EP2086810A1

EP2086810A1 - Method for simulating the braking of a cable transport system, method for diagnosing the braking of said system and control device for said system

Info

Publication number: EP2086810A1
Application number: EP07870319A
Authority: EP
Inventors: Franckie Tamisier; Daniel Michel
Original assignee: Pomagalski SA
Current assignee: Poma SA
Priority date: 2006-11-23
Filing date: 2007-11-21
Publication date: 2009-08-12
Anticipated expiration: 2027-11-21
Also published as: WO2008074940A1; CA2670058A1; EP2086810B1; FR2909060A1; US20100147182A1; FR2909060B1; JP2010510598A

Abstract

The invention relates to a method for simulating a cable transport system, including at least one braking means and driving means, the simulation method comprising at least one test phase for the braking means including at least one step for applying the braking means on the system using the driving means which are closed-loop controlled by a set signal formed by a predetermined piloting curve F = f(t).

Description

Braking simulation method for a cable transport installation, braking diagnostic method for such a plant and device for controlling the installation

The invention relates to a method for simulating the braking of a cable transport installation. The invention also relates to a braking means diagnosis method, a braking means adjustment method using said diagnostic method and a control device of a cable transport installation for implementing said simulation method.

For safety reasons, the braking means of a cable transport installation must be tested periodically. In order to carry out these tests in conditions as close as possible to the conditions of use, the braking must be tested when the installation is loaded.

In the prior art, it is known to equip the ballast transport installation before carrying out the control operations of the braking means. In this way, the weights make it possible to simulate the normal operation of a driven driven installation. However, the installation of ballast is a simulation operation requiring many handling operations that increases the time and costs of testing the braking means.

The invention aims to remedy these problems by proposing a braking simulation process of a transport facility that is simple, inexpensive, quick to implement and accurate.

For this purpose, and according to a first aspect, the invention proposes a method for simulating the braking of a cable transport installation comprising at least one braking means and motor means, the simulation method comprising at least one step of application of the braking means on the installation driven by the drive means controlled in a closed loop by a setpoint signal formed by a control curve F = f (t) predetermined. Thus, the motor means that continue to operate during the application of the braking means can in particular simulate the effort of a load on the installation. This simulation makes it possible in particular to diagnose the braking means without having to ballast said installation.

In a first embodiment, for closed-loop control, the reference signal is compared with a measurement of the force exerted on the cable, the engine torque or a characteristic variable of the drive means and proportional to the force exerted on the cable, the engine torque or the instantaneous power delivered by the motor means.

In a second embodiment, for the closed-loop control, the reference signal is compared to a measurement of the speed of the cable.

According to a second aspect of the invention, there is provided a method for diagnosing at least one braking means of a cable transport installation comprising motor means, the diagnostic method including at least one test phase. braking means comprising at least one simulation phase by the simulation method according to the first aspect of the invention operated on a vacuum driven plant and recording a test characteristic curve.

Advantageously, the test phase further comprises a second step of comparing the test characteristic curve with a pre-recorded standard characteristic curve.

Thus, the diagnosis of the braking means is carried out simply by comparing the test characteristic curve with a theoretical curve or measured during a preliminary phase.

In a variant of the invention, the method further comprises a preliminary calibration phase comprising at least: a step of recording the standard characteristic curve during application of the braking means on the installation operating under load; and ι

a step of recording the driving curve of the drive means F = f (t) during an application of the braking means to the plant driven empty by the drive means controlled in a closed loop by a command signal formed by said standard characteristic curve.

This preliminary phase makes it possible to take into account the real characteristics of the installation, for example when it is put into service, and avoids having to establish theoretical curves.

In another variant of the invention, the diagnostic method further comprises a preliminary calibration phase comprising at least:

a step of recording the control curve of the motor means -F- = f (t) when an application of the braking means on the facility operating in load; and

- A step of recording the standard characteristic curve during an application of the braking means on the vacuum driven plant by the drive means controlled in a closed loop by a reference signal formed by said control curve.

Advantageously, the preliminary phase comprises a first step of adjusting the braking means. Thus, the method according to the invention allows an accurate diagnosis.

Advantageously, the preliminary phase comprises a calibration verification operation comprising: a step of applying the braking means to the installation operating at a vacuum driven by the drive means controlled in a closed loop by a command signal formed by the control curve F = f (t) and recording of a verification characteristic curve; and a step of comparing the verification characteristic curve and the standard characteristic curve.

Thus, this operation makes it possible to validate the consistency of the calibration phase.

Advantageously, the control curve F = f (t) is extended by a constant function K = f (t) in order to prolong the simulation over a longer duration than the deceleration time of the calibration step.

Advantageously, the test phase further comprises:

a step of applying the braking means to the installation operating at no load and recording a characteristic curve when empty, and a step of comparing the empty characteristic curve with a prerecorded standard vacuum characteristic curve.

The characteristic-standard-to-vacuum curve is a beta-curve recorded during an application of the braking means on the installation operating at no load.

Thus, the method according to the invention also makes it possible to test the braking means on an installation operating in a vacuum.

In a first embodiment, the characteristic curves are curves of deceleration of the cable and the recording of the control curve F = f (t) is carried out by a measurement of the force exerted on the cable, the motor torque or a variable characteristic of the motor means and proportional to the force exerted on the cable, the engine torque or the instantaneous power delivered by the motor means.

In a second embodiment, the characteristic curves are curves for measuring the force exerted on the cable, the engine torque or a characteristic variable of the drive means and proportional to the force exerted on the cable, to the engine torque. or the instantaneous power delivered by the motor means and the control curve F = f (t) is achieved by measuring the deceleration of the cable.

Advantageously, the method uses an indexing of the position of at least one vehicle driven by the cable. Thus, the accuracy of the diagnosis is ensured because the different recordings can be made for similar load distributions on the cable.

Advantageously, for a cable transport installation whose braking means is a pneumatic or hydraulic means, the test phase comprises a step of recording a curve of the pressure variations Pt = f (t) during the application. braking means and a step of comparing Pt = f (t) with a predetermined curve Pe = f (t).

The curve Pe = f (t) is a curve of the pressure variations recorded during the preliminary phase during the application of the braking means.

Thus, these curves make it possible to determine whether the differences in operation observed are related to the hydraulic or pneumatic controls.

According to a third aspect, the invention relates to a method of adjusting at least one braking means of a cable transport installation comprising: at least one step of controlling the braking means by a diagnostic method according to the second aspect of the invention, and

At least one adjustment step of the braking means as a function of the comparison of the deceleration curves Vec = f (t) and Vtc = f (t).

Therefore, it is also possible to adjust the braking means precisely. Finally, according to a fourth aspect, the invention relates to a device for controlling a cable transport installation, comprising motor means and at least one braking means, the device comprising means for controlling the motor means, means for control of the braking means and a safety device. The control device comprises means for switching the safety device between an active position in which the simultaneous use of the motor means and the braking means is prohibited, and a passive position in which said simultaneous use is authorized.

Advantageously, the device further comprises cable speed measuring means, data recording means, pressure measuring means, means for measuring the intensity of the current flowing through the motor means and means for measuring the speed of the cable. indexing the position of at least one vehicle.

Other objects and advantages of the invention will become apparent from the description which follows, made with reference to the appended drawings, in which:

FIG. 1 represents a characteristic curve according to a first embodiment of the invention recorded during an application of the braking means to the load-fed installation, said characteristic curve being a curve of deceleration of the cable Vec = f (t);

FIG. 2 represents the standard deceleration curve Vec = f (t) of FIG. 1 and a control curve of the motor means F = f (t) recorded during an application of the braking means on an empty driven installation. by motor means controlled in a closed loop by a reference signal formed by the deceleration curve Vec = f (t);

FIG. 3 represents the standard deceleration curve Vec = f (t), the control curve of the motor means F = f (t) and a deceleration curve of cable Vv = f (t) recorded during a calibration check operation; and

- Figure 4 shows the curves of Figures 1 and 2 and three deceleration test curves Vtc = f (t) when braking is too important, adjusted or too low.

By closed loop is meant in the sense of the detailed description below a control loop performing a comparison between a setpoint and an output variable in order to make the output value turn towards the setpoint value.

In addition, in the following description, when mentioning a characteristic variable motor means and proportional to the force exerted on the cable, the engine torque, it may for example be, depending on the type of power supply chosen for motor means, control variables

-electriques such as the frequencade-modulation- a converter supplying the motor means, a variable intensity or variable power supply motor means. It may also be mechanical variables directly measured on the installation, such as the tension force of the drive cable or the torque of the drive means.

A cable transport installation is generally composed of at least two stations between which at least one mobile transport cable forms a loop in order to transport one or more vehicles, for example one or more cable car cabins, from a station to a station. other. Where appropriate, the vehicle or vehicles may be suspended from the moving cable which ensures their training. Alternatively, as is customary for large capacity installations, the vehicles can be suspended from fixed cables via a roller balancer, and driven along the fixed cables by the movable transport cable. Motor means for driving the cable. The motor means are for example composed of one or more electric motors, a driving pulley and a disengageable device for transmitting movement between the motor (s) and the driving pulley.

In addition, the installation is equipped with braking means. The braking means may include an electromagnetic brake consisting of cutting off the power of the engines, one or more service brakes applying during normal stops of the installation and one or more emergency brakes.

In one embodiment of the invention, the service brake acts on the drive shaft of the drive means while the emergency brake acts directly on the drive pulley.

In an alternative embodiment, the braking means are brakes

-hydraulic-or pneumatic. The braking means are, for example braking means whose opening is actuated by hydraulic or pneumatic means such as cylinders, mechanical return means such as springs, for recalling the braking means to their closed position of braking.

The installation further comprises a control device of the transport facility. The device comprises at least control means of the motor means and control means of the means (s) for braking. Advantageously, the control device comprises a safety device that allows in the active position to stop the power of the motor means as soon as a braking means is actuated. The method according to the invention comprises steps during which the motor means must operate simultaneously with the braking means. Consequently, the control device of the installation comprises a device for switching the safety device between its active position and a passive position in which the simultaneous control of the motor means and a braking means is authorized.

The controller also includes a diagnostic device. The diagnostic device comprises data recording means, is connected to the motor means and to the braking means and receives information from means for measuring the speed of the cable, means for measuring a characteristic variable of the motor means, means for indexing the position of the vehicles and means for measuring the pressure in the braking means.

In one embodiment, the characteristic variable of the motor means is the intensity passing through the motor means.

In a variant, the control and diagnostic device consists of a console and a control unit. However, it will be appreciated that the invention is not limited to this embodiment and that any suitable computer or electronic control devices may be used.

According to an advantageous embodiment of the invention, the method of diagnosis of a braking means comprises a preliminary calibration phase which can in particular be performed during the commissioning of the installation.

During the calibration phase, the braking means of the installation are previously adjusted to the statutory values.

The calibration phase then comprises a first step in which a braking means is applied to the installation operating under load and a standard characteristic curve is recorded. In the embodiment shown, the standard characteristic curve is a deceleration curve 1 of the cable Vec = f (t) (FIG. 1). During this step, it will be noted that the motor means are stopped during the application of the braking means.

If the braking means is a pneumatic or hydraulic means, it is also possible to record during this step a curve of variation of the pressure Pe = f (t) in the braking means during its application on the installation.

In a second step, the braking means are applied to the vacuum-driven plant by motor means controlled in a closed loop by a reference signal formed by the standard characteristic curve: the deceleration curve Vec = f (t ) in the embodiment shown. The closed-loop control device performs a comparison between the actual deceleration of the cable and the set deceleration Vec = f (t) and controls the motor means in order to obtain an actual deceleration corresponding to the setpoint. _: step, -on_enregulates the-curve-2-driving motor means F = f (t) (Figure 2).

In the first embodiment shown in FIG. 2, the control curve 2 corresponds to the change in the intensity of the electric current passing through the motor means. It will be noted, however, that this curve can also be achieved by measuring any variable related to the force exerted by the drive means on the cable or the engine torque, or the instantaneous power delivered by the motor means.

It will be noted that the calibration phase therefore makes it possible to produce a driving curve 2 F = f (t) of the motor means making it possible to simulate the load force during the application of the braking means to a vacuum installation. .

In addition, it will be noted that the control curve F = f (t) is extended by a constant function 7 K = f (t) making it possible to simulate the load for a period of time. longer than the deceleration time of the cable during the second calibration step.

In addition, during this second step, one can also record the pressure variation curve Pe1 = f (t) and verify that it corresponds to the curve Pe = f (t) recorded previously.

Preferably, it is also planned to check the calibration by recording a verification characteristic curve when the braking means is applied to the vacuum-driven plant by the closed-loop controlled motor means by a reference signal formed by the control curve 2 F = f (t) as a reference signal. For the embodiment shown, the verification characteristic curve corresponds to the deceleration curve 6 of the cable Vv = f (t). During this verification, a verification characteristic curve (FIG. 3) and possibly a pressure curve Pe2 = f (t) are measured. If the verification characteristic curve coincides with the standard characteristic curve, the calibration can then be validated. In one embodiment of the invention, the concordance of the pressure curves Pe = f (t) and Pe2 = f (t) is also verified.

The diagnostic method comprises at least one step of testing the braking means. This test step may in particular be carried out periodically to verify that the adjustment of the brake is in accordance with the regulatory adjustment values.

During this test step, a vacuum-driven operation is performed on a vacuum-driven installation performed on a load-driven installation. For this purpose, the braking means are applied to a vacuum-driven installation by the motor means controlled in a closed loop by a reference signal formed by the previously recorded control curve F = f (t). Thus, during this step the motor means simulate the effort of the load and a test characteristic curve is recorded. In the embodiment shown in FIG. 4, three test characteristic curves formed by curves 3, 4, 5 of deceleration of the cable Vtc = f (t) are represented.

In order to determine whether the adjustment of the brakes is correct, the test characteristic curve 3, 4, 5 Vtc = f (t) is compared with the standard characteristic curve: Vec = f (t).

In FIG. 4, the first curve 3 has a steeper slope than the standard curve Vec = f (t) and represents a case in which braking is too great. The second curve 4 has a slope of the same order as the standard curve Vec = f (t) and represents a case in which the braking is set.

Finally, the third curve 5 has a lower slope than the standard curve

Vec = f (t) and represents a case in which braking is too weak. According to the comparison of the curves Vec = f (t) and Vtc = f (t), the braking means can then be adjusted in order to adjust them.

Advantageously, the test phase also comprises a step of recording a pressure curve Pt = f (t) in the braking means. The curve Pt = f (t) is then compared with the standard pressure curve Pe = f (t). Thus, it will be possible to deepen the diagnosis of the braking means by determining whether the deviations noted between the curves Vec = f (t) and Vtc = f (t) are related to the hydraulic or pneumatic controls.

In one embodiment of the invention, the diagnostic method may also include the preliminary test of the braking means on the facility operating at idle. For this purpose, the recording of a standard vacuum characteristic curve is carried out during the application of the braking means to an installation operating at a vacuum during the preliminary calibration phase. In this case, the standard vacuum characteristic curve is a deceleration curve Vev = f (t) for the illustrated embodiment. Then, during the test phase, a characteristic curve is recorded during the application of the braking means on an installation operating in a vacuum, in this case a deceleration curve Vtv = f (t) in the present case. The characteristic curves Vev = f (t) and Vtv = f (t) are then compared in order to detect a possible bad adjustment of the braking means.

In a second embodiment, not shown, the characteristic curves may also be curves for measuring the force exerted on the cable, the motor torque or a variable characteristic of the motor means and proportional to the force exerted on the cable. to the engine torque. In this case, the control curve corresponds to a curve of deceleration of the cable. Note however that for this embodiment, the interpretation of the comparison between the standard characteristic and test characteristic curves is less easy.

It will also be noted that, in the case of the calibration phase, the driving curve of the motor means F = f (t) is recorded during an application of the braking means on the installation operating under load. Then, during the second step, a standard characteristic curve is then recorded during an application of the braking means on the vacuum driven plant by the motor means controlled in a closed loop by a reference signal formed by the curve. previously registered pilot.

Advantageously, the diagnostic method according to the invention makes it possible to test the adjustment of the various braking means of the installation, such as the electromagnetic brake, the emergency brake or brakes and the service brake or brakes. For this purpose, the method provides for recording for each type of braking means the curves 1, 3, 4, 5, 6 of deceleration Vec = f (t), Vtc = f (t), Vv = f (t) , Vev = f (t), Vtv = f (t) and the control curve 2 of the motor means F = f (t). Thus, the adjustment of each braking means can be tested independently.

In order to establish an accurate diagnosis of the braking means, it is advantageous for the position of the vehicle or vehicles on the cable to be indexed in a precise manner so that all the applications of the braking means are carried out. for the purpose of this process be performed for similar load distributions on the cable.

Furthermore, it will be noted that when the braking means to be tested does not operate in all or nothing mode, the application of the braking means will, in the context of the diagnostic process, be at identical levels.

It will also be noted that when the braking means are means controlled by a modulation of the force as a function of the deceleration of the line, it is necessary to suspend the modulation before carrying out the diagnostic method of the braking means.

However, the simulation method according to the invention also makes it possible to diagnose the modulation of the force as a function of the deceleration of the line. Indeed, when controlling the closed loop motor means by a setpoint signal formed by a control curve F = f (t) which is a deceleration curve. The modulation device can be tested by varying the control curve F = f (t) with respect to a control curve Fe = f (t) recorded during the calibration phase and by observing the response of the device modulation.

The mathematical demonstration to validate the diagnostic process described above is as follows:

During the preliminary phase, when the braking means is actuated on the installation operating at no load and Vec = f (t) is recorded, the following relation can be written:

Fc + Ffe = Mc * αec (a) With: - Fc: force generated by the load of the installation under load;

- Ffe: standard braking force

- M: mass of the cable and vehicles; and

- α: acceleration of the cable. Likewise, when the braking means is actuated on an installation operating in a vacuum, the following relation can be written;

Fv + Ffe = Mv * αv (b) With:

- Fv: force generated by the load of the vacuum system.

During the preliminary calibration phase, when controlling the motor means with as a reference signal, the deceleration curve 1 Vec = f (t), the following relation can be written:

Fmot + Fv + Ffe = Mv ^* αec (c) or Fmot = Mv ^* αec - Fv - Ffe (c ') with Fmot: force generated by the motor.

Finally, during the test phase, when controlling the motor means with the control curve 2 F = f (t) and measuring the curve 3, 4, 5 Vtc = f (t), we can write the following relation

Fmot + Fv - Fft = Mv ^* αtc (d) We replace Fmot of the relation c ': Mv ^* αec - Fv - Ffe - Fv - Fft = Mv * αtc

Mv ^* αec - Ffe - Fft = Mv ^* αtc

Thus, if the curves Vec = f (t) and Vtc = f (t) are similar then αec = αtc. Therefore, the braking force of the tested braking means is equal to the braking force of the braking means: Fft = Ffe. In this case, the braking means is set.

Claims

1. A method for simulating the braking of a cable transport installation comprising at least one braking means of the motor means, the simulation method comprising at least one step of applying the braking means to the installation by the driving means. controlled in a closed loop by a setpoint signal formed by a predetermined control curve (2) F = f (t).

2. Simulation method according to claim 1, characterized in that for closed-loop control, the reference signal is compared with a measurement of the force exerted on the cable, the engine torque or a characteristic variable of the means. motors and proportional to the force exerted on the cable, the engine torque or the instantaneous power delivered by the motor means.

3. Simulation method according to claim 1,. characterized in that for the closed-loop control, the reference signal is compared to a measurement of the cable speed.

4. A method for diagnosing at least one braking means of a cable transport installation comprising motor means, the diagnostic method including at least one test phase of the braking means comprising at least one simulation phase by the simulation method according to claim 1 to 3 performed on a vacuum driven plant and recording a test characteristic curve (4, 5, 6).

Diagnostic method according to claim 4, characterized in that the test phase further comprises a second step of comparing the test characteristic curve (4, 5, 6) with a standard characteristic curve.

(1) pre-recorded.

6. Diagnostic method according to any one of claims 4 or 5, characterized in that it further comprises a preliminary calibration phase comprising at least:

a step of recording the standard characteristic curve (1) during an application of the braking means on the installation operating under load; and

a step of recording the control curve (2) of the motor means F = f (t) during an application of the braking means on the vacuum driven installation by the motor means controlled in a closed loop by a signal set point formed by said standard characteristic curve (1).

7. Diagnostic method according to any one of claims 4 or 5, characterized in that it further comprises a preliminary calibration phase comprising at least:

a step of recording the control curve (1) of the motor means F = -f (t) when an application of the braking means to the installation operating under load; and

a step of recording of the standard characteristic curve (2) during an application of the braking means to the vacuum driven plant by the closed-loop controlled motor means by a reference signal formed by said control curve ( 1).

8. Diagnostic method according to claim 6 or 7, characterized in that the preliminary phase comprises a first step of adjusting the braking means.

9. Diagnostic method according to any one of claims 7 or 8, characterized in that the preliminary phase comprises a calibration verification operation comprising:

a step of applying the braking means to the installation operating at a vacuum driven by the motor means controlled in a closed loop by a reference signal formed by the curve (2) of driving F = f (t) and recording a curve (6) verification characteristic; and

a step of comparing the verification characteristic curve and the standard characteristic curve.

10. Diagnostic method according to one of claims 4 to 9, characterized in that the test phase further comprises:

a step of applying the braking means to the installation operating at no load and recording a characteristic curve when empty, and

a step of comparing the empty characteristic curve with a pre-recorded standard vacuum characteristic curve.

11. Diagnostic method according to claim 10, characterized in that the standard vacuum characteristic curve is a curve recorded during an application of the braking means on the installation operating at no load.

12. Diagnostic method according to any one of claims 4 to 11, characterized in that the characteristic curves are deceleration curves of the cable.

13. The diagnostic method as claimed in claim 12, characterized in that the recording of the control curve (2) F = f (t) is carried out by measuring the force exerted on the cable, the motor torque or a variable characteristic of the motor means and proportional to the force exerted on the cable, the engine torque or the instantaneous power delivered by the motor means.

14. A method of diagnosis according to any one of claims 4 to 11, characterized in that the characteristic curves are curves for measuring the force exerted on the cable, the engine torque or a characteristic variable motor means and proportional to the exertion exerted on the cable, the motor torque or the instantaneous power delivered by the motor means.

15. Diagnostic method according to claim 14, characterized in that the recording of the control curve F = f (t) is performed by a measurement of the deceleration of the cable.

16. A method of diagnosis according to any one of claims 4 to 15, characterized in that the control curve (2) F = f (t) is extended by a constant function (7) K = f (t).

17. .Diagnostic method according to any one of claims 4 to 16, characterized in that it uses indexing the position of at least one vehicle driven by the cable.

18. Diagnostic method according to any one of claims 4 to 17 for a cable transport installation whose braking means is a pneumatic or hydraulic means, characterized in that the test phase comprises a recording step of a curve of the pressure variations Pt = f (t) during the application of the braking means and a step of comparing Pt = f (t) with a predetermined curve Pe = f (t).

19. Diagnostic method according to claim 18, characterized in that the curve Pe = f (t) is a curve of the pressure variations recorded during the preliminary phase during the application of the braking means.

20. A method of adjusting at least one braking means of a cable transport installation comprising: at least one step of controlling the braking means by a diagnostic method according to claims 4 to 19, and At least one adjustment step of the braking means as a function of the comparison of the test characteristic and standard characteristic curves.

21. Control device of a cable transport installation comprising motor means and at least one braking means, the device comprising means for controlling the motor means, means for controlling the braking means and a safety device, the control device being characterized in that it comprises means for switching the safety device between an active position in which is prohibited the simultaneous use of the motor means and the braking means, and a passive position in which is authorized said simultaneous use.

22. Control device according to claim 21, characterized in that it further comprises means for measuring the speed of the cable.

23. Control device according to one of claims 21 or 22, characterized in that it comprises data recording means.

24. Control device according to any one of claims 21 to 23, characterized in that it comprises means for measuring pressure.

25. Control device according to any one of claims 21 to 24, characterized in that it comprises means for measuring the intensity of the current passing through the motor means.

26. Control device according to any one of claims 21 to 25, characterized in that it comprises means for indexing the position of at least one vehicle driven by the cable.