EP1427499B1 - Steuerungssystem für seilwinden und andere maschinen - Google Patents

Steuerungssystem für seilwinden und andere maschinen Download PDF

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Publication number
EP1427499B1
EP1427499B1 EP02779406A EP02779406A EP1427499B1 EP 1427499 B1 EP1427499 B1 EP 1427499B1 EP 02779406 A EP02779406 A EP 02779406A EP 02779406 A EP02779406 A EP 02779406A EP 1427499 B1 EP1427499 B1 EP 1427499B1
Authority
EP
European Patent Office
Prior art keywords
computers
bus
computer
axle
group
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
EP02779406A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1427499A2 (de
Inventor
Rainer M. Puls
Oliver Puls
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.)
Puls Rainer M En Puls Oliver
Original Assignee
Individual
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Filing date
Publication date
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Publication of EP1427499A2 publication Critical patent/EP1427499A2/de
Application granted granted Critical
Publication of EP1427499B1 publication Critical patent/EP1427499B1/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
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/54—Safety gear
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
    • A63J1/00—Stage arrangements
    • A63J1/02—Scenery; Curtains; Other decorations; Means for moving same
    • A63J1/028—Means for moving hanging scenery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/485—Control devices automatic electrical

Definitions

  • the invention relates to a multi-axis control system for winches and other machinery in stages, studios and theaters, especially for synchronized and similar safety-related motion sequences.
  • Out DE 32 33 788 is a control system for a stage machinery known to overcome the separation between upper machinery control and lower machinery control.
  • a computer system is provided for the upper machinery and for the lower machinery for the control of individual and common movements of the trains or the floor parts.
  • the two computer systems are interconnected to synchronize movements of the drives of parts of the upper machine on the one hand and the lower machinery on the other hand.
  • the object of the invention is to provide a highly reliable on the one hand and on the other hand highly available control system for winches and other machines in stages, studios and theaters, which is feasible with low cabling and ensures a high degree of flexibility and security.
  • the control system according to the invention is divided into five areas, namely the axis level I, the central process computer level II, the operating and observer level III, the diagnosis and service level IV and the remote maintenance level V.
  • the levels I, II, III and IV are interconnected via industrial bus systems, the level V is connected to the level IV via a telecommunications line (for example, a modem-modem connection).
  • plane winches / machines M1, M2... Mn are located in plane I, of which a large number can be controlled and monitored by the control system according to the invention.
  • the structure according to the invention will be described in detail with reference to the cable winch / machine M1 in Fig. 2, which typically in the Machines M2 to Mn repeated according to or in slightly modified form.
  • the winch / machine to be controlled and monitored has a motor M, which is controlled via a first axis processor AR1 and a frequency converter FU (driver circuit).
  • the first axis calculator AR1 is connected to the frequency converter FU.
  • the axis computer AR1 preferably operates in real time and is equipped with a real-time industrial operating system.
  • an absolute encoder AIWG1 is present, which supplies its signal to the first axis calculator AR1.
  • the winch / machine is associated with a second axis calculator AR2, which is connected to the first Achsrechner AR1 via an interface, such as a serial interface according to RS-485 and is preferably equipped with an on-site WhyPanel.
  • the second Achsrechner AR2 is connected to the frequency converter FU and preferably operates in real time, for which he is also equipped with a real-time industrial operating system.
  • a second absolute encoder AIWG2 is connected, which sits on an output shaft of the winch / machine.
  • the first and second Achsrechner AR1 and AR2 have immediate access to the frequency converter FU or an upstream contactor and a braking device for switching off and safe shutdown of the winch / machine.
  • one or more safety sensors S for the detection of overload, underload, overspeed, Winding error, reaching end positions, etc. present, whose output signals are supplied to both the first and the second Achsrechner AR1 and AR2.
  • the first group computer GR1 is connected via a bus B1, preferably a lightwave conductor bus with the first axis computers AR1 level I.
  • the bus B1 is designed as a Simolink bus or equidistant professional bus.
  • the fiber optic bus B1 allows a simple space-saving annular instead of star-shaped wiring and ensures a low susceptibility to radiated interference.
  • the Simolink bus like the equidistant Profi bus, is a deterministic bus in which the cycle time of the computational programs is always constant and is not affected by occasional compute-intensive procedures for a short or irregular time. Combined with the high transmission rate of 11 Mbit / s regardless of the cable length, this design means that the control, regulation and monitoring of the drives is significantly better than with controllers that do not use deterministic buses and whose transmission rate is less than 11 Mbit / s and where the conductions affect the signal transmission.
  • the drives in level I can be controlled very fast and synchronously to the highest degree, which brings significant improvements in terms of sound behavior important in theaters and in case of failure or in a Disorder a very fast and synchronous Stopping the winches / machines allows.
  • the "moving apart" of synchronous and coupled drives can thereby be significantly reduced. In the theater, this is particularly important, since here large and heavy decorative parts often have to be lifted and moved by several winches / machines. Actors, artists and stagehands work under these decoration parts, and the over-riding of the drives can cause a decoration to tear apart or tip over or overload a drive, ripping ropes, etc.
  • the first group computer GR1 sends commands corresponding to the protocol used to the first axis computers AR1 via the bus B1 and receives signals from the axis computers.
  • the transmitted commands from the first group computer GR1 convert the respective first axis computers AR1 into the drive signals to the frequency converter FU, i. to the motors of the side winches / machines
  • the received signals from the absolute encoders AIWG1 and AIWG2 and the safety sensors S are used to monitor and control the synchronous drives of the drives and at least partly transmitted by the AchsRechnern also to the group computer.
  • the group computer GR1 stops the synchronous drives, whereby the shutdown takes place synchronously.
  • the respective first axis calculator AR1 of each cable winch / machine additionally monitors the function of the individual cable winch / machine directly on the drive and, with a time delay, also shuts off the group computer GR1 in the event of a fault. If the group computer GR1 fails, the faulty drive is thus additionally switched off by the first axis computer AR1. However, in the case of synchronous movements several axes when an error occurs on an axis usually a synchronous shutdown of all drives, so not only the faulty is required, the shutdown by the first Achsrechner AR1 with respect to the shutdown by the group computer GR1 is delayed.
  • both the first axis processor AR1 and the first group computer GR1 react.
  • the group computer GR1 determines in case of a fault of a drive, whether to the troubled winch / machine another winch / machine is moved in synchronism. If this is the case, determines the group computer GR1, in which way the synchronous winches / machines must be braked and / or stopped. In the most favorable case, all winches / machines synchronized in a group are braked synchronously (but quickly).
  • a second group computer GR2 is available to secure the synchronous control system in the level II, which also monitors the synchronous group movements.
  • the second group computer GR2 is connected via a second bus B2, preferably an optical fiber bus to the second Achsrechnern AR2 the winches / machines in combination. Again, a high transfer rate of 12 Mbit / s is available. Otherwise, what has been said about the first bus B1 above applies to the second bus B2.
  • the second Achsrechner AR2 each winch receives via the second absolute encoder AIWG2 and the safety sensors S also all the above information about the condition of the winch / machine.
  • This information is the second Achsrechner AR2 respectively via the bus B2 to the other Group computer GR2 continues.
  • the information about the state of the winch / machine in level II is duplicated: once in the group computer GR1 and once in the group computer GR2
  • the two group computers GR1 and GR2 synchronize and compare their information either via a group computer GRV connection or via a shared memory area.
  • each system can respond to itself by using both the primary connection (group computer GR1 ⁇ first axis computer AR1) or the second redundant connection (group computer GR2 ⁇ second axis computer AR2) to the winch / machine and their shutdown / shutdown mechanisms FU / A is acted upon.
  • the faulty drive is also switched off via the respective axis calculator AR2 directly at the cable winch / machine.
  • This shutdown takes place as well as the time-delayed by the first Achsrechner AR1 to shutdown by the group computer GR1 and GR2 to ensure the synchronous shutdown and to prevent a "divergence" of the drives, for example, by premature engagement of the brake of a single drive.
  • the control system according to the invention for winches / machines with the first group computer GR1 and the second group computer GR2 achieves the security level AK5 according to DIN 19250 / V VDE 0801. In the event of failure of one of the two group computers, the control of the cable winches / machines on the remaining group computer alone reaches the respective Security level AK4.
  • a service and diagnosis computer SDR is provided, which is also connected via the (Ethernet) bus B3 to the computers of level II and the control panels BP of level III.
  • a remote maintenance computer FWR is provided, which is connected via a telecommunication connection B4, for example a connection via modem MD1 and MD2 to the computer SDR. This can be accessed via the additional existing remote maintenance connection B4 to level V between the levels IV and V directly to the group level II computers.
  • a remote maintenance computer FWR is provided, which is connected via a telecommunication connection B4, for example a connection via modem MD1 and MD2 to the computer SDR.
  • This can be accessed via the additional existing remote maintenance connection B4 to level V between the levels IV and V directly to the group level II computers.
  • the level II information, parameters and settings are available for remote maintenance in level V.
  • the service and diagnostic calculator SDR is connected via a further bus 5 or alternatively via the existing bus lines B1, B2 and B3 with the winches / machines, preferably directly to the Achsrechnern AR1 and AR2 and the frequency converters of winches / machines and as well also with additional peripheral drives.
  • This allows direct access to all these components and the information and parameter settings available there, in particular the settings of the absolute encoders via remote maintenance.
  • a further increase in safety can be achieved in that, in cooperation with a control system according to the invention, the double brakes of the cable winches / machines are mounted on the output shaft and no longer on the drive shaft.
  • an absolute encoder AIWG1 on the drive shaft and an absolute encoder AIWG2 on the output shaft, it is possible an intermediate break or failure of a transmission, a clutch, a welded joint, a shaft / hub connection, a screw connection, any other frictional or positive connection, etc. to capture and then shut down by driving and collapse of the brakes on the drive the winches / machines safely.
  • this arrangement of the brake allows the safety factor 2 prescribed for all mechanical drive components according to DIN for stage technology to be used e.g. for transmission, shafts, clutches, etc. may be omitted against fatigue failure, since these are now behind the brake.
  • the winches / machines are at least 30% smaller and cheaper and by using smaller size of the components also quieter.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Safety Devices In Control Systems (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
  • Control Of Multiple Motors (AREA)
EP02779406A 2001-09-21 2002-09-23 Steuerungssystem für seilwinden und andere maschinen Expired - Lifetime EP1427499B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10146521A DE10146521B4 (de) 2001-09-21 2001-09-21 Steuerungssystem für Seilwinden und andere Maschinen
DE10146521 2001-09-21
PCT/EP2002/010654 WO2003026998A2 (de) 2001-09-21 2002-09-23 Steuerungssystem für seilwinden und andere maschinen

Publications (2)

Publication Number Publication Date
EP1427499A2 EP1427499A2 (de) 2004-06-16
EP1427499B1 true EP1427499B1 (de) 2007-11-14

Family

ID=7699766

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02779406A Expired - Lifetime EP1427499B1 (de) 2001-09-21 2002-09-23 Steuerungssystem für seilwinden und andere maschinen

Country Status (7)

Country Link
EP (1) EP1427499B1 (ja)
JP (1) JP4727921B2 (ja)
CN (1) CN100475299C (ja)
AT (1) ATE378099T1 (ja)
AU (1) AU2002342746A1 (ja)
DE (2) DE10146521B4 (ja)
WO (1) WO2003026998A2 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8191399B2 (en) 2005-12-16 2012-06-05 Siemens Aktiengesellschaft Monitoring device and monitoring method for a drive device

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005036879A1 (de) * 2005-05-12 2006-11-16 Logos-Innovationen Gmbh Hebevorrichtung mit einer Antriebseinheit zum Heben einer Lastaufnahme
AT509781B1 (de) * 2010-04-27 2013-02-15 Waagner Biro Austria Stage Systems Ag Verfahren und vorrichtung zum ausgleichen von kräften bzw. momenten in einer punktzuganlage oder prospektzuganlage
CN104155929B (zh) * 2014-06-26 2017-05-24 中国传媒大学 舞台演出调度装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3233468A1 (de) * 1982-09-09 1984-03-15 Trepel Ag, 6200 Wiesbaden Steueranlage fuer die schnuerbodenmaschinerie von buehnen
DE3233788A1 (de) * 1982-09-11 1984-03-15 Trepel Ag, 6200 Wiesbaden Steuerungsanlage fuer eine buehnenmaschinerie
DE4108969A1 (de) * 1991-03-19 1992-09-24 Motion Systems Gmbh Rechnergesteuertes hubzugsystem mit wenigstens zwei hubzuegen

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8191399B2 (en) 2005-12-16 2012-06-05 Siemens Aktiengesellschaft Monitoring device and monitoring method for a drive device

Also Published As

Publication number Publication date
WO2003026998A3 (de) 2003-12-11
WO2003026998A2 (de) 2003-04-03
JP2005503629A (ja) 2005-02-03
EP1427499A2 (de) 2004-06-16
DE10146521A1 (de) 2003-04-10
DE50211219D1 (de) 2007-12-27
JP4727921B2 (ja) 2011-07-20
ATE378099T1 (de) 2007-11-15
AU2002342746A1 (en) 2003-04-07
CN1589170A (zh) 2005-03-02
DE10146521B4 (de) 2006-08-17
CN100475299C (zh) 2009-04-08

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