EP0292685B1 - Entraînement d'élévateur avec appareil de commande pour déplacement sans à coup - Google Patents

Entraînement d'élévateur avec appareil de commande pour déplacement sans à coup Download PDF

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Publication number
EP0292685B1
EP0292685B1 EP88105925A EP88105925A EP0292685B1 EP 0292685 B1 EP0292685 B1 EP 0292685B1 EP 88105925 A EP88105925 A EP 88105925A EP 88105925 A EP88105925 A EP 88105925A EP 0292685 B1 EP0292685 B1 EP 0292685B1
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EP
European Patent Office
Prior art keywords
jerk
travel
drive
movement
starting
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 - Lifetime
Application number
EP88105925A
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German (de)
English (en)
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EP0292685A1 (fr
Inventor
Klaus-Jürgen Dipl.-Ing. Klingbeil
Horst Woyciel
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Inventio AG
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Inventio AG
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Publication date
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Priority to AT88105925T priority Critical patent/ATE64355T1/de
Publication of EP0292685A1 publication Critical patent/EP0292685A1/fr
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Publication of EP0292685B1 publication Critical patent/EP0292685B1/fr
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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
    • 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 present invention relates to an elevator drive with control device for smooth start-up, comprising a lifting motor with a traction sheave for executing linear movements and devices for speed and displacement measurement, and also containing a drive control with a control amplifier, setpoint transmitters and actual value transmitters for the speed and travel, associated comparators and a control device for jerk-free start-up, control being carried out first by suppressing the start-up jerk and then according to predetermined displacement / speed curves.
  • K m ⁇ s.
  • the imbalance force resulting from the difference between the cabin load and the counterweight the braking force of the holding brake
  • the friction force resulting from the frictional resistances of the movable parts and the motor drive force resulting from the drive torque of the lifting motor.
  • some of these forces show discontinuities over time during the start-up phase.
  • DE-OS 31 24 018 discloses a device for adding weighing data to the control system of an elevator.
  • the aim of this device is to compensate for the imbalance torque acting from the load side even at a standstill and absorbed by the holding brake before the start by a corresponding motor torque, so that there is no jerky start when releasing the now released holding brake.
  • the cabin load is measured directly as a measure of the imbalance torque and this weighing date is brought to bear on the drive motor via the control system.
  • This elevator control system is designed as an operational amplifier circuit with a speed control amplifier, the positive pole of which is connected to ground, and the setpoint and the actual value of the speed arrive at the negative pole and, in addition, a stabilizing resistor and from the negative pole to the output of the speed amplifier a stabilizing capacitor are connected in series.
  • the stabilizing resistor is bridged by a start switch and the weighing date is brought to the connection point between the stabilizing resistor and the stabilizing capacitor with an auxiliary start switch. This is intended to ensure that the elevator starts up smoothly without the need for a separate weighing memory unit with complex control.
  • This device suffers from the fundamental disadvantage that it can only eliminate one of various causes of the jerk, namely the sudden effect the unbalance force when releasing the mechanical holding brake. Another cause of the start-up jerk, namely the inconsistent time course of the frictional resistances during their transition from static friction to sliding friction, cannot be remedied or alleviated in any way. In modern low-mass systems, however, such friction discrepancies are increasingly noticeable as jerks and, due to the elastic cable connection between the drive and the elevator car, easily lead to vibrations and oscillations in elevators.
  • Another disadvantage of the device shown in DE-OS 31 24 018 is that complex load measuring devices are required, the measuring accuracy and long-term stability of which are not sufficient in all cases.
  • the invention seeks to remedy this.
  • the application according to the invention is therefore based on the object of suppressing the starting jolt in elevator systems and thereby improving their driving comfort.
  • This jerk suppression should be effective in both directions of travel and this with any loads and with any static and dynamic friction values.
  • the jerk suppression according to the invention should also be designed so that the regulated elevator drives themselves are used for jerk suppression and therefore only a modest additional effort is required for this.
  • a first advantage of the invention can be seen in that, by suppressing the start-up jerk, all those vibrations and oscillations that would otherwise be caused by it are eliminated would be triggered. This is of particular importance in elevator systems, where the car and drive are not rigidly connected but rather elastically via long ropes and the whole thing is therefore a weakly damped, oscillatable structure. With the start jerk there is no significant vibration excitation for this system and thus also the corresponding vibrations and settling processes which would delay the start-up process and comfortably impair it.
  • the time suppression between the travel command and the reaching of the nominal speed is shortened with the jerk suppression according to the invention.
  • This time saving is based on a double saving of time: on the one hand, the elevator car starts moving earlier, because due to the initially increased target travel curve according to the invention, the starting point is reached earlier and, on the other hand, the subsequent run-up can be optimal due to the lack of vibrations and settling processes be pulled through for a short time. When starting up, no time is lost that can no longer be spent later. This time saving is important for elevator systems because it increases their conveying capacity.
  • Fig. 1 shows a conventional, speed-controlled three-phase drive 1, wherein a normal lifting motor 2 with high-speed winding 3 and fine winding 4 via a worm gear 5 and a traction sheave 6 drives an elevator car 7 with counterweight 8 in a shaft 9 in a known manner and itself, controlled by one Analog controller 11 is driven by a three-phase controller 12 and a controlled rectifier 13.
  • the setpoints for the acceleration and deceleration are digitally stored as driving curves in a setpoint memory 14 from where they are led to the setpoint input 15 of the analog controller 11.
  • a digital tachometer 16 of the incremental encoder type is coupled to the worm shaft 17 and connected to the actual input 20 of the analog controller 11 via a pulse shaper 18 and a low-pass filter 19.
  • the target travel curves are called up from the target value memory 14, the same is connected to the sequence control 21 and to the path counter 22, which in a known manner forms the path by summing up the speed-proportional pulse frequency and is also connected to the pulse shaper 18 for this purpose.
  • FIG. 2 contains, in a linearized representation, diagrams for the course of the forces over time, and for the actual start-up curves resulting therefrom, in an elevator system according to FIG. 1, that is to say without the jerk suppression according to the invention.
  • the diagram of the motor driving force is labeled 26, the corresponding target starting curve is 27.
  • the friction force is independent of the direction of travel and becomes static friction R H when stationary, moving to sliding friction R G.
  • the resulting driving force is shown in diagram 28 and the corresponding actual starting curve 29 with the starting point t G.
  • the resulting drive force is according to the diagram 30 associated with the actual start-up curve 31 and the Losreisszeittician t U1.
  • the elevator drive equipped with the control device according to the invention for smooth start-up is shown in the block diagram of FIG. 3.
  • a lifting motor 2 is provided which is driven by a three-phase controller 12 and a controlled rectifier 13, its actual speed being detected by a digital tachometer 16 and passed to the pulse shaper 18, the output of which is sent to the inputs of the travel counter 22 and of the low-pass filter 19 is performed.
  • the lifting motor 2 is regulated to speed, for which purpose speed setpoints forming setpoint travel curves are digitally stored in the setpoint memory 14 as a function of the path.
  • the setpoint memory 14 is connected to the sequence controller 21 and the travel counter 22 for setpoint interrogation, and its output is connected to the setpoint input 41 of the comparator 42 via a setpoint multiplier 39 and a digital / analog converter 40. There is also a connection from the output of the low-pass filter 19 to the actual input 43 of the comparator 42, and from its output 44 to the input of the Pi controller 45.
  • the on / off circuit 46 is connected to the start input 47 of the Sequence control 21, controlled at its stop input 48 by the digital tachometer 16 and is connected at its output to the setpoint multiplier 39.
  • 3 shows a first control circuit 49 for jerk suppression and a second control circuit 50 for speed control.
  • the switching elements 39, 40, 42, 45, 12, 2, 16 are used twice for the setpoint specification and control by both control loops 49, 50 in time multiplex.
  • FIGS. 4, 5 and 6 Diagrams relating to the control device according to the invention according to FIG. 3 are shown in FIGS. 4, 5 and 6. This shows that the frictional jolt can be completely suppressed in both directions of travel (Fig. 4) and this with all friction conditions (Fig. 5) and with all loads (Fig. 6).
  • Fig. 4 shows the time course of the forces and the associated starting curves in the absence, partial and complete jerk suppression.
  • the static friction is labeled R H
  • the sliding friction is labeled R G and it is assumed that the cabin and counterweight are balanced.
  • the multiplication factor m has the value 1
  • the jerk suppression is not effective, so that the resultant driving force 51 and the starting curve 53 with approach tangent 54 result at time t 1.
  • FIG. 5 shows how the jerk suppression according to the invention can be adapted to different friction conditions typical of elevator systems.
  • a distinction is made between two friction states, which are determined by their associated static and sliding friction values R H1 ; R G1 and R H2 ; R G2 are characterized. If m 1, ie if the jerk suppression is ineffective, the starting jerk, starting curve and starting tangent are 66, 67, 68 at R H1 ; R G1 and with 69, 70, 71 at R H2 ; R denotes G2 .
  • FIG. 7a An expanded, general embodiment of the jerk suppression according to the invention can be seen from the block diagram of FIG. 7a.
  • three setpoint / actual value feedback circuits 85, 86, 87 are now provided, with the controllers 88, 89, 90, each containing a setpoint multiplier 39.
  • the input also acts / Off circuit 46 to a multiplier 91, which temporarily increases the V setpoint via the controller 90 by the multiplication factor m.
  • the multiplier 91 can also be connected to the controller 88 or the controller 89.
  • FIG. 7b shows a comparison of conventional start-up curves that can be achieved with the inventive jerk suppression according to FIG. 7a.
  • FIGS. 1 to 7 To explain the mode of operation of the jerk suppression according to the invention, reference is made to FIGS. 1 to 7 and it is assumed that an elevator car 7 in an elevator shaft 8 is to be set in motion from a standstill by means of a speed-controlled drive 1.
  • the tacho pulses are counted in the travel counter 22 and generate corresponding speed setpoints at the output of the setpoint memory 14. These are compared in the controller with the actual speed value, which corresponds to the frequency of the tacho pulses.
  • a driving torque is generated in the motor by phase control via the three-phase controller 12 or the fine winding of the motor is supplied with direct current via the phase control controlled rectifier 13, so that a braking torque arises due to the eddy current effect.
  • this start-up process leads to an actual start-up curve 29 with start-up tangent 34 and settling curve 35.
  • control loop 49 for jerk suppression and control loop 50 for normal speed control. Furthermore, it is important that the jerk suppression according to the invention and the speed control of the ramp-up do not take place simultaneously but in succession: the jerk suppression in the period from the start to and with the start of the movement, the speed regulation from the start of the movement to the end of the regulated ramp-up. Because of this time separation, the switching elements 14, 39, 40, 45, 12, 2, 16 are used by both control loops 49, 50 in time division multiplex.
  • the drive starts by the sequence controller 21 calling up a first setpoint specification from the setpoint memory 14 and using the on / off circuit 46 the multiplication factor m of the setpoint Multiplier 39 sets to a value> 1.
  • the first setpoint which has been increased in this way acts via the digital-analog converter 40, the comparator 42, the PI controller 45 and the three-phase controller 12 on the lifting motor 2, where a motor driving force is generated which, depending on the chosen multiplication factor m, along the linearly assumed diagrams 52, 57 or 62 runs up. If the motor driving force exceeds the static friction force R H , movement occurs.
  • the digital tachometer 16 which also serves as a motion detector, detects this movement after just a few hundredths of a millimeter of traction sheave movement and switches the on / off circuit 46 to "off" via the stop input 48, and thus the multiplication factor m back to 1.
  • the resulting driving force 51 accordingly has a discontinuity with the amplitude R H -R G , which is the greatest possible Friction jerk causes and leads to the starting curve 53 with approach tangent 54 and transient 55.
  • FIG. 5 shows how a complete jerk suppression can be achieved with any frictional conditions R H ; R G with the proposed invention.
  • first friction values R H1 ; R G1 and ineffective jerk suppression m 1
  • the resulting driving force 66 results, as well as the starting curve 67 with approach tangent 68.
  • the jerk suppression takes place in an analogous manner for any further friction values R H2 ; R G2 .
  • the associated diagrams are labeled 73, 74.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)
  • Vehicle Body Suspensions (AREA)
  • Valve Device For Special Equipments (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (10)

1. Dispositif d'entraînement d'ascenseur, comportant un dispositif de régulation permettant un démarrage sans à-coup et contenant un dispositif de commande d'exécution prioritaire (21) et un détecteur de déplacement (16), un moteur de levage (2) comportant une poulie motrice (6) pour l'exécution de déplacements linéaires, et des dispositifs (16, 18, 19, 22) pour mesurer la vitesse de rotation et le trajet parcouru, et contenant en outre un dispositif de régulation d'entraînement (1) comportant un amplificateur de régulation (11, 45), des générateurs de valeur de consigne (14) et des générateurs de valeur réelle (16, 19, 22) pour la vitesse de rotation et le trajet parcouru, des comparateurs associés (11, 42), ainsi que des dispositifs de régulation (16, 46, 39) permettant un démarrage sans à-coup, la régulation étant appliquée tout d'abord à la suppression de l'à-coup de démarrage, puis exécutée selon des courbes prédéterminées trajet parcouru/vitesse de rotation;
caractérisé en ce qu'il est prévu un multiplicateur de valeur de consigne (39) comportant un facteur multiplicatif (m) apte à être commandé et qui, pour la multiplication temporaire d'une valeur de consigne, est raccordé en aval d'un générateur de valeur de consigne (14) et, pour la commande de son facteur multiplicatif (m) entre la valeur 1 et une valeur > 1, est relié par l'intermédiaire d'un circuit marche/arrêt (46) au dispositif de commande d'exécution prioritaire (21) et au détecteur de déplacement (16), et en ce que le facteur multiplicatif (m) est commuté, avant le début du déplacement, de la valeur 1 à une valeur > 1 et est à nouveau commuté dans le sens du déplacement de cette valeur > 1 à la valeur 1, au début du déplacement, étant précisé qu'au début du déplacement et lorsque m = 1, la résultante de la force d'entraînement du moteur et de la force de déséquilibre est égale à la force de frottement par glissement (RG).
2. Dispositif d'entraînement d'ascenseur comportant un dispositif de régulation permettant un démarrage sans à-coup selon la revendication 1, caractérisé en ce que le détecteur de déplacement (16) est un tachymètre numérique à haute résolution du type à capteur incrémentiel.
3. Dispositif d'entraînement d'ascenseur comportant un dispositif de régulation permettant un démarrage sans à-coup selon la revendication 1, caractérisé en ce que la course de détection du détecteur de déplacement (16) est réglable.
4. Dispositif d'entraînement d'ascenseur comportant un dispositif de régulation permettant un démarrage sans à-coup selon la revendication 1, caractérisé en ce que le multiplicateur (39) de la valeur de consigne est un circuit multiplicateur.
5. Dispositif d'entraînement d'ascenseur comportant un dispositif de régulation permettant un démarrage sans à-coup selon la revendication 1, caractérisé en ce que le multiplicateur (39) de la valeur de consigne est conçu en tant que partie intégrante de l'amplificateur de régulation (45).
6. Dispositif d'entraînement d'ascenseur comportant un dispositif de régulation permettant un démarrage sans à-coup selon la revendication 1, caractérisé en ce que le facteur multiplicatif (m) est réglable à une valeur quelconque > 1.
7. Dispositif d'entraînement d'ascenseur comportant un dispositif de régulation permettant un démarrage sans à-coup selon la revendication 1, caractérisé en ce que le moment où le facteur multiplicatif (m) est commuté sur une valeur > 1 est réglable pendant l'intervalle de temps précédant le début du déplacement de la cabine.
8. Dispositif d'entraînement d'ascenseur comportant un dispositif de régulation permettant un démarrage sans à-coup selon la revendication 1, caractérisé en ce que le facteur multiplicatif (m) est commuté sur une valeur > 1 par le signal de déplacement, avant le début du déplacement de la cabine.
9. Dispositif d'entraînement d'ascenseur comportant un dispositif de régulation permettant un démarrage sans à-coup selon la revendication 1, caractérisé en ce que le facteur multiplicatif (m) est apte à être commandé en fonction de la charge de la cabine.
10. Dispositif d'entraînement d'ascenseur comportant un dispositif de régulation permettant un démarrage sans à-coup selon la revendication 1, caractérisé en ce que, en présence de plusieurs circuits de réaction valeur de consigne/valeur réelle (85, 86, 87), l'accroissement temporaire de la valeur de consigne s'effectue dans le circuit extérieur de réaction valeur de consigne/valeur réelle (87).
EP88105925A 1987-05-27 1988-04-14 Entraînement d'élévateur avec appareil de commande pour déplacement sans à coup Expired - Lifetime EP0292685B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT88105925T ATE64355T1 (de) 1987-05-27 1988-04-14 Aufzugsantrieb mit regeleinrichtung fuer ruckfreies anfahren.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH204687 1987-05-27
CH2046/87 1987-05-27

Publications (2)

Publication Number Publication Date
EP0292685A1 EP0292685A1 (fr) 1988-11-30
EP0292685B1 true EP0292685B1 (fr) 1991-06-12

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EP88105925A Expired - Lifetime EP0292685B1 (fr) 1987-05-27 1988-04-14 Entraînement d'élévateur avec appareil de commande pour déplacement sans à coup

Country Status (10)

Country Link
US (1) US4828075A (fr)
EP (1) EP0292685B1 (fr)
JP (1) JPS63306176A (fr)
CN (1) CN1010002B (fr)
AT (1) ATE64355T1 (fr)
CA (1) CA1290476C (fr)
DE (1) DE3863233D1 (fr)
ES (1) ES2023460B3 (fr)
FI (1) FI96673C (fr)
IN (1) IN171711B (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
DE112017003268B4 (de) 2016-06-30 2020-08-06 Mitsubishi Electric Corporation Fahrstuhl-steuereinrichtung

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JPH01271382A (ja) * 1988-04-21 1989-10-30 Nippon Otis Elevator Co エレベータ始動保償装置
US4939679A (en) * 1988-08-09 1990-07-03 Otis Elevator Company Recalibrating an elevator load measuring system
EP0433627A3 (en) * 1989-12-20 1992-08-12 Siemens Aktiengesellschaft Method and apparatus to compensate for load of a biased moment position drive at the time of starting
US5076399A (en) * 1990-09-28 1991-12-31 Otis Elevator Company Elevator start control technique for reduced start jerk and acceleration overshoot
US5327059A (en) * 1992-09-24 1994-07-05 Archive Corporation Tape drive capstan motor servo system with static friction compensation
US5424498A (en) * 1993-03-31 1995-06-13 Otis Elevator Company Elevator start jerk removal
JPH0845246A (ja) * 1994-07-29 1996-02-16 Sony Corp 記録媒体、再生方法、記録装置、及び再生装置
DE102004005637A1 (de) * 2004-02-04 2005-09-08 Gesellschaft für Antriebstechnik Dr. Ing. Günther Hammann GmbH & Co. KG Vorrichtung und Verfahren zur vertikalen oder horizontalen Bewegungssteuerung einer Last
CN102311023B (zh) * 2011-08-18 2014-04-02 上海交通大学 在线检测载重的矿井提升机附加启动力矩给定方法及系统
CN104520223B (zh) * 2012-08-29 2016-03-09 三菱电机株式会社 电梯的控制装置及电梯的控制方法
DE112018008024A5 (de) * 2018-09-26 2021-06-10 Siemens Aktiengesellschaft Verfahren zum Halten der Drehstellung eines mit einem externen Moment beaufschlagten Läufers einer permanenterregten Drehstrommaschine mit einem Sanftstarter und Drehstrommaschine

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JPS499858B1 (fr) * 1968-11-29 1974-03-07
JPS5421524B2 (fr) * 1972-12-19 1979-07-31
JPS534947A (en) * 1976-07-05 1978-01-18 Toshiba Corp Controller for elevator
US4213517A (en) * 1978-07-06 1980-07-22 Fujitec Co., Ltd. Elevator control system
US4235309A (en) * 1978-10-18 1980-11-25 Schindler Haughton Elevator Corp. Control for starting electric motors
JPS56159705A (en) * 1980-05-12 1981-12-09 Mitsubishi Electric Corp Speed command generator
DE3124018A1 (de) * 1981-06-19 1982-12-30 Elevator GmbH, 6340 Baar Apparatur zum anfuegen von waegedaten an das regelsystem eines aufzugs
US4380275A (en) * 1981-06-24 1983-04-19 Elevator Gmbh Apparatus for interfacing weighing data with a lift control system
CH660173A5 (de) * 1982-05-03 1987-03-31 Inventio Ag Antriebssteuerung fuer einen aufzug.
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Publication number Priority date Publication date Assignee Title
DE112017003268B4 (de) 2016-06-30 2020-08-06 Mitsubishi Electric Corporation Fahrstuhl-steuereinrichtung

Also Published As

Publication number Publication date
CN88103105A (zh) 1988-12-14
CA1290476C (fr) 1991-10-08
FI882322A0 (fi) 1988-05-18
ES2023460B3 (es) 1992-01-16
US4828075A (en) 1989-05-09
ATE64355T1 (de) 1991-06-15
JPS63306176A (ja) 1988-12-14
DE3863233D1 (de) 1991-07-18
FI96673C (fi) 1996-08-12
FI882322A (fi) 1988-11-28
CN1010002B (zh) 1990-10-17
FI96673B (fi) 1996-04-30
EP0292685A1 (fr) 1988-11-30
IN171711B (fr) 1992-12-19
JPH0565433B2 (fr) 1993-09-17

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