EP2096071B1 - Dispositif de commande de frein à solénoïde - Google Patents

Dispositif de commande de frein à solénoïde Download PDF

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Publication number
EP2096071B1
EP2096071B1 EP06842909.1A EP06842909A EP2096071B1 EP 2096071 B1 EP2096071 B1 EP 2096071B1 EP 06842909 A EP06842909 A EP 06842909A EP 2096071 B1 EP2096071 B1 EP 2096071B1
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EP
European Patent Office
Prior art keywords
armature
value
release action
speed
control apparatus
Prior art date
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Application number
EP06842909.1A
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German (de)
English (en)
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EP2096071A4 (fr
EP2096071A1 (fr
Inventor
Daisuke Okada
Hirosi Kigawa
Masaya Sakai
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication of EP2096071A1 publication Critical patent/EP2096071A1/fr
Publication of EP2096071A4 publication Critical patent/EP2096071A4/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/32—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on braking devices, e.g. acting on electrically controlled brakes

Definitions

  • the present invention relates to an electromagnetic brake control apparatus that controls an excitation state of a brake coil in an electromagnetic braking apparatus such as an elevator braking apparatus, for example.
  • an electromagnetic brake control apparatus of this kind because commencement of the release action of the armature due to attraction by the brake coil is detectable, and the speed of the armature during the release action is ascertainable, and the attractive force that arises in the brake coil can be reduced while tracking the speed of the armature to a preset target speed when commencement of the release action is detected, collision noise can be reduced stably during brake release in any electromagnetic braking apparatus while suppressing lengthening of brake release action time. By making the speed of the armature track the target speed, the brake release action can also be performed more reliably.
  • FIG 1 is a schematic structural diagram that shows an elevator apparatus according to Embodiment 1 of the present invention.
  • a car 1 and a counterweight 2 are suspended inside a hoistway by a main rope 3, and are raised and lowered inside the hoistway by a driving force from a hoisting machine 4.
  • a hoisting machine 4 has: a drive sheave 5 onto which a main rope 3 is wound; a motor 6 that rotates the drive sheave 5; a brake drum 7 that functions as a brake rotating body that is rotated together with the drive sheave 5 together with motion of the car 1; and an electromagnetic braking apparatus 8 that brakes rotation of the first drive sheave 5.
  • the electromagnetic braking apparatus 8 has: a brake shoe 9 that can be placed in contact with and separated from the brake drum 7; an armature 10 that is connected to the brake shoe 9; a braking spring 11 that presses the brake shoe 9 against the brake drum 7; an electromagnet 12 that is disposed so as to face the armature 10 and that generates electromagnetic attraction that acts against the braking spring 11 and separates the brake shoe 9 from the brake drum 7; and a release detecting switch 13 that detects if the armature 10 has been displaced to a fully released position.
  • a brake coil 14 is disposed on the electromagnet 12.
  • An excitation state of the brake coil 14 is controlled by a control apparatus main body 15.
  • a detection signal from an electric current detector 16 for detecting an electric current value (an actual current value) that is passed to the brake coil 14 is input into the control apparatus main body 15.
  • FIG 2 is a block diagram that shows a configuration of the control apparatus main body 15 from Figure 1 .
  • a current command generating portion 17 generates a current command for flowing a current to the brake coil 14 as an initial command in response to a brake release command.
  • the current command from the current command generating portion 17 and the detection signal from the electric current detector 16 are input into a current control portion 18.
  • the current control portion 18 generates a voltage command for applying a voltage to the brake coil 14 such that the actual current value in the brake coil 14 matches the value of the current command.
  • the voltage command from the current control portion 18 is input into the brake coil 14 by means of a limiter 19.
  • the value of the voltage command from the current control portion 18 is differentiated by a differentiating portion 20, and is input into a release action detecting portion 21.
  • the voltage command from the current control portion 18 and the detection signal from the electric current detector 16 are input into an armature speed calculating portion 22.
  • the release action detecting portion 21 detects commencement of a release action (displacement) of the armature 10 by comparing output from the differentiating portion 20 with a preset threshold value. Specifically, the release action detecting portion 21 detects the release action of the armature 10 based on time variations in the value of the voltage command.
  • the armature speed calculating portion 22 calculates a value for speed of the armature 10 after the release action based on information from each of the release action detecting portion 21, the current control portion 18, and the electric current detector 16 and sends it to a speed compensating portion 25. Specifically, the armature speed calculating portion 22 calculates the value of the speed of the armature 10 based on both the value of the voltage command and the actual current value of the brake coil 14 when commencement of the release action is detected by the release action detecting portion 21.
  • the speed compensating portion 25 sends a signal to the command value adjusting portion 23 that corresponds to a difference between output from the armature speed calculating portion 22 and a preset target speed.
  • the target speed is set so as to reduce the speed immediately before the armature 10 contacts the electromagnet 12.
  • the command value adjusting portion 23 changes the value of the current command (the initial command) that the current command generating portion 17 has generated and sends it to the current control portion 18. Specifically, the command value adjusting portion 23 changes the value of the current command (the initial command) such that output from the speed compensating portion 25 is reduced when commencement of the release action is detected by the release action detecting portion 21. In other words, when commencement of the release action is detected, the command value adjusting portion 23 changes the attractive force that is generated in the brake coil 14 while making the speed of the armature 10 track the target speed. In this example, when commencement of the release action is detected, the attractive force that is generated in the brake coil 14 is reduced more than before commencement of the release action.
  • the control time detecting portion 24 counts time from the commencement of the release action of the armature 10 (control time).
  • a timer 26 also counts time from when excitation of the brake coil 14 is commenced in response to a brake release command.
  • FIG 3 is a flowchart that shows action of the control apparatus main body 15 from Figure 1 during brake release.
  • a brake release command is input into the control apparatus main body 15.
  • An initial command I 0 is thereby sent from the current command generating portion 17 to the command value adjusting portion 23 as a current command.
  • the value of the initial command I 0 is output without modification from the command value adjusting portion 23 as a value l p of the current command (Step S1).
  • the timer 26 is reset simultaneously, and counting of time T from the commencement of excitation is commenced (Step S2).
  • a voltage command is generated by the current control portion 18 such that the actual current value I of the brake coil 14 matches the value I p of the current command (Step S3).
  • proportional gain be K p
  • integrated gain be K i
  • the differentiated value that is found by the differentiating portion 20 is compared with a preset threshold value a (> 0) by the release action detecting portion 21 (Step S4).
  • a release action commencement detection signal is output by the release action detecting portion 21.
  • the control time detecting portion 24 is thereby reset, and counting of time T c from the commencement of the release action of the armature 10 is commenced (Step S5). Moreover, at that point, time T from the commencement of excitation is T + ⁇ T.
  • the value u of the voltage command is revised in response to the value I p of the current command by the current control portion 18 (Step S9).
  • the electric current value is thereby reduced in such a way that the speed V est of the armature 10 tracks the preset target speed V 0 after commencement of the release action of the armature 10. Consequently, impact force and collision noise are reduced when the armature 10 collides with the electromagnet 12.
  • the time until commencement of the release action is minimized by flowing current at a performance limit of the power source and the brake coil 14 until the armature 10 commences the release action.
  • the voltage command that is input into the brake coil 14 is also limited here to less than an upper limit U max in the limiter 19 (0 ⁇ u ⁇ u max ).
  • the release detecting switch 13 is subsequently monitored to see whether it is switched on. When the release detecting switch 13 is switched on, it is deemed that the armature 10 has displaced to the released position and the release action has been completed, and the value I p of the current command is switched to a holding current command value.
  • control apparatus main body 15 has: an armature speed calculating portion 22 that calculates the speed of the armature 10 based on both the actual current value of the brake coil 14 and the value of the voltage command from the current control portion 18; and a speed compensating portion 25 that generates a corrected current that corresponds to a difference between the speed of the armature 10 and the preset target speed, the speed of the armature 10 can be ascertained easily.
  • the speed of the armature 10 can also be made to track the target speed easily by controlling the value of the voltage command so as to reduce the corrected current.
  • commencement of the release action can be detected more reliably and easily.
  • detection of the release action of the armature 10 may also be performed by a sensor that can continuously detect action (displacement) of the armature 10.
  • control apparatus main body 15 Because the control apparatus main body 15 generates a pre-reduction attractive force in the brake coil 14 when a preset time Tend elapses from the commencement of excitation of the brake coil 14, the brake release action can be performed even more reliably even if an abnormality arises in the control that reduces the attractive force, enabling reliability to be improved further.
  • a voltage command generating portion 31 generates a voltage command for applying a voltage to the brake coil 14 as an initial command in response to a brake release command.
  • the voltage command is input into the brake coil 14 by means of a command value adjusting portion 36 and a limiter 19.
  • a coil actual current value that is detected by an electric current detector 16 is differentiated by a differentiating portion 32 and input into a release action detecting portion 33.
  • the voltage command from the command value adjusting portion 36 and the coil actual current value from the electric current detector 16 are input into an armature speed calculating portion 34.
  • the release action detecting portion 33 detects commencement of a release action of the armature 10 by comparing output from the differentiating portion 32 with a preset threshold value. Specifically, the release action detecting portion 33 detects the release action of the armature 10 based on time variations in the coil actual current value.
  • the command value adjusting portion 36 changes the value of the voltage command (the initial command) that the voltage command generating portion 31 has generated and sends it to the limiter 19. Specifically, the command value adjusting portion 36 changes the value of the voltage command (the initial command) such that output from the speed compensating portion 35 is reduced when commencement of the release action is detected by the release action detecting portion 33. In other words, when commencement of the release action is detected, the command value adjusting portion 36 changes the attractive force that is generated in the brake coil 14 while making the speed of the armature 10 track the target speed. In this example, when commencement of the release action is detected, the attractive force that is generated in the brake coil 14 is reduced more than before commencement of the release action.
  • the control time detecting portion 24 counts time from the commencement of the release action of the armature 10 (control time).
  • a timer 26 also counts time from when excitation of the brake coil 14 is commenced in response to a brake release command.
  • the control apparatus main body 15 stops adjustment of the voltage command by the command value adjusting portion 36 and generates a pre-reduction attractive force in the brake coil 14 when a preset time T end elapses from the commencement of excitation of the brake coil 14.
  • the control apparatus main body 15 also stops adjustment of the voltage command by the command value adjusting portion 36 and generates a pre-reduction attractive force in the brake coil 14 when a preset time T cend elapses from commencement of the release action of the armature 10.
  • FIG. 5 is a flowchart that shows action of the control apparatus main body 15 from Figure 4 during brake release.
  • a brake release command is input into the control apparatus main body 15.
  • An initial command u 0 is thereby sent from the voltage command generating portion 31 to the command value adjusting portion 36 as a voltage command.
  • the value of the initial command u 0 is output without modification from the command value adjusting portion 36 as a value u of the voltage command (Step S31).
  • the timer 26 is reset simultaneously, and counting of time T from the commencement of excitation is commenced (Step S32).
  • the voltage command that is input into the brake coil 14 is limited to less than an upper limit u max in the limiter 19 (0 ⁇ u ⁇ u max ) (Step S33).
  • the actual current I to the coil is increased at a certain time constant.
  • the differentiated value that is found by the differentiating portion 32 is compared with a preset threshold value a ( ⁇ 0) by the release action detecting portion 33 (Step S34).
  • a release action commencement detection signal is output by the release action detecting portion 33.
  • the control time detecting portion 24 is thereby reset, and counting of time T c from the commencement of the release action of the armature 10 is commenced (Step S35).
  • speed V est of the armature 10 is calculated by the armature speed calculating portion 34 based on the value u of the voltage command and the actual current value I of the brake coil 14 (Step S36).
  • an inductance model value be L
  • a coil resistance value be R
  • a correction factor be K n
  • a corrected voltage ⁇ u which is a signal that corresponds to a difference between the speed V est of the armature 10 and a preset target speed value V 0 , is thereby output by the speed compensating portion 35 (Step S37).
  • a feedback coefficient be K l
  • the value u of the voltage command is revised from the initial command value u 0 by the command value adjusting portion 23 so as to be smaller than the corrected voltage ⁇ u (Step S38).
  • the electric current value is reduced in such a way that the speed V est of the armature 10 tracks the preset target speed V 0 after commencement of the release action of the armature 10, impact force and collision noise are reduced when the armature 10 collides with the electromagnet 12.
  • the time until commencement of the release action is minimized by applying a voltage at a performance limit of the power source and the brake coil 14 until the armature 10 commences the release action.
  • the voltage command that is input into the brake coil 14 is also limited here to less than an upper limit U max in the limiter 19 (0 ⁇ U ⁇ u max ) (Step S39).
  • Step S40 time T from the commencement of excitation is monitored to see whether it has reached T end
  • T c from the commencement of the release action is monitored to see whether it has reached T cend (Step S41). If either of the conditions T > Tend or T c > T cend is satisfied, then the value u of the voltage command is returned to the initial command value u 0 regardless of the state of the release action (Step S42).
  • control apparatus main body 15 also has: a voltage command generating portion 31 that generates a voltage command in response to a brake release command; and a release action detecting portion 33 that detects the release action of the armature 10 based on changes in the actual current value of the brake coil 14, commencement of the release action of the armature 10 can be detected more reliably and easily even using voltage control.
  • the brake rotating body may also be integrated with a drive sheave.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)
  • Braking Arrangements (AREA)

Claims (7)

  1. Appareil de commande de frein électromagnétique qui comprend un corps principal d'appareil de commande (15) qui libère un appareil de freinage électromagnétique (8) en excitant une bobine de frein (14) pour attirer une armature (10) vers la bobine de frein (14),
    l'appareil de commande de frein électromagnétique étant caractérisé en ce que :
    le corps principal d'appareil de commande (15) peut détecter le commencement d'une action de libération de l'armature (10) par l'attraction par la bobine de frein (14) et peut établir une vitesse de l'armature (10) pendant l'action de libération, et modifie une force d'attraction qui apparaît dans la bobine de frein (14) tout en amenant la vitesse de l'armature (10) à suivre une vitesse cible prédéterminée lorsque le commencement de l'action de libération est détecté.
  2. Appareil de commande de frein électromagnétique selon la revendication 1, caractérisé en ce que le corps principal d'appareil de commande (15) comprend :
    une partie de génération de commande de courant (17) qui génère une commande de courant pour faire circuler un courant électrique vers la bobine de frein (14) en réponse à une commande de libération de frein ;
    une partie de commande de courant (18) qui génère une commande de tension pour appliquer une tension à la bobine de frein (14) de sorte qu'une valeur de courant réelle de la bobine de frein (14) corresponde à une valeur de la commande de courant ;
    une partie de détection d'action de libération (21) qui détecte l'action de libération de l'armature (10) sur la base d'une modification d'une valeur de la commande de tension ;
    une partie de calcul de vitesse d'armature (22) qui calcule la vitesse de l'armature (10) à la fois sur la base de la valeur de courant réelle de la bobine de frein (14) et de la valeur de la commande de tension ;
    une partie de compensation de vitesse (25) qui génère un signal qui correspond à une différence entre la vitesse de l'armature (10) qui a été calculée par la partie de calcul de vitesse d'armature (22) et la vitesse cible ; et
    une partie d'ajustement de valeur de commande (23) qui modifie la valeur de là commande de courant sur la base d'informations provenant à la fois de la partie de détection d'action de libération (21) et de la partie de compensation de vitesse (25).
  3. Appareil de commande de frein électromagnétique selon la revendication 2, caractérisé en ce que :
    le corps principal d'appareil de commande (15) comprend en outre une partie de différentiation (20) qui différentie la valeur de la commande de tension ; et
    la partie de détection d'action de libération (21) détecte le commencement de l'action de libération en comparant la sortie de la partie de différentiation (21) avec une valeur de seuil prédéterminée.
  4. Appareil de commande de frein électromagnétique selon la revendication 1, caractérisé en ce que le corps principal d'appareil de commande (15) comprend :
    une partie de génération de commande de tension (31) qui génère une commande de tension pour appliquer une tension à la bobine de frein (14) en réponse à une commande de libération de frein ;
    une partie de détection d'action de libération (33) qui détecte l'action de libération de l'armature (10) sur la base d'une modification d'une valeur de courant réelle de la bobine de frein (14) ;
    une partie de calcul de vitesse d'armature (34) qui calcule la vitesse de l'armature (10) à la fois sur la base de la valeur de courant réelle de la bobine de frein (14) et de la valeur de la commande de tension ;
    une partie de compensation de vitesse (35) qui génère un signal qui correspond à une différence entre la vitesse de l'armature (10) qui a été calculée par la partie de calcul de vitesse d'armature (34) et la vitesse cible ; et
    une partie d'ajustement de valeur de commande (36) qui modifie la valeur de la commande de tension sur la base d'informations provenant à la fois de la partie de détection d'action de libération (33) et de la partie de compensation de vitesse (35).
  5. Appareil de commande de frein électromagnétique selon la revendication 4, caractérisé en ce que :
    le corps principal d'appareil de commande (15) comprend en outre une partie de différentiation (32) qui différentie la valeur de courant réelle de la bobine de frein (14) ; et
    la partie de détection d'action de libération (33) détecte le commencement de l'action de libération en comparant la sortie de la partie de différentiation (32) avec une valeur de seuil prédéterminée.
  6. Appareil de commande de frein électromagnétique selon la revendication 1, caractérisé en ce que le corps principal d'appareil de commande (15) génère une force d'attraction de préréduction dans la bobine de frein (14) lorsqu'un temps prédéterminé s'est écoulé depuis le commencement de l'excitation de la bobine de frein (14).
  7. Appareil de commande de frein électromagnétique selon la revendication 1, caractérisé en ce que le corps principal d'appareil de commande (15) génère une force d'attraction de préréduction dans la bobine de frein (14) lorsqu'un temps prédéterminé s'est écoulé depuis le commencement de l'action de libération de l'armature (10).
EP06842909.1A 2006-12-20 2006-12-20 Dispositif de commande de frein à solénoïde Active EP2096071B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2006/325355 WO2008075417A1 (fr) 2006-12-20 2006-12-20 Dispositif de commande de frein à solénoïde

Publications (3)

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EP2096071A1 EP2096071A1 (fr) 2009-09-02
EP2096071A4 EP2096071A4 (fr) 2013-07-31
EP2096071B1 true EP2096071B1 (fr) 2015-02-11

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WO (1) WO2008075417A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4667489B2 (ja) * 2008-07-08 2011-04-13 東芝エレベータ株式会社 エレベータ用ブレーキ点検システム
JP5794067B2 (ja) * 2011-09-16 2015-10-14 三菱電機株式会社 エレベータのブレーキ制御装置

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JPH0780650B2 (ja) * 1990-08-13 1995-08-30 日本オーチス・エレベータ株式会社 エレベータ制御装置のブレーキ制御方式
JPH09267982A (ja) * 1996-03-29 1997-10-14 Mitsubishi Electric Corp リニアモータ駆動移動体装置
EP1225150A1 (fr) * 2001-01-09 2002-07-24 Inventio Ag Dispositif pour fonctionnement silencieux d'un frein d'ascenseur
JP4620912B2 (ja) * 2001-09-11 2011-01-26 三菱電機株式会社 制動システム及びその制御装置
JP4102362B2 (ja) * 2002-09-27 2008-06-18 三菱電機株式会社 エレベータのブレーキ制御装置
IL257050B (en) * 2017-01-25 2021-04-29 Biosense Webster Israel Ltd Analyzing and mapping ecg signals and determining ablation points to eliminate brugada syndrome

Also Published As

Publication number Publication date
EP2096071A4 (fr) 2013-07-31
JPWO2008075417A1 (ja) 2010-04-02
EP2096071A1 (fr) 2009-09-02
WO2008075417A1 (fr) 2008-06-26
JP5073678B2 (ja) 2012-11-14

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