ascenseur utilisant un tel dispositif

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019200052A1 (de) * 2019-01-04 2020-01-23 Thyssenkrupp Ag Aufzugsanlage

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3737747A (en) * 1971-05-10 1973-06-05 Otis Elevator Co Servomechanism including a polyphase alternating current synchronous motor
FR2340893A1 (fr) * 1976-02-16 1977-09-09 Mitsubishi Electric Corp Systeme de controle de la vitesse d'un elevateur tel qu'un monte-charge
EP0026406A1 (fr) * 1979-09-27 1981-04-08 Inventio Ag Commande d'entraînement pour un ascenseur
GB2106342A (en) * 1981-08-25 1983-04-07 Mitsubishi Electric Corp Ac elevator control system
EP0113848A2 (fr) * 1982-12-20 1984-07-25 Inventio Ag Dispositif d'entrée et de sortie de données pour un dispositif d'entraînement commandé par calculateur numérique
GB2143999A (en) * 1983-07-18 1985-02-20 Mitsubishi Electric Corp Velocity control apparatus for an elevator
US4503937A (en) * 1982-12-01 1985-03-12 Schindler Haughton Elevator Corporation Elevator control circuit

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1302194C2 (de) * 1965-10-23 1974-11-14 Licentia Einrichtung zur ermittlung und regelung der geschwindigkeit eines bewegten gegenstandes
DE2617171C2 (de) * 1976-04-20 1983-01-20 M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 8500 Nürnberg Anordnung zum elektrischen Ermitteln des Schaltpunktes in Förderanlagen
DE3001778C2 (de) * 1980-01-18 1985-10-17 Siemens AG, 1000 Berlin und 8000 München Verfahren und Einrichtung zur Wegregelung eines Positionsantriebes
US4501343A (en) * 1982-10-12 1985-02-26 Otis Elevator Company Elevator car load and position dynamic gain compensation

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3737747A (en) * 1971-05-10 1973-06-05 Otis Elevator Co Servomechanism including a polyphase alternating current synchronous motor
FR2340893A1 (fr) * 1976-02-16 1977-09-09 Mitsubishi Electric Corp Systeme de controle de la vitesse d'un elevateur tel qu'un monte-charge
EP0026406A1 (fr) * 1979-09-27 1981-04-08 Inventio Ag Commande d'entraînement pour un ascenseur
GB2106342A (en) * 1981-08-25 1983-04-07 Mitsubishi Electric Corp Ac elevator control system
US4503937A (en) * 1982-12-01 1985-03-12 Schindler Haughton Elevator Corporation Elevator control circuit
EP0113848A2 (fr) * 1982-12-20 1984-07-25 Inventio Ag Dispositif d'entrée et de sortie de données pour un dispositif d'entraînement commandé par calculateur numérique
GB2143999A (en) * 1983-07-18 1985-02-20 Mitsubishi Electric Corp Velocity control apparatus for an elevator

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0544084A2 (fr) * 1991-11-23 1993-06-02 ABUS Kransysteme GmbH & Co. KG. Dispositif de levage avec vitesse de fonctionnement variable
EP0544084A3 (en) * 1991-11-23 1993-08-04 Abus Werner Buehne Kg. Hoisting device with variable lifting speed
EP0924156A2 (fr) * 1997-12-09 1999-06-23 Maspero Elevatori S.r.l. Ascenseur avec motorisation embarquée
EP0924156B1 (fr) * 1997-12-09 2004-10-06 Maspero Elevatori S.r.l. Ascenseur avec motorisation embarquée
CN101434357B (zh) * 2008-12-01 2011-01-05 希姆斯电梯(中国)有限公司 一种适用于短楼层且远距离驱动曳引机的电梯控制系统
EP2597062A3 (fr) * 2011-11-24 2014-04-16 LSIS Co., Ltd. Procédé de commande d'ascenseur, dispositif de commande d'ascenseur et ascenseur utilisant un tel dispositif
US9233815B2 (en) 2011-11-24 2016-01-12 Lsis Co., Ltd. Method of controlling elevator motor according to positional value and rotational speed
CN103253565A (zh) * 2013-04-08 2013-08-21 深圳市海浦蒙特科技有限公司 电梯及其运行速度设置的方法和装置

Also Published As

Publication number Publication date
DE3513773A1 (de) 1986-10-30

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