EP1464611A2 - Verfahren zur Laufberuhigung einer Gliederkette eines Kettenzuges, insbesondere zur Verhinderung der Ausbildung einer Resonanzschwingung der Gliederkette, und einen Kettenzug hierfür - Google Patents
Verfahren zur Laufberuhigung einer Gliederkette eines Kettenzuges, insbesondere zur Verhinderung der Ausbildung einer Resonanzschwingung der Gliederkette, und einen Kettenzug hierfür Download PDFInfo
- Publication number
- EP1464611A2 EP1464611A2 EP04006657A EP04006657A EP1464611A2 EP 1464611 A2 EP1464611 A2 EP 1464611A2 EP 04006657 A EP04006657 A EP 04006657A EP 04006657 A EP04006657 A EP 04006657A EP 1464611 A2 EP1464611 A2 EP 1464611A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- chain
- speed
- electric motor
- link
- hoist
- 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.)
- Granted
Links
Images
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
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/485—Control devices automatic electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D3/00—Portable or mobile lifting or hauling appliances
- B66D3/18—Power-operated hoists
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D3/00—Portable or mobile lifting or hauling appliances
- B66D3/18—Power-operated hoists
- B66D3/26—Other details, e.g. housings
Definitions
- the invention relates to a method for calming the running of a link chain Chain hoist, especially to prevent the formation of a Resonant vibration of the link chain, in which a link chain over a polygonal sprocket with non-uniform pitch is guided by a Electric motor is driven.
- the invention also relates to a chain hoist with a over a polygonal sprocket chain and with one on the sprocket acting electric motor.
- the chain hoist consists essentially of a sprocket driven by the electric motor, over which the chain, in particular a round steel chain, is guided with a load suspension device.
- the Sprocket is designed as a so-called pocket wheel, the pockets of which Take up chain links of the chain to transfer the lifting forces in a form-fitting manner. A lying and a standing chain link change in the course of the sprocket. According to the curvature behavior of the chain Sprocket an uneven polygonal circumference.
- This polygonal perimeter of the chain wheel means that when the chain runs off the chain wheel the effective radius of the sprocket changes depending on the angle and thus the The speed of the chain fluctuates periodically accordingly.
- the periodic Fluctuations therefore occur even at constant speed of the electric motor. This is associated with a restless running of the chain, a constant swell load of the chain hoist and any disturbing resonance effects that may occur.
- This mechanical compensation system can only be limited to one Equalize the running speed of a chain of a chain hoist, since in the case of the polygon effect it is only the mathematical terms with a low order considered. They also require mechanical ones Compensation systems an increased design effort.
- the passenger conveyor systems have an endless rotating Link chain or so-called Gall chain on between two deflection wheels revolves and is at least rolled away in the area of its upper run.
- the Link chain or Gall chain and also the deflection wheels are characterized an even division.
- One of the two deflection wheels is operated by one Electric drive powered.
- the polygon effect occurring is the speed of the deflection wheel a different speed is superimposed.
- the electric drive is over controlled a frequency converter in such a way that it does not revolves at constant speed.
- One assigned to the frequency converter Control device processes the phase position of the deflection wheel as input signals and / or the speed of the chain.
- the object of the invention is based on a method for calming the running Link chain of a chain hoist, especially to prevent training a resonance vibration of the link chain, and a chain hoist optimize.
- a method for smoothing the running of a link chain a chain hoist especially to prevent the formation of a Resonant vibration of the link chain, in which a link chain over a polygonal sprocket with non-uniform pitch is guided by a Electric motor is driven, avoidance of resonance vibrations, thereby achieved that the speed of the sprocket is periodic and / or stochastic and damping control variable is superimposed and the damping control variable causes a change in chain speed in kind that formation of a resonance vibration is prevented.
- This method prevents the excitation of the natural resonances in the area of the stroke changing effective chain length and for different loads.
- the electric motor is used to simulate a damped kinetic model controlled an electronic damper.
- the electronic damper as first input variable a target speed of the chain wheel and as a second An actual angle of the chain wheel can be fed into the input variable and in the electronic damper from the two input variables a damping Control variable is calculated in the form of a damped speed to the Electric motor is passed.
- a damping force is preferably used as the damping control variable in the electronic damper calculated that is proportional to the Speed fluctuation amplitude of the load is and from the sensory recorded actual angle is calculated.
- the method advantageously monitors itself in which the effect a resonance vibration that builds up is detected by sensors and at If the damping control variable is changed.
- the control of the electric motor can be simplified if a constant Load from the chain hoist is to be handled. Then in one Speed pre-control, depending on the path, the chain speed with one programmable speed pattern to avoid the formation of a Resonant vibration of the link chain superimposed.
- a chain hoist with a polygonal sprocket guided chain and with an electric motor acting on the sprocket one Reduction of the effects of the polygon effect achieved by the Electric motor is preceded by an electronic damper that controls the Electric motor in the way causes a formation of a resonance vibration the link chain is prevented.
- the electronic damper advantageously ensures smooth running the chain, a lower swell load of the chain hoist and hardly occurring disturbing resonance effects achieved.
- the electronic damper can be special can advantageously be adapted to a change in the damping parameters.
- the electronic damper is the first Input variable a target speed of the chain wheel and as a second input variable an actual angle of the chain wheel is assigned.
- a target speed of the chain wheel and as a second input variable an actual angle of the chain wheel is assigned.
- the sprocket Sensor in the form of a pulse generator for pulse-by-pulse determination of the actual angle arranged, of which at least one angle-synchronous per sprocket revolution Pulse is generated. The instantaneous angular position is then determined by interpolation determined between two successive pulses.
- the electronic damper is preferably designed as a pilot control, which Is part of an open control loop. This solution is towards you too possible closed control loop with a state controller less expensive.
- an empirical optimization of the damping control variable achieved in that at least sensor the effect of a resonance vibration building up and, if necessary, the damping control variable is changed.
- FIG. 1 shows a block diagram of an embodiment of the invention
- the Sprocket 4 is conventional as a pocket wheel with a polygonal Extent and with a non-uniform pitch for the inclusion of the relative Chain links of link chain 5 which can be pivoted relative to one another.
- the link chain 5 is designed as a round steel chain and serves in usual way as a supporting element for the lifting or lowering Load 6 hanging on the lower end of the chain 5.
- the free-hanging chain 5 is not mechanically guided and is in With respect to lateral deflections almost undamped.
- the effective length of the Chain 5 varies depending on the vertical position of the load 6. Also can be in operation change the load 6 to be handled by the chain hoist 1.
- the natural frequency of the Chain hoist 1 is a function of the spring constants of the chain 5, in which also the variable effective length of the chain 5 is received, and the mass of the load 6 and chain 5. Due to the variable masses of the loads 6 and the changing effective lengths the chain 5 creates a band of natural frequencies for the chain hoist 1. With the Changing the mass and the effective length of the chain 5 also change the Natural frequencies of the chain hoist and the position of the resonance points along the Chain 5.
- the chain hoist 1 thus provides an oscillatory structure pronounced resonance points.
- the associated mechanical model corresponds to an undamped transducer.
- the excitation frequencies that can be used to excite chain hoist 1 result from the geometry and the speed of the sprocket 4. Since as before described the sprocket 4 has a non-uniform pitch generated at least two excitation frequencies by the in relation to the Axis of rotation of the sprocket 4 arranged differently geometrically Points of engagement for the standing and lying links of the chain 5 are conditional. These two excitation frequencies additively overlap.
- y pole ⁇ wheel [it 1 cos (e ⁇ wheel ) + 2es 2 COS (2e ⁇ wheel )]
- the non-uniform division of the sprocket 4 also calls it a polygon effect known fluctuation in the running speed of the chain 5 from the sprocket 4 out, which also leads to uneven running of the chain hoist 1, but in comparison to the resonance effects described above are lower
- a suitable control variable for the electronic damper 8 can be started from the following kinetic foundations.
- the term cy ⁇ m common in damped systems is missing.
- this term is realized by the electronic damping force F D.
- the required damping force F D is determined in the electronic damper 8 by means of a continuous sensory detection of the current angular position jeweils rad from the path fluctuation amplitude y pol .
- a comparison of the equation of the speed amplitude y ⁇ pol in the area of the sprocket 4 with the equation for the speed amplitude y ⁇ m in the area of the mass m shows that the damping control variable is increased by V 1 , V 2 and by ⁇ 1 , ⁇ 2 phase-shifted correction signal is.
- the quantities V 1 , V 2 and ⁇ 1 , ⁇ 2 are determined by solving the differential equation.
- the sizes V 1 , V 2 as well as ⁇ 1 , ⁇ 2 can be changed easily and an adjustment to take into account dead times caused by inertia or play in the chain drive is easily possible.
- a simple optimization of the electronic damper 8 to the actual state of the chain drive 1 can thus be carried out.
- a suboptimal setting of the damping control variable leads to the fact that the Resonance vibration is not sufficiently damped, in the worst case even is kindled.
- the damping control variable determined in this way is fed to the electric damper and causes a swelling speed change of the chain wheel 4 which counteracts the polygon effect.
- the electronic damper 8 is supplied with the target speed n target as the first input variable.
- the actual angle ⁇ wheel of the sprocket 4 serves as a further input variable, which is tapped in the present exemplary embodiment on the sprocket 4 or optionally on the electric motor 2 or the transmission 3 via a sensor in the form of a pulse generator 9.
- the pulse generator 9 can be optical, magnetic or inductive, of which at least one angularly synchronous pulse is generated per revolution of the chain wheel 4.
- the current angular position ⁇ rad is then determined by interpolation between two successive pulses.
- the electronic damper 8 is formed in the present embodiment, as input member in which the second input variable of the actual angle ⁇ rad via a mathematical function y ⁇ m ( ⁇ rad) of higher order in a correction value for the first input variable, the target speed is to n converted and is superimposed in the summation point with the set speed n set. As the output of the electronic damper 8 thus provides again a target size n * intended as an input to the power amplifier. 7
- an optimization of the damping control variable is achieved by feedback of the motor current, the chain speed or the chain force in the electronic damper 8. These measurable quantities experience a corresponding, superimposed oscillation through an onset resonance oscillation, which allow a conclusion to be drawn about a resonance oscillation or residual resonance oscillation that is still present. Based on this, the damping control variable y ⁇ m in the electronic damper 8 can then be optimized.
- the Chain speed can be modulated so that the excitation with the critical Frequency is prevented by changing the speed. So it will specifically counteracting an adjustment of excitation of the chain hoist 1 by the excitation frequency is constantly changing. It is also possible in the case of a constant load 6 by means of a speed pre-control Chain speed with a programmable speed pattern so too overlay that this prevents resonance vibrations.
- the resonance points can also by the feedback described above of the motor current, the chain speed or the chain force in the electronic damper 8 can be determined or are speed-dependent at a known load 6 from the system sizes of the chain drive 1, so that a position detection on the chain drive is sufficient to approximate one Determine resonance point.
- FIG. 2 is a force-time diagram of the polygon excited chain vibration a chain hoist according to the prior art.
- in 3 shows a force-time diagram of the polygon excited chain vibration of a Chain hoist according to the invention shown. It can be seen that on the x-axis represented time from 0 to about 11 s, in the tentative lifting process a load is performed, the fluctuation range on the y-axis applied chain force amplitude of up to about ⁇ 700N by the electronic damper 8 according to the invention can be reduced to approximately ⁇ 70N can. This makes the chain run smoothly and less Swell load of the chain hoist reached.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Electric Motors In General (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Vibration Prevention Devices (AREA)
- Vehicle Body Suspensions (AREA)
- Chain Conveyers (AREA)
- Information Retrieval, Db Structures And Fs Structures Therefor (AREA)
- Axle Suspensions And Sidecars For Cycles (AREA)
- Vibration Dampers (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
- Types And Forms Of Lifts (AREA)
Abstract
Description
- Figur 1
- ein Blockschaltbild eines erfindungsgemäß ausgebildeten Kettenzug mit einem elektronischem Dämpfer und
- Figur 2
- ein Kraft-Zeit-Diagramm der polygonerregten Kettenschwingung eines Kettenzugs nach dem Stand der Technik und
- Figur 3
- ein Kraft-Zeit-Diagramm der polygonerregten Kettenschwingung eines erfindungsgemäßen Kettenzugs.
- 1
- Kettenzug
- 2
- Elektromotor
- 3
- Getriebe
- 4
- Kettenrad
- 5
- Gliederkette
- 6
- Last
- 7
- Leistungs-Endstufe
- 8
- elektronischer Dämpfer
- 9
- Impulsgeber
- Ψrad
- Ist-Winkel
- nsoll
- Soll-Drehzahl
- n*soll
- Dämpfende Steuergröße
Claims (11)
- Verfahren zur Laufberuhigung einer Gliederkette eines Kettenzuges, insbesondere zur Verhinderung der Ausbildung einer Resonanzschwingung der Gliederkette, in dem eine Gliederkette über ein polygonales Kettenrad mit ungleichförmiger Teilung geführt wird, das von einem Elektromotor angetrieben wird,
dadurch gekennzeichnet, dass der Geschwindigkeit des Kettenrades (4) eine periodische und/oder stochastische sowie dämpfende Steuergröße überlagert wird und die dämpfende Steuergröße eine Änderung der Kettengeschwindigkeit in Art bewirkt, dass eine Ausbildung einer Resonanzschwingung verhindert wird. - Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass der Elektromotor (2) über einen elektronischen Dämpfer (8) angesteuert wird.
- Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass dem elektronischen Dämpfer (8) als erste Eingangsgröße eine Soll-Drehzahl (nsoll) des Kettenrades (5) und als zweite Eingangsgröße ein Ist-Winkel (Ψrad) des Kettenrades (5) zugeführt werden und in dem elektronischen Dämpfer (8) aus den beiden Eingangsgrößen eine dämpfende Steuergröße errechnet wird, die in Form einer gedämpften Drehzahl (n*soll) an den Elektromotor (2) übergeben wird.
- Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass als dämpfende Steuergröße eine Dämpfungskraft (FD) in dem elektronischen Dämpfer (8) berechnet wird, die proportional der Geschwindigkeitsschwankungsamplitude (y ˙ m) der Last (6) ist und aus dem sensorisch erfassten Ist-Winkel (Ψrad) berechnet wird.
- Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Wirkung einer sich aufbauenden Resonanzschwingung durch Sensorik erfasst wird und bei Bedarf die dämpfende Steuergröße verändert wird.
- Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass im Falle einer konstanten zu hebenden und/oder zu senkenden Last mittels einer Geschwindigkeitsvorsteuerung wegabhängig die Kettengeschwindigkeit mit einem programmierbaren Geschwindigkeitsmuster zur Vermeidung der Ausbildung einer Resonanzschwingung der Gliederkette (5) überlagert wird.
- Kettenzug mit einer über ein polygonales Kettenrad geführten Kette und mit einem auf das Kettenrad wirkenden Elektromotor, insbesondere zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 7,
dadurch gekennzeichnet, dass dem Elektromotor (2) ein elektronischer Dämpfer (8) vorgeschaltet ist, der eine Steuerung des Elektromotors (2) in der Art bewirkt, dass eine Ausbildung einer Resonanzschwingung der Gliederkette (5) verhindert wird. - Kettenzug nach Anspruch 7, dadurch gekennzeichnet, dass dem elektronischen Dämpfer (8) als erste Eingangsgröße eine Soll-Drehzahl (nSoll des Kettenrades (4) und als zweite Eingangsgröße ein Ist-Winkel (Ψrad) des Kettenrades (4) zugeordnet ist.
- Kettenzug nach einem der Ansprüche 7 oder 8, dadurch gekennzeichnet, dass am Kettenrad (4) ein Sensor in Form eines Impulsgebers (9) zur impulsweisen Ermittlung des Ist-Winkels (ψrad) angeordnet ist.
- Kettenzug nach einem der Ansprüche 7 bis 9, dadurch gekennzeichnet, dass der elektronische Dämpfer (8) als Vorsteuerglied ausgebildet ist.
- Kettenzug nach einem der Ansprüche 7 bis 10, dadurch gekennzeichnet, dass mindestens Sensor die Wirkung einer sich aufbauenden Resonanzschwingung erfasst und bei Bedarf die dämpfende Steuergröße verändert wird.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10314724A DE10314724A1 (de) | 2003-03-31 | 2003-03-31 | Verfahren zum Vermindern des Polygoneffekts bei einem Kettentrieb, insbesondere bei einem Kettenzug, und Kettentrieb hierfür |
DE10314724 | 2003-03-31 |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1464611A2 true EP1464611A2 (de) | 2004-10-06 |
EP1464611A3 EP1464611A3 (de) | 2004-12-08 |
EP1464611B1 EP1464611B1 (de) | 2006-09-13 |
Family
ID=32842198
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP04006657A Revoked EP1464611B1 (de) | 2003-03-31 | 2004-03-19 | Verfahren zur Laufberuhigung einer Gliederkette eines Kettenzuges, insbesondere zur Verhinderung der Ausbildung einer Resonanzschwingung der Gliederkette, und einen Kettenzug hierfür |
Country Status (7)
Country | Link |
---|---|
US (1) | US7026780B2 (de) |
EP (1) | EP1464611B1 (de) |
JP (1) | JP4610216B2 (de) |
AT (1) | ATE339384T1 (de) |
DE (2) | DE10314724A1 (de) |
ES (1) | ES2273110T3 (de) |
HK (1) | HK1073457A1 (de) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2007336705A (ja) * | 2006-06-15 | 2007-12-27 | Fanuc Ltd | モータ制御装置 |
JP5489873B2 (ja) * | 2010-06-17 | 2014-05-14 | 株式会社キトー | 電気チェーンブロック及びその制御方法 |
DE102015102140A1 (de) | 2015-02-13 | 2016-08-18 | Terex MHPS IP Management GmbH | Anordnung aus einem elektrischen Antriebsmotor, einem Getriebe und einem Drehgeber, insbesondere für einen Seilzug |
DE102016107228A1 (de) | 2016-04-19 | 2017-10-19 | Stahl Cranesystems Gmbh | Kettenzug mit Kettenschwingungsdämpfung |
EP4352004A1 (de) * | 2021-05-17 | 2024-04-17 | Konecranes Global Corporation | Steuerung eines kettenzuges |
JP2023081567A (ja) * | 2021-12-01 | 2023-06-13 | 株式会社キトー | 巻上機の設定方法および巻上機 |
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-
2003
- 2003-03-31 DE DE10314724A patent/DE10314724A1/de not_active Withdrawn
-
2004
- 2004-03-19 DE DE502004001440T patent/DE502004001440D1/de not_active Revoked
- 2004-03-19 ES ES04006657T patent/ES2273110T3/es not_active Expired - Lifetime
- 2004-03-19 EP EP04006657A patent/EP1464611B1/de not_active Revoked
- 2004-03-19 AT AT04006657T patent/ATE339384T1/de not_active IP Right Cessation
- 2004-03-26 JP JP2004091248A patent/JP4610216B2/ja not_active Expired - Fee Related
- 2004-03-31 US US10/814,902 patent/US7026780B2/en not_active Expired - Fee Related
-
2005
- 2005-04-06 HK HK05102875A patent/HK1073457A1/xx unknown
Non-Patent Citations (1)
Title |
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Also Published As
Publication number | Publication date |
---|---|
ES2273110T3 (es) | 2007-05-01 |
DE502004001440D1 (de) | 2006-10-26 |
HK1073457A1 (en) | 2005-10-07 |
JP4610216B2 (ja) | 2011-01-12 |
ATE339384T1 (de) | 2006-10-15 |
JP2004299908A (ja) | 2004-10-28 |
DE10314724A1 (de) | 2004-11-04 |
US20050110451A1 (en) | 2005-05-26 |
EP1464611A3 (de) | 2004-12-08 |
EP1464611B1 (de) | 2006-09-13 |
US7026780B2 (en) | 2006-04-11 |
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