EP0433627A2 - Méthode et dispositif pour compenser la charge d'une commande de position à moment polarisé au moment du démassage - Google Patents

Méthode et dispositif pour compenser la charge d'une commande de position à moment polarisé au moment du démassage Download PDF

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Publication number
EP0433627A2
EP0433627A2 EP90121131A EP90121131A EP0433627A2 EP 0433627 A2 EP0433627 A2 EP 0433627A2 EP 90121131 A EP90121131 A EP 90121131A EP 90121131 A EP90121131 A EP 90121131A EP 0433627 A2 EP0433627 A2 EP 0433627A2
Authority
EP
European Patent Office
Prior art keywords
control
acceleration
speed
variable
subordinate
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Withdrawn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
EP90121131A
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German (de)
English (en)
Other versions
EP0433627A3 (en
Inventor
Thomas Dipl.-Ing. Müller
Ingemar Dipl.-Ing. Neuffer
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.)
Siemens AG
Original Assignee
Siemens AG
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 Siemens AG filed Critical Siemens AG
Publication of EP0433627A2 publication Critical patent/EP0433627A2/fr
Publication of EP0433627A3 publication Critical patent/EP0433627A3/de
Withdrawn legal-status Critical Current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
    • B66B1/304—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 starting torque control

Definitions

  • the invention relates to a method and a device for compensating load sacks during a start-up period of a position drive preloaded with torque with a jerk, acceleration and speed-limiting path control with subordinate speed control, which is subordinate to a current control, and with a parking brake, a jerk , Acceleration and speed reference variable can be determined using a reference variable encoder.
  • DE 30 01 778 C2 discloses a method and a device for jerk, acceleration and speed-limiting travel control of a position drive with subordinate speed control. In doing so, the path setpoint and a speed setpoint of the position drive are guided by specifying the corresponding jerk values and a multiple time integration of the same. With such a setpoint control, the desired position can be reached quickly while observing and using the boundary conditions defined by the limitation as long as possible.
  • the speed v F is made zero.
  • a position drive has a parking brake, for example to hold an elevator car, the gripper of a crane or the conveyor baskets of a carrier when the motor is switched off, the motor gets the opening Parking brake at the beginning of a journey through the load acting on the drive an acceleration torque because the electrical torque generated by the motor can only develop after a certain time. Since the load torque can be positive or negative, it either causes the drive to sag or accelerate quickly.
  • a load measuring device has been used many times to record the unknown load, which gives a corresponding pilot control value to the current control loop (torque control loop) of the drive before the parking brake is opened.
  • Another possibility is to use a very fast speed control, which keeps the speed deviation and thus the distance covered small when the parking brake is opened. This requires a low-inertia converter circuit as an actuator and high-quality speed detection.
  • the invention is based on the object of specifying a method and a device for compensating load sacks during a start-up period of a position drive of the type mentioned at the beginning, which effort should be kept low.
  • the route guidance variable specified by the reference variable transmitter is compared with the actual route values and a route difference value is fed to a superimposed load compensation control system.
  • load compensation values are selected which are fed to the subordinate current control of the position drive together with an acceleration command variable determined by the reference variable encoder as pilot control values. Even with a path difference value of zero a load compensation value can be output as a pre-control value to compensate for frictional forces.
  • the superimposed load compensation control is switched off and an acceleration control is activated.
  • the current controller is now precontrolled with an acceleration command variable determined by the reference variable generator and with an acceleration correction value, the acceleration correction value being a regulated acceleration difference value.
  • the acceleration difference value arises from the comparison of the acceleration command variable with an actual acceleration value determined from the actual travel values.
  • the current control in the position control is precontrolled by a feedback variable determined by the reference variable transmitter. This significantly improves the dynamics of the entire position control.
  • the position drive 2 to be controlled consists of an electric motor 4, which moves the elevator car 8 of an elevator or shaft conveyor system via a rope pulley 6 coupled to it.
  • a direct current or alternating current machine is provided as the electric motor 4.
  • the rope pulley 6 is provided with a parking brake 10.
  • the current of the electric motor 4 is regulated by means of a current regulator 12, the output variable of which controls a converter arrangement 16 via a control set 14.
  • the actual value I A of the current regulator 12 is obtained by means of a current transformer 18 arranged in the armature circuit.
  • An acceleration command variable a F and a feedback variable r F are fed to the current controller 12, as a result of which the current controller 12 is pilot-controlled.
  • This acceleration command variable a F and this feedback variable r F are specified by a command variable generator 20, the structure of which is specified in detail, for example, in DE 30 01 778 C2 or DE 37 13 271 A1.
  • the command variable encoder 20 determines a path command variable s F and a speed command variable v F.
  • a setpoint value s Z prescribed for the target position of the car 8 is fed to the reference variable generator 20. It is also advantageous for the reference variable encoder to have 20 actual path values s and supply actual speed values v ⁇ .
  • the displacement variable s F specified by the reference variable generator 20 is compared with an actual displacement value by means of a comparator 22 s compared, which is taken from a counter 24 which is acted upon by pulses which are generated by rotation of a pulse disk 26 coupled to the electric motor 4.
  • a travel difference value ⁇ s which can be fed to a travel control 28 on the one hand and a load compensation control 30 on the other hand.
  • the load compensation regulation 30 is activated by means of the switch 32.
  • the output of the load compensation control 30 is linked to the input of the current controller 12 via an adder 34 and a comparator 36.
  • An address element 38 with a memory 40 connected downstream is provided as load compensation control 30.
  • the actual path value present at the output of the counter 24 s is also linked to an input 42 of a filter 44.
  • This filter 44 consists of three integrating elements 46, 48 and 50 connected in series.
  • the output 52 of the first integrating element 46 which at the same time forms a first output of the filter 44, is coupled through a constant element 54 to the input 42 of the filter 44.
  • the output 56 of the second integrating element 48 which at the same time forms a second output of the filter 44, is fed back to the input 42 of the filter 44 via a constant element 58.
  • the output of the third integrator 50 is fed back to the input 42 of the filter 44.
  • the filter 44 At the first output 52 of the filter 44 there is an actual path value s determined actual acceleration value ⁇ a and at the second output 56 of this filter 44 there is a determined actual speed value v ⁇ . Because of the omitted analog speedometer machine, the actual speed and acceleration values v ⁇ and â are made from the successive actual path values s obtained by one and two differentiations, the differentiations being realized by feedback integrators 46, 48 and 50. This filter 44 is also called an observer.
  • the output of the travel control 28 is connected by means of a comparator 60 to a speed control 62 subordinate to the travel control 28, wherein this travel control 28 with a subordinate speed control 62 can be effectively switched by means of a switch 64.
  • the output of this switch 64 is connected to an acceleration control 68 via a comparator 66.
  • This acceleration control 68 can be activated by means of the switch 70.
  • the output of the acceleration control 68 is connected to the adder 34, whereby the acceleration control 68 is superimposed on the current controller 12, however is subordinate.
  • An integrating controller is provided as acceleration control 68.
  • a smoothing element 72 is provided for smoothing the harmonics of the acceleration difference value. Because the actual acceleration value ⁇ a by means of the filter 44 from the step-like actual value s is determined, it is subject to harmonics.
  • the comparator 60 uses the speed command variable v F provided by the command variable generator 20, which is advantageously carried out via a proportional element 76 of the first order, the speed setpoint value provided by the position control 28 and the actual speed value v ⁇ determined by the filter 44 to produce a speed difference value, that of the speed control 62 is supplied.
  • This produces an acceleration setpoint which is compared by means of the comparator 66 with the acceleration reference variable a F provided by the reference variable generator 20, which is advantageously also carried out via a first order proportional element 78, and the actual acceleration value determined by the filter 44 ⁇ a is compared.
  • the generated acceleration difference value is fed to the acceleration control 68.
  • the actual speed value v ⁇ and the actual acceleration value â are each provided with a smoothing time.
  • the speed command variable v F and the acceleration command variable a F are each provided with corresponding smoothing times, in that these command variables v F and a F are each guided via a proportional element 76 and 78 of the first order.
  • the actual travel value s and the determined actual speed value v ⁇ are supplied to the reference variable encoder 20, at the end of the second time interval T2 the start-up period T1 + T2 the integrators of the reference variable encoder 20, which Average the guidance variable s F and the velocity guidance variable v F to the respective actual values s and v ⁇ set, whereby a shock for the control is avoided.
  • the switches 32, 64 and 70 are activated by means of a timer 80.
  • This timer 80 is started by a start signal St, which is generated as soon as the parking brake 10 is released. With the start signal St, the switch 32 is closed and the switches 64 and 70 are opened. After the first predetermined time interval T 1, the switch 32 is opened and the switch 70 is closed. After the second predetermined time interval T2, the switch 64 is closed.
  • the actual speed values v ⁇ together with the actual path values are shown in two diagrams over time t s and the actual acceleration values â are plotted.
  • Each path difference value ⁇ s represents an address for a load compensation stage, which is addressed thereby and the content of the current control 12 is additionally supplied as a pilot control value.
  • Each path difference value ⁇ s arriving during the time interval T 1 activates a further compensation stage.
  • These activated load compensation stages counteract this negative acceleration, so that at the end of the first time interval T 1 this acceleration is already positive, for example, but is still smaller than the reference variable a F.
  • a comparison of the actual speed value v ⁇ and the speed control variable V F shows a larger difference.
  • the acceleration difference or the error in the acceleration is reduced within the second time interval T2. As a result, the downward movement of the car 8 is braked and the upward movement begins.
  • the integrators of the command variable encoder 20, which determine the path command variable s F and the speed command variable v F are based on the respective actual values s and v ⁇ set.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)
EP19900121131 1989-12-20 1990-11-05 Method and apparatus to compensate for load of a biased moment position drive at the time of starting Withdrawn EP0433627A3 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3942138 1989-12-20
DE3942138 1989-12-20

Publications (2)

Publication Number Publication Date
EP0433627A2 true EP0433627A2 (fr) 1991-06-26
EP0433627A3 EP0433627A3 (en) 1992-08-12

Family

ID=6395921

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19900121131 Withdrawn EP0433627A3 (en) 1989-12-20 1990-11-05 Method and apparatus to compensate for load of a biased moment position drive at the time of starting

Country Status (1)

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EP (1) EP0433627A3 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0884264A1 (fr) * 1997-06-09 1998-12-16 Inventio Ag Procédé et dispositif pour contrÔler un moteur
EP0796072B1 (fr) * 1994-02-24 1999-06-16 SCA Hygiene Products AB Corps absorbant et appareil pour sa fabrication
WO2001053174A1 (fr) * 2000-01-21 2001-07-26 Siemens Aktiengesellschaft Procede de commande de la montee en regime d'une bande transporteuse et dispositif d'entrainement d'une bande transporteuse
DE202011106995U1 (de) * 2011-10-21 2012-10-29 Duallift Gmbh Antrieb für Servicelifte in Windenergieanlagen (Softstarter)
DE19939822B4 (de) * 1999-08-21 2014-08-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur Drehzahlsteuerung einer Antriebseinheit eines Fahrzeugs

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0038966A1 (fr) * 1980-04-21 1981-11-04 Inventio Ag Dispositif de démarrage pour un ascenseur
EP0292685A1 (fr) * 1987-05-27 1988-11-30 Inventio Ag Entraînement d'élévateur avec appareil de commande pour déplacement sans à coup
GB2217124A (en) * 1988-03-18 1989-10-18 Hitachi Ltd Elevator control apparatus
US4995478A (en) * 1988-04-21 1991-02-26 Otis Elevator Company Start compensation device for elevators

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0038966A1 (fr) * 1980-04-21 1981-11-04 Inventio Ag Dispositif de démarrage pour un ascenseur
EP0292685A1 (fr) * 1987-05-27 1988-11-30 Inventio Ag Entraînement d'élévateur avec appareil de commande pour déplacement sans à coup
GB2217124A (en) * 1988-03-18 1989-10-18 Hitachi Ltd Elevator control apparatus
US4995478A (en) * 1988-04-21 1991-02-26 Otis Elevator Company Start compensation device for elevators

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0796072B1 (fr) * 1994-02-24 1999-06-16 SCA Hygiene Products AB Corps absorbant et appareil pour sa fabrication
EP0884264A1 (fr) * 1997-06-09 1998-12-16 Inventio Ag Procédé et dispositif pour contrÔler un moteur
DE19939822B4 (de) * 1999-08-21 2014-08-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur Drehzahlsteuerung einer Antriebseinheit eines Fahrzeugs
WO2001053174A1 (fr) * 2000-01-21 2001-07-26 Siemens Aktiengesellschaft Procede de commande de la montee en regime d'une bande transporteuse et dispositif d'entrainement d'une bande transporteuse
AU771169B2 (en) * 2000-01-21 2004-03-18 Siemens Aktiengesellschaft Method for controlling the run-up of a conveyor belt and drive device for a conveyor belt
DE202011106995U1 (de) * 2011-10-21 2012-10-29 Duallift Gmbh Antrieb für Servicelifte in Windenergieanlagen (Softstarter)

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Publication number Publication date
EP0433627A3 (en) 1992-08-12

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