EP0200585A1 - Reguliertes Steuerungsverfahren zum Bremsen eines beweglichen Körpers und Steuerungseinrichtung zur Ausführung des Verfahrens - Google Patents

Reguliertes Steuerungsverfahren zum Bremsen eines beweglichen Körpers und Steuerungseinrichtung zur Ausführung des Verfahrens Download PDF

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Publication number
EP0200585A1
EP0200585A1 EP86400594A EP86400594A EP0200585A1 EP 0200585 A1 EP0200585 A1 EP 0200585A1 EP 86400594 A EP86400594 A EP 86400594A EP 86400594 A EP86400594 A EP 86400594A EP 0200585 A1 EP0200585 A1 EP 0200585A1
Authority
EP
European Patent Office
Prior art keywords
mobile
load
speed
representative
setpoints
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.)
Granted
Application number
EP86400594A
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English (en)
French (fr)
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EP0200585B1 (de
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
Original Assignee
Logilift SARL
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 Logilift SARL filed Critical Logilift SARL
Priority to AT86400594T priority Critical patent/ATE36508T1/de
Publication of EP0200585A1 publication Critical patent/EP0200585A1/de
Application granted granted Critical
Publication of EP0200585B1 publication Critical patent/EP0200585B1/de
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
    • B66B1/44—Means for stopping the cars, cages, or skips at predetermined levels and for taking account of disturbance factors, e.g. variation of load weight
    • 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
    • B66B1/3476—Load weighing or car passenger counting devices

Definitions

  • the invention relates to a controlled control method of the deceleration of a mobile driven in motion by a motor.
  • the invention also relates to a regulated control device for implementing the method.
  • the invention relates to the control of a mobile carrying a variable load to train it in movement along a predetermined route, with a view either to slowing it down gradually and stopping it with accuracy at a predetermined point, that is to maintain it at a stable speed lower than its normal speed.
  • the invention therefore applies both to the slowing down of an elevator car with a view to stopping you with precision and comfort at the level of a defined level as to its maintenance at low speed for example for inspection or overhaul.
  • Such regulated commands give good results insofar as they allow the cabin to be slowed down from an electrical command applied to the engine, which avoids having to resort to mechanical braking means, the brake being used only to keep the cab in its stop position.
  • such regulated controls effectively ensure a gradual slowdown of the cabin and a precise stop which gives users a great feeling of comfort because there is a total absence of shaking.
  • One of the aims of the present invention is to remedy these drawbacks and to propose a method and a device for controlled control of the deceleration of a mobile which, either to stop it with precision or to keep it at low speed, make it possible to 'impose a slowdown instruction. weaving adapted to the load carried by the mobile.
  • Another object of the present invention is to provide a method and a controlled slowdown control device which make it possible to optimize the energy consumed in the slowdown phase.
  • Another object of the present invention is to provide a method and a device for controlled control of the deceleration of a mobile which make it possible to reduce the heating of the drive motor during the deceleration phase.
  • an elevator installation 1 comprising a car 2, a counterweight 3 and an electric drive motor 4 , possibly provided with a winch (not shown), driving a cable 6 which is connected to the cabin 2 and to the counterweight 3.
  • the cabin 2 is movable inside a substantially vertical sheath 5, along an appropriate guide means which defines its predetermined path.
  • the invention relates to any mobile driven in movement by a motor, along a predetermined path, as well vertical as horizontal or oblique, the goal achieved by the invention being to apply to the drive motor a controlled slowdown command which, according to a slowdown setpoint adapted to its load, either slows the mobile progressively and stops it precisely at a determined point, or maintains it at a said low speed because it is lower than its normal speed of movement between the start and stop phases.
  • the elevator installation shown by way of example also comprises a supply of electrical energy - shown diagrammatically at 11, which is of any suitable type and, in the example chosen, a supply to from an alternative three-phase network.
  • the installation 1 also comprises actuation means 12, mainly constituted by actuators which connect the different windings of the motor 4 to the different phases of the network, via a power stage 13 and control means 14.
  • the actuating means 12 mainly determine the rotation drive of the motor 4 as well as the direction of this rotation.
  • the speed of rotation depends on the control which, from the control means 14, is applied to the elements of the power stage 13, which consists for example of thyristors.
  • the control means 14 generate their command according to the information relating to the safety of the installation, for example, the closing of the doors, the lock contacts, etc.
  • the control means 14 also process the orders to move the cabin, that is to say in general the calls from the cabin to predetermined levels, and the shipments from the cabin to predetermined levels.
  • control means 14 process parameters relating to the movement of the cabin 2.
  • one of the main parameters is the variation in the absolute position of the cabin 2 which is given by the reading of a coded strip 15 located in the sheath 5, by the reader 16 secured to the cabin 2.
  • any other suitable means is suitable, for example a coded disc or drum, mounted on the motor shaft 4.
  • control means 14 define the strategy for moving the cabin 2, and also generate a regulated command both for starting and for slowing down the cabin.
  • control means 14 comprise digital processing means, for example a microprocessor and its environment, as well as processing software.
  • the locking brake of the motor 4 or of its winch is only used when the motor shaft is stopped, which avoids any wear.
  • a regulated open-loop control which consists of a thyristor trigger control incremented periodically over time, from a value substantially zero, until the thyristors are fully opened.
  • control means 14 Depending on whether the cabin starts moving in the desired direction or in the opposite direction, the control means 14 generate a command of the thyristor triggers with a small increment or even a strong increment.
  • a special command allows the cabin to be stopped at the predetermined level without any jerking, thus providing optimum comfort for users.
  • the invention proposes to dynamically estimate the load carried by the cabin 2 which varies according to the number of users and their weights, and according to the load thus estimated, to impose on the motor 4 a so-called slowdown command respecting a set point adapted to the load carried by cabin 2 and chosen from a set of possible set points.
  • a set of possible slowdown instructions is constructed beforehand which each correspond to one of the different loads likely to be carried by the mobile.
  • the set of instructions is defined for different constant absolute values of this acceleration.
  • FIG. 2 shows, by way of illustration, curves for slowing down instructions 20 to 23 of the speed of cabin 2 as a function of the position of cabin 2 with respect to the level N to be reached.
  • the setpoint curves 20 to 23 are preferably stored inside the control means 14, in any form suitable for those skilled in the art.
  • the setpoint curves can be stored in read-only memory or be calculated during the commissioning of the installation 1, according to the parameters of the site and be stored for example in saved RAM or erasable memory erasable and reprogrammable by the computer itself.
  • control means 14 impose a slowdown instruction chosen from among the set of instructions 20 to 23, this instruction being the best suited to the load carried by the cabin 2.
  • the invention proposes to measure a large amount of G e representative of the energy consumed by the motor 4 to drive the motor 2 over a predetermined distance interval, in a phase of its operation directly preceding its deceleration phase.
  • control means 14 measure the energy consumed by the motor over a predetermined distance interval, in the phase of its operation where its speed has reached a level just before its deceleration phase.
  • control means 14 measure the quantity G e representative of the energy consumed by the engine 4 to drive the cabin 2 to a predetermined distance.
  • the predetermined distance interval preferably starts from the last stopping point of the car 2 preceding its deceleration phase.
  • the quantity G e is measured in the first phase of setting in motion of the cabin 2, starting from a zero speed.
  • the quantity G e in itself, is of any suitable type and is measured by any suitable means.
  • control means 14 are of the digital type, this value is directly available inside the means 14.
  • the control means 14 calculate the estimated load Ce carried by the cabin 2 according to the quantity G e , and also according to the value of the speed reached by the cabin at the end of the predetermined distance interval.
  • the speed is directly available at the level of the control means 14 from information transmitted by the reader 16 of the coded strip 15.
  • control means 14 According to the value of the speed V of the cabin 2 at the end of the predetermined distance interval, the control means 14 generate by processing. an approximate value of the acceleration of the cabin over the predetermined distance interval.
  • the acceleration y can be calculated to the nearest multiplicative constant by differentiation of the speed, or by the square of the speed.
  • control means 14 calculate to a constant near, an estimate Ce of the load carried by the cabin.
  • the quantity G e and the speed V of the cabin are measured for a predetermined distance interval when the cabin 2 is set in motion for a load with no load connects Cv, for a real full load Cp . and for a half actual load Cm of cabin 2.
  • the no load Cv corresponds to a maximum driving torque exerted on the motor, that is to say an ascent without load or a descent at full load
  • the full load Cp corresponds to a maximum resisting torque exerted on the motor, it is to say an ascent with full load or an descent with no load.
  • the three initialization measurements are represented in FIG. 3 by three points 25, 26, 27 according to which the control means 14 establish a linear relationship - shown diagrammatically by the straight line 28 between the measured quantities G e and V, after processing, and the estimated load This carried by the cabin, which is illustrated with point 29.
  • the control means 14 impose that of the instructions 20 to 23 which is best suited to the load Ce of the cabin 2.
  • Such a correspondence between the estimated load and the setpoint chosen from the set of setpoints is established for example by dividing the charge interval into as many segments as there are possible setpoints and by making each setpoint correspond to a segment of Estimated load.
  • the estimated load depends on the actual load carried by cabin 2, but also on its direction of travel.
  • the estimated load It will not be the same for the same defined real load, if the cabin goes up or if it goes down taking into account the phenomenon of gravity which, according to the direction of displacement of the cabin and - its total weight compared that of the counterweight can have a favorable or unfavorable effect on its slowing down.
  • the curve 23 which has the steepest slope will be imposed by the control means 14 in the case where the cabin 2 and its counterweight 3 exert on the engine 4 a resistant torque, that is to say in the case of an estimated load Ce close to the full load Cp as defined above.
  • the curve with the lowest slope 20 will be imposed for a driving torque exerted by the cabin 2 and its counterweight 3 on the engine 4, that is to say for an estimated load This neighbor of the unladen load Cv as defined more high.
  • deceleration setpoint from a set of possible setpoints makes it possible to optimize on the one hand the energy consumption of the motor 4 necessary for its deceleration and its stopping, it also makes it possible to avoid excessive heating of the engine.
  • FIG. 4 shows by way of illustration a graph of the speed V of cabin 2 or more precisely of its square from a defined level chosen for origin, to a level N.
  • the curve 30 corresponds to a driving torque exerted by the cabin 2 and its counterweight 3 on the engine 4.
  • the cabin is therefore started by a small increment and as described above, at the end of the predetermined distance interval 32, the control means 14 estimate the load This range carried by the cabin according to the magnitude G e representative of the energy consumed, and the speed V of the cabin 2.
  • This calculation is preferably carried out immediately after having traversed the predetermined distance interval.
  • control means 14 choose from the set of setpoints 20 to 23 the setpoint best corresponding to the estimated load, that is to say in this case the setpoint 20.
  • the curve 31 corresponds to a resistant torque exerted by the cabin and its counterweight 3.
  • the cabin sets in motion in the opposite direction to the desired direction and there is a strong incrementation of the control thyristors for starting.
  • control means 14 measure the quantity representative of the energy consumed G e , as well as the speed V ′ of the cabin.
  • the calculation means By calculation, they carry out an estimate of the load Ce, and when the cabin enters the deceleration zone Z ⁇ to reach level N, the calculation means impose one of the deceleration instructions, that is to say in the case present, instruction 23.
  • the regulated slowdown command is applied for its part in any appropriate mode and for example it consists of a command on the thyristor triggers which depends on the difference between the real speed of the cabin and the set speed as a function of J ' distance between the cabin and the level N to be reached.
  • control means 14 operate in a substantially identical manner. , since the measurement of the parameters necessary for determining the estimated load Ce takes place when the cabin is moved.
  • the real deceleration of the cabin will then be effective only when its speed curve as a function of the distance intersects the setpoint curve imposed by the control means 14 for the estimated load Ce calculated.
  • control means 14 actually store a plurality of deceleration setpoint curves, and for the installation 1 considered, all of the possible deceleration setpoints are at most included in this plurality.
  • control means 14 calculate and / or memorize a plurality of slowing down instructions and the installer during the commissioning of the installation has the possibility of not authorizing among the plurality of setpoints that the setpoints actually adapted to the installation considered 1 and to the payload of the cabin 2 which constitute all of the possible slowing down setpoints.
  • FIG. 2 represents, beyond the setpoint curve 23 and below the setpoint curve 20, two setpoint curves 34 and 35 stored by the control means 14 which are however prohibited given the nature of installation 1, in particular of the moving masses and the payload of the cabin.
  • the curve 34 would cause an excessively sudden slowdown of the cabin under certain conditions while the curve 35 would cause an excessively long slowdown, these two curves therefore not corresponding to optimum operation of the installation.
  • the slowdown will require that the motor respectively hold or drive the load.
  • the regulation of the motor is ensured by means of a dimmer assembly, that is to say allowing to gradually close or open the thyristors which are then connected to the network after phase crossing to obtain braking or direct phase to get the drive.
  • the purpose of the Inventory - tion is to impose the cabin of a lift a slowdown, following a Z R deceleration zone will induce its judgment.
  • the invention also permits to stabilize the speed of the car in the vicinity of said low speed because it i is less than its predetermined normal speed, for example for inspection operations - elevator shaft 5.
  • This low speed instruction can of course only be accessible to specially authorized persons and in particular to inspection and maintenance personnel.
  • the invention applies not only to an elevator installation but in general to any mobile driven in motion by a motor and which it is necessary to stop gradually and with precision.
  • the invention can be applied to different modes of supplying the motor, in particular, a continuous supply and different modes of regulation, for example by power transistor. Triac. thyristor ...

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Elevator Control (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Flanged Joints, Insulating Joints, And Other Joints (AREA)
  • Casings For Electric Apparatus (AREA)
  • Superstructure Of Vehicle (AREA)
  • Control Of Conveyors (AREA)
  • Control Of Velocity Or Acceleration (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Sewing Machines And Sewing (AREA)
  • Control Of Electric Motors In General (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Linear Motors (AREA)
  • Paper (AREA)
EP86400594A 1985-03-25 1986-03-20 Reguliertes Steuerungsverfahren zum Bremsen eines beweglichen Körpers und Steuerungseinrichtung zur Ausführung des Verfahrens Expired EP0200585B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT86400594T ATE36508T1 (de) 1985-03-25 1986-03-20 Reguliertes steuerungsverfahren zum bremsen eines beweglichen koerpers und steuerungseinrichtung zur ausfuehrung des verfahrens.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8504879A FR2579189B1 (fr) 1985-03-25 1985-03-25 Procede de commande regulee du ralentissement d'un mobile et dispositif de commande regulee pour la mise en oeuvre du procede
FR8504879 1985-03-25

Publications (2)

Publication Number Publication Date
EP0200585A1 true EP0200585A1 (de) 1986-11-05
EP0200585B1 EP0200585B1 (de) 1988-08-17

Family

ID=9317792

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86400594A Expired EP0200585B1 (de) 1985-03-25 1986-03-20 Reguliertes Steuerungsverfahren zum Bremsen eines beweglichen Körpers und Steuerungseinrichtung zur Ausführung des Verfahrens

Country Status (10)

Country Link
US (1) US4700811A (de)
EP (1) EP0200585B1 (de)
JP (1) JPS61243781A (de)
AT (1) ATE36508T1 (de)
DE (1) DE3660538D1 (de)
ES (1) ES8704135A1 (de)
FI (1) FI86401C (de)
FR (1) FR2579189B1 (de)
MA (1) MA20649A1 (de)
TN (1) TNSN86044A1 (de)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0294578A1 (de) * 1987-06-12 1988-12-14 Inventio Ag Einfahrregelungseinrichtung für einen Aufzug
EP0826620A2 (de) * 1996-08-27 1998-03-04 Otis Elevator Company Kalibrierungsroutine mit adaptiver Lastenkompensation
EP0826621A2 (de) * 1996-08-27 1998-03-04 Otis Elevator Company Adaptive Lastenkompensation für ein Aufzugssystem
EP1487730A1 (de) * 2002-03-28 2004-12-22 Thyssen Elevator Capital Corp. Verfahren und vorrichtung zur erhöhung der verkehrssteuerungsleistung eines aufzugssystems
CN109484933A (zh) * 2018-12-29 2019-03-19 日立电梯（中国）有限公司 一种电梯轿厢位置和速度检测系统及其自检方法

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ATE92005T1 (de) * 1989-10-16 1993-08-15 Otis Elevator Co Steuerungsvorrichtung fuer aufzuganlage ohne geschwindigkeitsfuehler.
IT1257416B (it) * 1992-08-05 1996-01-15 Metodo ed apparato per il controllo e la correzione automatica del comando di decelerazione-arresto della cabina di un ascensore o di un montacarichi al variare dei dati di funzionamento dell'impianto.
JP3251844B2 (ja) * 1996-03-29 2002-01-28 三菱電機株式会社 エレベータの制御装置
US7374020B2 (en) * 2004-02-27 2008-05-20 Thyssenkrupp Elevator Capital Corporation Energy efficient elevator system
JP4397721B2 (ja) * 2004-03-30 2010-01-13 三菱電機株式会社 エレベータの制御装置
SG120230A1 (en) * 2004-08-12 2006-03-28 Inventio Ag Lift installation with a cage and equipment for detecting a cage position as well as a method of operating such a lift installation
JP4906377B2 (ja) * 2006-03-22 2012-03-28 株式会社日立製作所 エレベーターシステム
US8177034B2 (en) * 2006-11-20 2012-05-15 Mitsubishi Electric Corporation Elevator system which controls a value of overspeed
EP2476640B1 (de) * 2009-09-09 2017-12-20 Mitsubishi Electric Corporation Steuervorrichtung für aufzüge

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1223168A (fr) * 1958-05-14 1960-06-15 Bbc Brown Boveri & Cie Dispositif pour régler en fonction de la charge la vitesse angulaire du moteur d'entraînement d'une machine d'extraction à câble
FR1351227A (fr) * 1962-03-20 1964-01-31 Loher & Sohne Gmbh Dispositif de commande pour ascenseur
US3783974A (en) * 1972-05-09 1974-01-08 Reliance Electric Co Predictive drive control
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
US4053742A (en) * 1976-12-20 1977-10-11 Youngstown Sheet And Tube Company Energy measuring systems adapted for use in conjunction with load moving and weight indicating devices

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2403125A (en) * 1944-10-04 1946-07-02 Westinghouse Electric Corp Control system
JPS5417219B2 (de) * 1973-01-24 1979-06-28
FI66328C (fi) * 1979-10-18 1984-10-10 Elevator Gmbh Foerfarande och anordning foer att stanna en laengs med en styrd bana gaoende anordning saosom en hiss
JPS5917472A (ja) * 1982-07-21 1984-01-28 三菱電機株式会社 エレベ−タの速度パタ−ン発生装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1223168A (fr) * 1958-05-14 1960-06-15 Bbc Brown Boveri & Cie Dispositif pour régler en fonction de la charge la vitesse angulaire du moteur d'entraînement d'une machine d'extraction à câble
FR1351227A (fr) * 1962-03-20 1964-01-31 Loher & Sohne Gmbh Dispositif de commande pour ascenseur
US3783974A (en) * 1972-05-09 1974-01-08 Reliance Electric Co Predictive drive control
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
US4053742A (en) * 1976-12-20 1977-10-11 Youngstown Sheet And Tube Company Energy measuring systems adapted for use in conjunction with load moving and weight indicating devices

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0294578A1 (de) * 1987-06-12 1988-12-14 Inventio Ag Einfahrregelungseinrichtung für einen Aufzug
EP0826620A2 (de) * 1996-08-27 1998-03-04 Otis Elevator Company Kalibrierungsroutine mit adaptiver Lastenkompensation
EP0826621A2 (de) * 1996-08-27 1998-03-04 Otis Elevator Company Adaptive Lastenkompensation für ein Aufzugssystem
EP0826621A3 (de) * 1996-08-27 1998-08-19 Otis Elevator Company Adaptive Lastenkompensation für ein Aufzugssystem
EP0826620A3 (de) * 1996-08-27 1998-08-19 Otis Elevator Company Kalibrierungsroutine mit adaptiver Lastenkompensation
EP1487730A1 (de) * 2002-03-28 2004-12-22 Thyssen Elevator Capital Corp. Verfahren und vorrichtung zur erhöhung der verkehrssteuerungsleistung eines aufzugssystems
EP1487730A4 (de) * 2002-03-28 2010-07-07 Thyssen Elevator Capital Corp Verfahren und vorrichtung zur erhöhung der verkehrssteuerungsleistung eines aufzugssystems
CN109484933A (zh) * 2018-12-29 2019-03-19 日立电梯（中国）有限公司 一种电梯轿厢位置和速度检测系统及其自检方法
CN109484933B (zh) * 2018-12-29 2020-07-17 日立电梯（中国）有限公司 一种电梯轿厢位置和速度检测系统及其自检方法

Also Published As

Publication number Publication date
EP0200585B1 (de) 1988-08-17
FI86401C (fi) 1992-08-25
FR2579189B1 (fr) 1988-04-08
DE3660538D1 (en) 1988-09-22
JPS61243781A (ja) 1986-10-30
FI861276A (fi) 1986-09-26
FR2579189A1 (fr) 1986-09-26
ATE36508T1 (de) 1988-09-15
FI861276A0 (fi) 1986-03-25
US4700811A (en) 1987-10-20
TNSN86044A1 (fr) 1990-01-01
MA20649A1 (fr) 1986-10-01
ES8704135A1 (es) 1987-03-16
FI86401B (fi) 1992-05-15
ES553308A0 (es) 1987-03-16

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