EP0643006B1 - Verfahren und Einrichtung zur Steuerung eines hydraulischen Aufzuges - Google Patents

Verfahren und Einrichtung zur Steuerung eines hydraulischen Aufzuges Download PDF

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Publication number
EP0643006B1
EP0643006B1 EP93114800A EP93114800A EP0643006B1 EP 0643006 B1 EP0643006 B1 EP 0643006B1 EP 93114800 A EP93114800 A EP 93114800A EP 93114800 A EP93114800 A EP 93114800A EP 0643006 B1 EP0643006 B1 EP 0643006B1
Authority
EP
European Patent Office
Prior art keywords
control signal
travel
control
value
signal
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
EP93114800A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0643006A1 (de
Inventor
Kjell Johansson
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.)
HYDROWARE ELEVATION TECHNOLOGY AB
Original Assignee
Inventio 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 Inventio AG filed Critical Inventio AG
Priority to DE59309724T priority Critical patent/DE59309724D1/de
Priority to AT93114800T priority patent/ATE182857T1/de
Priority to ES93114800T priority patent/ES2137213T3/es
Priority to DK93114800T priority patent/DK0643006T3/da
Priority to EP93114800A priority patent/EP0643006B1/de
Priority to CA002128946A priority patent/CA2128946C/en
Priority to US08/290,284 priority patent/US5612517A/en
Priority to JP6205717A priority patent/JPH0797150A/ja
Priority to TR00856/94A priority patent/TR27819A/xx
Priority to CN94115298A priority patent/CN1050579C/zh
Priority to AU72944/94A priority patent/AU675157B2/en
Priority to BR9403556A priority patent/BR9403556A/pt
Priority to NO943413A priority patent/NO308106B1/no
Priority to RU94033156/28A priority patent/RU2148548C1/ru
Priority to FI944269A priority patent/FI944269A/fi
Publication of EP0643006A1 publication Critical patent/EP0643006A1/de
Priority to HK98113560A priority patent/HK1012322A1/xx
Application granted granted Critical
Publication of EP0643006B1 publication Critical patent/EP0643006B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration

Definitions

  • the invention relates to a method and a device for Control of a hydraulic elevator, one Control device generates control signals that one Control valve assembly are supplied, which the flow regulates a hydraulic fluid in such a way that a cabin of the Elevators accelerated, moved at constant speed and when one arrives the braking point signaling shaft information is delayed.
  • German patent 36 38 247 is one Device for a hydraulic elevator, with the disadvantages mentioned above are to be remedied.
  • a control device is provided which Determining the speed behavior of the cabin Output signals generated that fed to a control valve become.
  • the control valve leads from one Hydraulic fluid source in According to the output signals the cabin driving hydraulic cylinder to or vice versa.
  • Reference speed values are stored in the memory correspond to certain operating states, which on different load and / or temperature conditions related are.
  • a sensor located on the cabin detects the Actual speed and passes it through a converter unit the computing unit.
  • the during the Acceleration phase measured actual speed and one predetermined reference speed formed a difference due to which the computing unit a Control speed curve calculated.
  • This Control speed curve is saved and during the Deceleration phase used to the actual speed towards the value of the specified reference speed correct. This is said to be accurate and quick Control of the destinations and thus the Operating time of the elevator can be shortened.
  • the invention has for its object a method and a device for performing the method according to Propose the preamble of claim 1, the one Direct entry on one floor without travel Allows creep speed.
  • Fig. 1 denotes a cabin, which means one having a piston 3 and a cylinder 4 hydraulic lifting device 2 can be set in motion can.
  • the movement is transmitted by means of a rope 5 the two attached to the piston 3 rollers 6, two on the Cabin 1 fixed rollers 7 and a fixed attached Roll 8 runs, the cabin 1 being guided in a shaft 9 becomes.
  • shaft switch 10 one with the cabin 1 connected sensor 11 and one Command control 12 are preferably digital Control device 20 connected.
  • the sensor 11 has a Wheel on that on a rope stretched along the shaft 9 rolls, and emits path signals in the form of pulse signals.
  • Of the Sensor 11 can be as described or otherwise work mechanically, but also electrically or optically.
  • a with reference to Fig. 2 control valve arrangement described in more detail below 13 is with the output of the control device 20 electrically connected and via hydraulic fluid lines on the hydraulic lifting device 2 and one Hydraulic fluid source 14 connected.
  • the command control 12 directs the control device 20 Driving commands too.
  • Brake application signals are from her Control unit 21, which is part of the Control device 20 is.
  • the brake application signals come from the shaft switches 10, which at certain intervals in front of the Floor floors are attached.
  • Brake application signals can can also be derived from the sensor 11 by for example summed up for a certain number Path signals generated corresponding shaft information becomes.
  • the control device 20 generates a signal S, which the control valve assembly 13 is supplied.
  • the control unit 21 is equipped with a tachometer signal converter 22 connected, which is supplied by the sensor 11 Travel signals into actual speed values vi or actual travel values si implements.
  • a speed controller 23 is on the input side an output of the Tacho signal converter 22 and with one Speed setpoints vs output of a Speed setpoint sensor 24 connected is connected on the input side to the control unit 21. Via another one connected to the control unit 21 Input, the speed controller 23 can be reset or be started.
  • the Speed controller 23 can be a conventional PID controller be used.
  • 25 is a below with reference to FIG. 5 designated path controller, the on the input side with the control unit 21 and with a Output of the speedometer signal converter 22 outputting actual values si connected is.
  • a path 26 belongs to path controller 25, in which assignments of actual path values si to percentages % S values of one described later with reference to FIG. 4 Control area CS are stored.
  • a Switching device 27 is with an output of the control unit 21, the output of the speed controller 23, the output of the path controller 25 and the input of a DA converter 28 connected. The output can be switched by means of the switching device 27 of the travel controller 25 upon arrival of the brake application point signaling shaft information to the input of the DA converter 28 are switched.
  • the output of the DA converter is connected to an amplifier 29, the output of which Output of the control device 20 forms.
  • the control valve arrangement 13 shown in FIG. 2 has two similar electro-hydraulic throttle valves 30, 30 '.
  • the following description for the throttle valve 30 for Control of the lowering process applies in the same way for the Throttle valve 30 'shown in mirror image for lifting the Cabin, in the same, but with a tick Reference numbers are used.
  • a main piston 32 is guided in a valve chamber 31 protrudes from the rear a piston rod 33.
  • a pilot valve 34 with a without a functional connection
  • Electromagnet 35 arranged with the output of the Control device 20 (Fig. 1) is electrically connected.
  • the piston rod 33 protrudes out of the pilot valve 34 at the rear and carries at its end a stop 36, between which Stop 36 and the pilot valve 34, a compression spring 37 is arranged is.
  • the compression spring 37 acts on the force of the electromagnet 35 against.
  • the pilot valve is in one Connection line 38 arranged and controls its flow.
  • the connecting line 38 connects a front chamber 39 and a rear chamber 40 of the valve chamber 31 with each other.
  • the front chamber 39 has an inlet C which over a variable passage 39.1 with an outlet T is connected, which opens into a tank 42.
  • Inlet C is connected to the cylinder 4 of the lifting device 2.
  • the rear chamber 40 is also via a drain line 41 connected to the tank 42. Located in the drain line 41 an electromagnetic closing valve 44.
  • the control valve arrangement works with a lifting force feedback, i.e. the force of the compression spring 37, the Represented position of the main piston 32 is measured and serves as a feedback signal. This ensures that the force of the electromagnet 35 or the strength of the control signal S proportional to the position of the Main piston 32 is.
  • This solution has a good dynamic Behavior on and is inexpensive and easy to set up.
  • other, e.g. hydraulic, electrical or mechanical returns are used.
  • the outlet T' is the front one Chamber 39 'also connected to tank 42.
  • One with P designated inlet is with a motor-driven pump 45 of the pressure fluid source 14 in connection.
  • the pump 45 sucks from the tank 42.
  • the inlets C and P are connected via a connecting line 47 a check valve 48 connected to each other.
  • the Check valve 48 acts so that the hydraulic fluid from the lifting device 2 not in the direction of the pump 45 can flow back.
  • the signal S is zero and that Throttle valve 30 is closed (hydraulically). This will reached by a slightly open pilot valve 34 so that the valve chambers 39 and 40 are connected to one another and the one in the rear chamber 40 on the large rear Surface of the main piston 32 acting pressure in the direction the chamber 39 moves.
  • the closing valve 44 is at Standstill and upward travel of cabin 1 closed.
  • the Throttle valve 30 ' is open when the cabin 1 is at a standstill.
  • the throttle valve 32 'for lifting the cabin 1 works basically the same as the throttle valve 32, but with the difference that the signal S 'for the electromagnet 35 'is proportional to the signal S. If a call is made to Upward travel, the pump 45 is turned on Hydraulic fluid into chamber 39 'and through the valve gap 39.1 'pumps into the tank 42. Thereafter, the pilot valve 34 ' a signal S ', causing an opening of the connecting line 38 'leads. Then pressure medium flows from the front Chamber 39 'to the rear chamber 40' at a particular one The amount of the signal S is the opening cross section of the Pilot valve 34 'larger than the cross section of the Drain line 41 '.
  • the acceleration process and the drive with nominal or Operating speed can be unregulated. In the Upward travel can thus the full unthrottled performance of the Pump 45 can be used. The maximum speed of the Cabin 1 is then determined by the pump output. The The speed of the descent can be adjusted accordingly dimensioned aperture in the drain line of the Lifting device 2 are limited.
  • pilot valve arrangements In the illustrated embodiment there are two Pilot valve arrangements are provided, depending on the direction of travel only one is active at a time. In another Design variant is only a pilot valve arrangement for both directions of travel provided, alternating both Throttle valves 30, 30 'controls.
  • FIG. 3 which represents the prior art, also includes v denotes the speed and t denotes the time.
  • v denotes the speed
  • t denotes the time.
  • control signal assigned to the actual path values si are formed for the control valve assembly 13 with connected to the input of a multiplier 25.1, each a corresponding to the current travel actual value si ' percentage value% S of the control area with the calculated value of the control area CS multiplied.
  • the outcome is to improve the control result of the multiplier 25.1 with the input of an adder 25.2 connected to the product of the multiplier 25.1 Control deviation CO and the pilot signal S0 added and the output of which forms the output of the displacement controller 25.
  • the control device 20 described above operates as follows.
  • speed controller 23 is reset or activated by control unit 21, and the input of DA converter 28 is switched to the output of speed controller 23 by switching device 27.
  • the cabin 1 is now controlled during the acceleration phase and travel at constant speed by comparing the actual speed values vi with the speed setpoints vs, the control signal S at the output of the control device 20 according to the characteristic curve E (FIG. 4).
  • the cabin 1 After the arrival of a driving command, the cabin 1 starts to move at the start time t1 and at the same time a first value S1 of the control signal S is stored (FIG. 4).
  • the relevant shaft switch 10 or the sensor 11 sends a shaft information to the control unit 21, whereupon the delay phase is initiated.
  • the path controller 25 is activated and its output is switched to the input of the DA converter 28 by means of the switching device 27.
  • the displacement controller 25 now works in such a way that, as already described with reference to FIG.
  • the selected control valve assembly 13 the position of Master piston 32 exactly proportional to the control signal S.
  • the control signal S generated by the speed controller 23 until the time of braking application load and temperature dependent. But since the control area CS for the Delay phase to the current one while driving constant load and temperature conditions based on the values S1, S2, H is redefined, can be accurate Direct entry can be achieved without a level adjustment is required.
  • the hysteresis value H becomes as follows during a learning trip determined: The control signal S is increased until the Speed reaches a predetermined value. At If the specified value is reached, the strength of the Control signal S measured and stored. After that it will Control signal S further increased and after a while again downsized until the given value of speed is reached again. Then the strength of the control signal S measured again and one of the two measured values Difference formed, which represents the hysteresis value H.
  • the pilot control signal S0 causes an immediate Departure of the elevator car after the start command
  • the starting jerk can be significant with the pilot control signal S0 can be reduced.
  • the electromagnet 35 of the control valve arrangement for as long with a gradually increasing control signal S pressurized until the elevator car starts moving. That included determined control signal is around a constant value reduced and stored as pilot signal S0.
  • the control valve arrangement 13 becomes a drive command directly applied to the pilot signal S0.
  • the limit control signal SL is that control signal S, at which the main piston 32 of the control valve assembly 13 its End position reached.
  • the control device 20 works in such a way that the value of the control signal S is the value of the Limit control signal SL can never exceed.
  • a hydraulic elevator is usually explained speed controlled. With that during one Learning drive certain limit control signal SL is a uncontrolled operation during constant driving and one position-controlled operation during the subsequent Delay phase feasible.
  • the control valve arrangement 13 is also used the limit control signal SL, so that the entire Delivery rate of the hydraulic fluid source 14 in the Lifting device 2 is effective, reducing the efficiency of the Lifting device 2 is significantly improved.
  • the transition from uncontrolled constant travel to controlled travel Deceleration runs without default, because the value of the Limit control signal SL even with a previous unregulated Operation is such that the main piston 32 the Limit control signal SL can follow immediately.
  • the limit control signal SL becomes the coil of Control valve arrangement as long as with a gradual increasing control signal S is applied until the The elevator car speed no longer increases.
  • the the control signal determined in the process is generated by the control device 20 stored as a limit control signal SL.
  • the device according to the invention can preferably by means of of a microcomputer system can be realized.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Elevator Control (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Types And Forms Of Lifts (AREA)
  • Valve-Gear Or Valve Arrangements (AREA)
  • Valve Device For Special Equipments (AREA)
EP93114800A 1993-09-15 1993-09-15 Verfahren und Einrichtung zur Steuerung eines hydraulischen Aufzuges Expired - Lifetime EP0643006B1 (de)

Priority Applications (16)

Application Number Priority Date Filing Date Title
DE59309724T DE59309724D1 (de) 1993-09-15 1993-09-15 Verfahren und Einrichtung zur Steuerung eines hydraulischen Aufzuges
AT93114800T ATE182857T1 (de) 1993-09-15 1993-09-15 Verfahren und einrichtung zur steuerung eines hydraulischen aufzuges
ES93114800T ES2137213T3 (es) 1993-09-15 1993-09-15 Procedimiento y dispositivo para el control de un ascensor hidraulico.
DK93114800T DK0643006T3 (da) 1993-09-15 1993-09-15 Fremgangsmåde og indretning til styring af en hydraulisk elevator
EP93114800A EP0643006B1 (de) 1993-09-15 1993-09-15 Verfahren und Einrichtung zur Steuerung eines hydraulischen Aufzuges
CA002128946A CA2128946C (en) 1993-09-15 1994-07-27 Process and apparatus for controlling a hydraulic lift
US08/290,284 US5612517A (en) 1993-09-15 1994-08-15 Process and apparatus for controlling a hydraulic lift
JP6205717A JPH0797150A (ja) 1993-09-15 1994-08-30 油圧エレベータを制御する方法及び装置
TR00856/94A TR27819A (tr) 1993-09-15 1994-09-02 Bir hidrolik asansöre kumanda etmeye mahsus yöntem ve techizat.
CN94115298A CN1050579C (zh) 1993-09-15 1994-09-13 用于控制液压升降机的方法和设备
AU72944/94A AU675157B2 (en) 1993-09-15 1994-09-13 Method and equipment for the control of an hydraulic lift
BR9403556A BR9403556A (pt) 1993-09-15 1994-09-14 Processo e dispositivo para o comando de um elevador hidráulico
NO943413A NO308106B1 (no) 1993-09-15 1994-09-14 FremgangsmÕte og anordning ved styring av en hydraulisk heis
RU94033156/28A RU2148548C1 (ru) 1993-09-15 1994-09-14 Способ управления гидравлическим лифтом и устройство для его осуществления
FI944269A FI944269A (fi) 1993-09-15 1994-09-15 Menetelmä ja laite hydraulihissin ohjaamiseksi
HK98113560A HK1012322A1 (en) 1993-09-15 1998-12-16 Method and system for controlling a hydraulic lift

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP93114800A EP0643006B1 (de) 1993-09-15 1993-09-15 Verfahren und Einrichtung zur Steuerung eines hydraulischen Aufzuges

Publications (2)

Publication Number Publication Date
EP0643006A1 EP0643006A1 (de) 1995-03-15
EP0643006B1 true EP0643006B1 (de) 1999-08-04

Family

ID=8213263

Family Applications (1)

Application Number Title Priority Date Filing Date
EP93114800A Expired - Lifetime EP0643006B1 (de) 1993-09-15 1993-09-15 Verfahren und Einrichtung zur Steuerung eines hydraulischen Aufzuges

Country Status (16)

Country Link
US (1) US5612517A (ru)
EP (1) EP0643006B1 (ru)
JP (1) JPH0797150A (ru)
CN (1) CN1050579C (ru)
AT (1) ATE182857T1 (ru)
AU (1) AU675157B2 (ru)
BR (1) BR9403556A (ru)
CA (1) CA2128946C (ru)
DE (1) DE59309724D1 (ru)
DK (1) DK0643006T3 (ru)
ES (1) ES2137213T3 (ru)
FI (1) FI944269A (ru)
HK (1) HK1012322A1 (ru)
NO (1) NO308106B1 (ru)
RU (1) RU2148548C1 (ru)
TR (1) TR27819A (ru)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SG87910A1 (en) * 1999-10-29 2002-04-16 Toshiba Kk Double-deck elevator car
DE10150463A1 (de) * 2001-10-16 2003-04-17 Hcs Hydraulic Control Systems Elektronische Einrichtung zur Regelung von Funktionen von hydraulischen und elektrischen Aufzügen
FI113365B (fi) * 2003-02-27 2004-04-15 Kone Corp Hissinohjausmenetelmä ja menetelmän toteuttava laitteisto
KR100610288B1 (ko) * 2003-12-26 2006-08-09 오티스 엘리베이터 컴파니 엘리베이터 카 속도 검출 장치 및 방법
JP2006298645A (ja) 2005-04-21 2006-11-02 Inventio Ag エレベータケージの速度を監視するための方法および検出システム
FI121879B (fi) * 2010-04-16 2011-05-31 Kone Corp Hissijärjestelmä
ES2763933T3 (es) * 2016-08-02 2020-06-01 Kone Corp Procedimiento, unidad de control de ascensor, y sistema de ascensor para ajustar dinámicamente un límite de velocidad de nivelación de una cabina de ascensor
CN110501161A (zh) * 2019-09-10 2019-11-26 哈尔滨工程大学 一种转子轴承负荷自动化测量方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4351415A (en) * 1978-10-06 1982-09-28 Shimadzu Corporation Hydraulic elevator installation
US4527662A (en) * 1983-04-01 1985-07-09 Otis Elevator Company Elevator speed control
JPS62126087A (ja) * 1985-11-25 1987-06-08 株式会社日立製作所 流体圧エレベ−タ
US4976338A (en) * 1989-04-27 1990-12-11 Delaware Capital Formation, Inc. Leveling control system for hydraulic elevator
US5040639A (en) * 1990-01-31 1991-08-20 Kawasaki Jukogyo Kabushiki Kaisha Elevator valve apparatus
JP2680459B2 (ja) * 1990-03-07 1997-11-19 株式会社東芝 油圧エレベータの制御装置
FI88012C (sv) * 1990-06-04 1993-03-25 Kone Oy Förfarande och anordning för styrning av en hydraulhiss vid inkörning till plan
JP2605455B2 (ja) * 1990-07-18 1997-04-30 三菱電機株式会社 油圧エレベーターの制御装置
JPH04106082A (ja) * 1990-08-24 1992-04-08 Toshiba Corp 油圧エレベータの制御装置
EP0511488A1 (de) * 1991-03-26 1992-11-04 Mathias Bäuerle GmbH Papierfalzmaschine mit einstellbaren Falzwalzen

Also Published As

Publication number Publication date
CN1050579C (zh) 2000-03-22
FI944269A (fi) 1995-03-16
CN1109018A (zh) 1995-09-27
AU7294494A (en) 1995-03-30
ES2137213T3 (es) 1999-12-16
TR27819A (tr) 1995-08-29
AU675157B2 (en) 1997-01-23
NO943413D0 (no) 1994-09-14
US5612517A (en) 1997-03-18
JPH0797150A (ja) 1995-04-11
FI944269A0 (fi) 1994-09-15
DE59309724D1 (de) 1999-09-09
HK1012322A1 (en) 1999-07-30
CA2128946A1 (en) 1995-03-16
RU2148548C1 (ru) 2000-05-10
DK0643006T3 (da) 2000-02-28
NO308106B1 (no) 2000-07-24
RU94033156A (ru) 1996-08-27
NO943413L (no) 1995-03-16
ATE182857T1 (de) 1999-08-15
BR9403556A (pt) 1995-05-16
CA2128946C (en) 2003-06-17
EP0643006A1 (de) 1995-03-15

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