Classifications

• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
  • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
  • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
  • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
  • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
  • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor

Definitions

• the invention relates to a method for driving electric drive motors of a group of at least two machines, the drive motors of which operate with a periodic course of movement and to which energy is supplied from at least one electrical supply system, and a group of machines.
• Machines with a periodic course of motion are, for example, weaving machines that contain several components that move according to a predetermined, repetitive course of motion.
• a component is, for example, a sley that is moved in one direction and in the other at certain times.
• the components also include technical training resources that are moved up and down at certain times.
• rapier weaving machines rapiers and their drive elements belong to these components, which move the rapiers into and out of a shed at predetermined times. If several such components are driven by a drive motor with the periodically repetitive course of motion, this approach moves. drive motor also after a repetitive periodic movement. In looms, the period of the movement is determined by the number of weaving cycles that make up a weaving pattern.
• a weaving pattern is the way in which warp threads and weft threads are woven in a repeating pattern.
• the periodic course of movement of the individual components usually has the consequence that the energy supply from a supply system to the drive motor also varies periodically. This periodic course of the energy supply is necessary so that the speed of the drive motor changes only to a relatively small extent.
• the energy supply to the drive motor of a weaving machine thus varies between a minimum value and a maximum value.
• the energy to be supplied by a feed system to the drive motors of a group of weaving machines thus also varies.
• Such a feed system must therefore be able to deliver the sum of the maximum values of the energy required by the drive motors of a group of weaving machines. This makes a complex and expensive feeding system necessary, but because of the varying amount of energy to be supplied it works with poor efficiency and thus leads to high usage costs.
• the invention has for its object to improve the driving of electric drive motors of machines in a group.
• This object is achieved in that the periodic movement profiles of the at least two machines are coordinated with one another in such a way that one for the operation of the few At least two machines are influenced by representative parameters.
• the representative parameter is limited to a maximum value and / or a change in the representative parameter is limited to a predetermined value.
• the sum of the electrical energy supplied to the drive motors and / or the level of the noise generated by the machines and / or vibrations caused by the machines serve as representative parameters.
• the supply of energy to the drive motors of the machines is controlled in a coordinated manner. This makes it possible to control the course of the total energy supplied in such a way that it changes only relatively little. This can reduce power losses in the feed system and improve efficiency.
• the course of movement of the electric drive motor of at least one machine and preferably the course of movement of the electric drive motors of all machines of a group of machines as a function of the periodic movement course of the drive motor of at least one other machine of the group and preferably as a function of it the movements of the drive motors of all other machines in the group are controlled.
• the energy consumption and / or the vibrations and / or the noise level of all the machines in a weaving room can be influenced and significantly improved.
• the drive motor of each machine of a group of machines is controlled according to the same periodic course of movement w rd, and that these periodic movements of the drive motors of the machines in this group are out of phase with one another.
• the driving of machines in a group with the same periodic movements takes place, for example, when several or all weaving machines of a machine hall produce fabrics with the same pattern.
• means are provided in a group of machines, each of which has an electric working motor that operates with a periodic movement pattern and is connected to at least one feed system that serves to control electrical energy, that detects the movement patterns of at least Align two machines in the group to influence a parameter representative of the operation. It is particularly advantageously provided that the machines are provided with a control that operates the drive motors with a constant torque. The periodic course of movement is particularly pronounced in these machines.
• feed systems are provided for the drive motors of the machines, which are connected to one another.
• a feed system can be provided for each machine, which is connected to the feed system of the other machine or machines.
• the at least one supply system is a direct current system, which preferably contains at least one electrical energy buffer.
• the drive motors are switchable reluctance motors which are connected to at least one supply system by means of switching units.
• Reluctance motors of this type are suitable for msbe especially in combination with a direct current system as a feed system.
• the machines are looms, the main drive shafts of which are connected directly to the shafts of the associated drive motors.
• the angular position of the drive shaft of the drive motor thus corresponds to the angular position of the weaving machine, which defines the periodic movement of the weaving machine in accordance with the weaving pattern.
• the movement course of the individual weaving machines of a weaving machine group in relation to one another can thereby be controlled in a simple manner.
• the advantage can be realized with groups of weaving machines that superimpositions or build-up caused by interference can be avoided.
• Such superimpositions can occur in a weaving room because the weaving machines, which each have a small speed difference from one another, come into phase at a certain point in time and in opposite phase at other points in time.
• Such overlays are avoided due to the invention, however, since the course of movement of the drive motor of each loom is controlled taking into account the course of movement of the other looms, so that it can be avoided that these machines come into phase with one another.
• the at least one supply system does not have to be able to deliver a peak current at any time and only a small amount of energy at another time.
• the avoidance of interference also has the advantage that the noise level and the vibrations generated by a weaving machine group fluctuate less, so that the maximum value of these vibrations and the noise level can also be reduced.
• FIG. 1 shows a control of the drive motors of a group of weaving machines
• FIG. 2 shows a diagram with a periodic course of movement of the drive motors of a group of machines corresponding to FIG. 1,
• Fig. 3 shows a modified control for the supply of drive motors of a group of machines
• Fig. 4 shows another embodiment of a control of the drive motors of a group of machines.
• the control system 1 contains a group of machines 2, 3, 4, for example weaving machines, and an electrical feed system 5 with a feed line 6.
• Each machine 2, 3, 4 contains at least one component 7 that performs a periodic movement and that with an electric one Drive motor 8 is driven according to a periodic course of movement.
• the energy supply to the drive motor 8 is controlled with a periodic course.
• Controllable means 9 are provided for each machine 2, 3, 4 for supplying energy from the feed system 5 to the respective drive motor 8.
• the means 9 are each a switching unit which is connected to the switchable reluctance motor and which is fed by the feed system 5 through the feed line 6.
• the feed system 5 consists of a direct current supply.
• the switching unit 9 is controlled by means of a common control unit 11 which outputs the control parameters in order to control the switchable reluctance motors according to a periodic course.
• the angular position of the switchable reluctance motors is controlled in accordance with the predefined course of movement, by using the switching unit 9 certain windings of the switchable reluctance motor to the feed system 5 at predefined times be connected.
• the course of the movement means the positions and the change in the position of the switchable reluctance motor, the course of the movement of which is adapted, for example, to the natural movement of the machine parts.
• the machines 2, 3, 4 are looms, the main drive shaft of which is driven directly by the drive shaft of the respective drive motor 8 or which is made in one piece with this drive shaft.
• the angular position of the drive shaft of the drive motor is equal to the angular position of the main drive shaft of the weaving machine.
• the periodic movement of the weaving machine is determined by means of this angular position.
• Such weaving machines are known from WO 98/31856 and WO 99/27426 from the applicant. Reference is expressly made to the content of these two publications.
• WO 99/27426 describes the method by means of which a drive motor is driven in accordance with a specific movement profile by periodically controlling the energy supply to the drive motor as a function of the angular position of the machine. This method can be used here to periodically step down the control parameters of the drive motors 8. This method is not reproduced in detail here since it is known from WO 99/27426.
• the machines 2, 3 and 4 each have an angle measuring device 10 with which the angular position of the main drive shaft of the machines 2, 3, 4 is detected.
• the angle measuring device 10 of each machine 2, 3, 4 is connected to the control unit 11 of the group of machines. This makes it possible to control the switching unit 9 of each machine 2, 3, 4 as a function of the signals from the angle measuring devices 10, which determine the angular position of the machines 2, 3, 4.
• the angular position of the machines 2, 3, 4 is determined by means of the electrical position of the drive motor 8 itself.
• the periodic course of movement of a drive motor 8 of a machine 2, 3 or 4 is controlled as a function of the periodic course of movement of a drive motor 8 of another machine in the group.
• the electric drive motors 8 of all the machines 2, 3, 4 are preferably controlled as a function of the movement profile of the drive motors 8 of all the machines 2, 3, 4 of the group.
• the energy supply from the feed system 5 to the electric drive motors 8 of each machine 2, 3 and 4 is controlled as a function of the energy supply from the feed system 5 to the electric drive motor 8 of one or more other machines 2, 3, 4 of the group. Since the angular position of the respective machine determines the energy supply, the drive motor of each machine 2, 3, 4 can be controlled as a function of the angular position of one or more of the other machines.
• the periodic movement profile of each of the machines 2, 3 and 4 is determined as a function of the periodic movement profile of the other machines 2, 3, 4 in such a way that the maximum value and / or a change in the value of the total energy supply increases the electric drive motors 8 of the machines 2, 3, 4 of the group are limited.
• the period of the course of movement of each of the machines 2, 3, 4 is two revolutions or 720 ° and that the machines 2, 3, 4 are driven with the same course of movement. This is the case with weaving machines, for example, when there is a weaving pattern that repeats after two wefts and when identical weaving machines weave the same fabric.
• control parameters are determined by the control unit 11 and stored as a function of the angular position of each of the machines 2, 3, 4, in order to move each drive motor in every angular position in accordance with the control parameters.
• control parameters are, for example, the value and / or the time of the current and / or the voltage supplied to the drive motor 8.
• a reference angle position is started, which is the point in time at which the weft thread of the previous weaving cycle is picked up.
• the course of the energy supply as a function of the angular position of the drive motor 8 is the same for each machine 2, 3 and 4.
• the control unit 11 calculates the total energy supply to the drive motors 8 of the machines 2, 3 and 4 of the group in each period of the movement course. For example, the reference position of machines 3 and 4 is shifted relative to the reference position of machine 2 until the maximum value of the total energy supply to all machines 2, 3 and 4 is a minimum. In this way, the phases of the drive motors are shifted in time depending on each other. In this way, the periodic movement of each machine is adapted to the periodic movement of the other machines in the group.
• the periodic movement course also extends over several weaving cycles.
• a course of the energy supply can be created for each period of the weaving pattern for the drive motor of a weaving machine depending on the angular position of the weaving machine in question. If the number of weaving cycles of the weaving pattern is different for weaving machines of a group and, moreover, the average speed of the weaving machines is different, the period of the movement course of the different weaving machines can be determined as the smallest common multiple of the number of weaving cycles and the average speed of the weaving machines. Depending on this movement course, the course of the energy supply to the weaving machines can be determined per period. The course of the energy supply to the individual weaving machines per period is then different for each weaving machine.
• a first loom is weaving at 600 picks per minute (10 Hz) and a weaving pattern comprises three picks
• a second loom is weaving at 720 picks per minute (12 Hz) and a weaving pattern is six picks and a third weaving machine is 900 picks per minute (15 Hz) weaves and a weaving pattern comprises three wefts
• the period of the first weaving machine is 0.3 seconds
• the period of the second weaving machine is 0.5 seconds
• the period of the third weaving machine is 0.2 seconds.
• the minimum common multiple of three seconds can be determined as the period, ie the smallest common multiple of 0.3, 0.5 and 0.2.
• a periodic movement course can be set up for each weaving machine in the group per period of three seconds.
• the various movements can be out of phase according to the above explanations until the maximum value or the deviation from the mean of the total energy supply to the weaving machine group becomes a minimum.
• the total energy supply is determined or calculated by means of the control unit 11.
• the phase offset of the movement profiles of the individual machines in the group can then be optimized. This can be achieved by changing the phase of the movement course of a machine somewhat over time while the machines are working. In this way, the influence on the value of the measured total energy supply during the operation of the machines can be determined without the value of the total energy supply changing significantly.
• the course of movement of the machine in question can be optimally set as a function of the course of movement of the other machine. If a change in a particular direction decreases or varies the measured total energy supply, it can continue to be changed in this direction until another change increases or varies the measured total energy supply. If a change in one direction increases the measured total energy supply or varies more, the change can be made in the opposite direction until another change in this direction increases the measured total energy again or varies more. This process can be repeated in succession for all machines until an optimum is found.
• the measurement of the energy supply is expediently carried out only after a setting corresponding to the calculated energy supply is carried out. Since it is possible to determine the energy supply according to WO 99/27426 very precisely, the procedure in which the energy supply is calculated has priority over the procedure in which the energy supply is measured.
• the various machine's development profiles depending on other representative parameters.
• the choice of representative parameters may depend on the weighting given to these parameters.
• the movement profiles can be adapted to one another as a function of a value of the measured noise level that is generated by the machines.
• This noise level is measured, for example, with a measuring device that is set up between two machines.
• the value of vibrations generated by the machines can also be measured in a corresponding manner. This can be done, for example, by setting up a vibration measuring device on the floor on which the individual machines of a group are created and in which the signal from this measuring device is processed.
• control system 1 has two electrical supply systems 5 and 15 which are connected to one another and which supply the group of machines 2, 3 and 4.
• the feed systems 5 and 15 consist, for example, of a direct current supply.
• the control system 1 also comprises an electrical energy buffer 16 which is connected to the supply line 6, which connects the two supply systems 5 and
• the function of the central control unit 11 and the switching means 9 according to FIG. 1 is taken over by three local control units 17 which are assigned to the individual drive motors 8. These control units 17 are connected to one another and can exchange signals so that they can take over the function of the central control unit 11. Each control unit 17 is also equipped with a speaking angle measuring device 10 and a drive motor 8 connected.
• the control system 1 contains one electrical feed system 18 per machine 2, 3 and 4.
• the electrical feed systems 18 of the group of machines 2, 3 and 4 are connected to one another via connecting lines 19. If the supply systems 18 consist of a direct current supply, an electrical energy buffer 20 is preferably additionally provided for each machine 2, 3 and 4.
• the connecting lines 19 also connect the energy buffers 20 to one another. This makes it possible to supply the energy present in the individual energy buffers 20 to each of the drive motors 8 of one of the machines 2, 3 or 4.
• the invention is not limited to a group of three machines.
• a group contains at least two machines. If there are only two machines, it is possible to supply the drive motor of the first machine with a maximum amount of energy at a time when the drive motor of the other machine is currently using a minimum amount of energy. It is thereby achieved that the sum of the energy which is supplied from the at least one feed system to the two drive motors varies little.
• the advantages of the invention are greater, however, if several machines belong to a group, the drive motors of which are controlled according to the invention.
• each machine has only one drive motor.
• each machine has a plurality of drive motors, which, for example, each drive a specific component of this machine with a periodic course of movement.
• the periodic movements of the various components can be driven essentially synchronously via a corresponding drive motor, so that the energy supply from the feed system to the individual drive motors of the machine as an energy supply to a single fictitious ven drive motor can be considered, which absorbs the total energy supply of the individual drive motors of this machine.
• the invention is not limited to the parameters explained.
• Other parameters can be used that are representative of the looms in a group.
• the heat generated by the group of weaving machines can be selected as a representative parameter.
• the limitation of the maximum value of the energy supply additionally limits the heat generated and usually also the occurrence of vibrations and the noise level.
• the representative parameter can also consist of a combination of the energy supplied and / or the noise level and / or the vibrations.
• the electrical efficiency of the feed system or systems can also be selected as parameters. It is also possible to select the form factor or "power factor" of the feed system as parameters, i.e. the ratio of the average output to the product of the average voltage and the average current.
• the invention is also not limited to weaving machines. Rather, there may be other machines driven by one or more electric motors that perform a periodic movement, for example compressors driven by an electric drive motor.
• the machine group can consist of all machines installed in a room or just a part of the machines installed in a room.
• the control unit 11 can also be accommodated outside the machine room at a distance from the machines.
• the control unit can also over a network connection such as the Internet can be connected to the control units of the machine.
• control system and the method according to the invention are particularly well suited for use in weaving machines. Not only will an improvement in the electrical efficiency of the group of weaving machines be obtained, but also a reduction in the vibrations and noise level which the weaving machine group as a whole produces in a weaving room. These are essential advantages for weaving mills.

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• Engineering & Computer Science (AREA)
• Power Engineering (AREA)
• Control Of Multiple Motors (AREA)

Applications Claiming Priority (3)

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• 1999
  • 1999-12-10 BE BE9900806A patent/BE1013174A3/nl not_active IP Right Cessation
• 2000
  • 2000-12-09 CN CN00816931A patent/CN1409891A/zh active Pending
  • 2000-12-09 WO PCT/EP2000/012455 patent/WO2001043271A2/de active Application Filing
  • 2000-12-09 US US10/148,214 patent/US6876162B2/en not_active Expired - Fee Related
  • 2000-12-09 EP EP00983267A patent/EP1236268A2/de not_active Withdrawn

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