EP0884264A1 - Procédé et dispositif pour contrÔler un moteur - Google Patents

Procédé et dispositif pour contrÔler un moteur Download PDF

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Publication number
EP0884264A1
EP0884264A1 EP98110016A EP98110016A EP0884264A1 EP 0884264 A1 EP0884264 A1 EP 0884264A1 EP 98110016 A EP98110016 A EP 98110016A EP 98110016 A EP98110016 A EP 98110016A EP 0884264 A1 EP0884264 A1 EP 0884264A1
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EP
European Patent Office
Prior art keywords
control
torque
drive
elevator car
drive motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP98110016A
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German (de)
English (en)
Inventor
Gerhard Kindler
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.)
Inventio AG
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
Publication of EP0884264A1 publication Critical patent/EP0884264A1/fr
Withdrawn legal-status Critical Current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
    • 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
    • B66B19/00—Mining-hoist operation
    • B66B19/007—Mining-hoist operation method for modernisation of elevators

Definitions

  • the invention relates to a method and a device for controlling a drive for smooth start-up, for example for an elevator, a crane or a Vehicle.
  • a drive device is known from US Pat. No. 4,995,478 become known, which is a finely dosed and jerk-free Starting behavior should enable.
  • the regulation of Drive is based on information that on the one hand from one arranged on an elevator car Load measuring device and on the other hand by one Speed sensors, which the speed of the Drive motor measures and proportionally into one Speed converted, delivered. To a jerk-free approach in the up or down direction The friction values should also ensure this be compensated.
  • the above drive device must be based on one arranged on the elevator car Load measuring device measured the load in the cabin to be involved in the control process.
  • the exact load values required for the control require a generally expensive one Load measuring device under relatively large Workload attached to the elevator car and needs to be wired.
  • the invention has for its object a method and a device for regulating a drive of the propose the type mentioned above, which the does not have the aforementioned disadvantages and on cost-effective way a smooth start enables.
  • FIG. 1 shows an example of an overview block diagram an elevator system with an existing one Drive control 1, a superimposed fast Speed control 2 and a processing unit 3, the for the calculation of the load in an elevator car 5 based on a torque setpoint and an actual speed value responsible is. Further are schematic shown a drive motor 6, a traction sheave 7, Counterweight 8 and one on the elevator car 5 attached speed limiter rope 9, which over Deflection rollers 10 runs. Below are examples this lift the procedures for holding the load and for Calculation of the load in the elevator car 5 closer described.
  • the existing drive control 1 is an actual speed value V ist , which is measured by means of a tachometer DT1, for example a digital tachometer, on the drive motor 6, and an actual movement value S ist , which is also by means of a tachometer DT2 due to the movement of the speed limiter cable 9 of the elevator car 5 is measured, is supplied, from which a torque setpoint TMSOLL is determined by means of travel setpoints REF and a drive torque setpoint TMSOL10 resulting from a first controller S-REG and a second controller V-REG.
  • the torque setpoint TMSOLL and a current actual value I are fed to a subordinate torque control 12 and finally fed to a converter UR for the drive motor 6.
  • the proposed method according to the invention is used the movement to detect a moment on the brake of the tachometer DT1 on the drive motor 6 after opening the holding brake.
  • a digital controller 20 performs rapid acquisition and processing in the 1 ms cycle of an actual speed value V ist , with the resulting torque setpoint TMSOL1 then being output immediately to the subordinate torque control 12 or current control in the case of DC drives.
  • this fast speed control 2 runs in parallel with the existing drive control 1, which is in operation while the elevator car 5 is moving and operates in the 10 ms cycle.
  • a fast controller with switchover of the controller parameters can be used for both tasks. After the time TSW has elapsed, the output signal TMSOL1 of this control is kept up to date and the travel setpoint REF is started.
  • the controller 20 works with a high initial gain at the stability limit. This amplification can be selected many times higher than with the existing drive control 1 because the sampling time (1 ms instead of 10 ms) is shorter and because in the extremely fast control process only the directly coupled rotating mass of the drive motor 6 with the drive pulley 7 for the stability of the Regulation is decisive.
  • the gain of the controller 20 from a high Initial value per 1 ms time interval around a certain Amount reduced so that after a predetermined Time the control oscillation subsides to zero.
  • the lower The gain limit is selected so that the Control loop exhibits aperiodically stable behavior.
  • the torque control becomes a setpoint TMKOR activated as soon as one of the two speed signals indicates movement of the traction sheave 7.
  • the direction the setpoint is chosen so that a moment counter the direction of movement is built up.
  • the amount should be such that about 50% of the maximum required Holding torque is generated.
  • a response threshold is provided to ensure that the fast control process, which is in part controlled by fixed timings, is not already started by interference signals in the actual speed value V ist .
  • the control process described above is only initiated when the absolute value of the actual speed value signal V ist exceeds the predetermined threshold value and the command to open the holding brake is present.
  • the last two influencing factors depend on the position dependent on the elevator car 5 in the shaft.
  • the position in the elevator control is known and the shaft corresponding values can thus be calculated.
  • the load measured value TMMITkg calculated above contains one Proportion of friction in the system, which depends on Direction of movement during fast Control process falsifies the result. Occurs however a vibration with change of direction as it decays Amplitude (as at the beginning of the fast Speed control 2 described) and takes place Averaging over a period of time only corresponds to the duration of the vibrations Average value of the friction component is approximately zero. This eliminates measurement errors caused by friction on the Drive motor 6, gearbox and traction sheave 7 result largely eliminated. The decaying vibration is thus an essential element of this load measurement method.
  • the vibration process as described above can be influenced as a result of the reaction of the cable forces on the traction sheave 7. In extreme cases, this desired vibration does not occur at all.
  • a tacho signal IVT10 and the absolute value of the tacho signal IVT10 are integrated in order to record the proportion due to friction in the measured value described above.
  • This gives the two values IVTS and ABSIVTS, as well as the quotient IVTQ IVTS / ABSIVTS .
  • the value IVTQ is a factor that is multiplied by the measured frictional force, based on the circumference of the traction sheave 7 and the factors of the neck and gravitational constant K3. This result is added to the load measured value TMMITkg taking into account the polarity.
  • the load in the elevator car 5 finally results from these values in kilograms.
  • Figures 2 and 3 show waveforms of Starting behavior with resp. without processing unit 3 to calculate the load.
  • Engine torque TMH is shown, Acceleration in the elevator car AK and VK elevator car speed.
  • the quieter starting behavior can be seen under Inclusion of the processing unit 3 based on the striking smaller acceleration peaks and the faster Settling process.
  • Fig. 4 also shows signal profiles of the Processing unit 3 for calculating the load from the Torque setpoint TMSOLL and the tachometer signal IVT10 and the associated resulting courses of the setpoint TMS and the integrated speedometer signal IVTS.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)
  • Control Of Electric Motors In General (AREA)
EP98110016A 1997-06-09 1998-06-02 Procédé et dispositif pour contrÔler un moteur Withdrawn EP0884264A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP97810358 1997-06-09
EP97810358 1997-06-09

Publications (1)

Publication Number Publication Date
EP0884264A1 true EP0884264A1 (fr) 1998-12-16

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP98110016A Withdrawn EP0884264A1 (fr) 1997-06-09 1998-06-02 Procédé et dispositif pour contrÔler un moteur

Country Status (4)

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EP (1) EP0884264A1 (fr)
JP (1) JPH1160089A (fr)
CN (1) CN1201753A (fr)
CA (1) CA2240106A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2522612A1 (fr) 2011-05-12 2012-11-14 ThyssenKrupp Aufzugswerke GmbH Procédé et dispositif destinés à la commande dýune installation de levage
DE112017003268B4 (de) 2016-06-30 2020-08-06 Mitsubishi Electric Corporation Fahrstuhl-steuereinrichtung

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN103287937B (zh) * 2013-05-09 2015-09-09 深圳市海浦蒙特科技有限公司 电梯起动转矩自动调节方法及系统
WO2016091198A1 (fr) * 2014-12-11 2016-06-16 冯春魁 Procédé et système pour acquisition de paramètres, commande, fonctionnement et contrôle de charge pour ascenseur
JP7157772B2 (ja) * 2020-01-10 2022-10-20 株式会社日立製作所 エレベーター制御装置及びエレベーター制御方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0433627A2 (fr) * 1989-12-20 1991-06-26 Siemens Aktiengesellschaft Méthode et dispositif pour compenser la charge d'une commande de position à moment polarisé au moment du démassage

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0433627A2 (fr) * 1989-12-20 1991-06-26 Siemens Aktiengesellschaft Méthode et dispositif pour compenser la charge d'une commande de position à moment polarisé au moment du démassage

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2522612A1 (fr) 2011-05-12 2012-11-14 ThyssenKrupp Aufzugswerke GmbH Procédé et dispositif destinés à la commande dýune installation de levage
DE102011101860A1 (de) * 2011-05-12 2012-11-15 Thyssenkrupp Aufzugswerke Gmbh Verfahren und Vorrichtung zum Steuern einer Aufzugsanlage
DE112017003268B4 (de) 2016-06-30 2020-08-06 Mitsubishi Electric Corporation Fahrstuhl-steuereinrichtung

Also Published As

Publication number Publication date
CA2240106A1 (fr) 1998-12-09
JPH1160089A (ja) 1999-03-02
CN1201753A (zh) 1998-12-16

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