EP3033290A1

EP3033290A1 - Decentralized linear motor regulation for transport systems

Info

Publication number: EP3033290A1
Application number: EP14748120.4A
Authority: EP
Inventors: Jürgen FRANTZHELD; Qinghua Zheng; Friedrich LÖSER
Original assignee: ThyssenKrupp Elevator AG
Current assignee: TK Elevator Innovation and Operations GmbH
Priority date: 2013-08-13
Filing date: 2014-08-01
Publication date: 2016-06-22
Also published as: KR102052243B1; US10173865B2; DE102013108767A1; CN105452146A; WO2015022056A1; JP2016528127A; US20160194182A1; HK1217685A1; JP6525338B2; CN105452146B; KR20160057385A

Abstract

The invention relates to an electric-motor linear drive arrangement, in particular for moving walkways for conveying people or objects, comprising a long stator running along a movement direction as active primary part, a plurality of passive secondary parts which are movable with respect to the primary part and are arranged with one another along the movement direction, wherein the long stator has a multiplicity of successive long-stator segments (1) in the form of coil groups along the movement direction. In accordance with the invention, each long-stator segment (1) has a dedicated control device (5), wherein the control device (5) is designed to move the secondary parts on the basis of control parameters set for the corresponding long-stator segment (1). The subject matter of the invention also consists in a method for operating the electric-motor linear drive arrangement, wherein different movement profiles are preset to the respective control devices (5) for at least some of the long-stator segments (1) in order to effect the non-uniform movement of the secondary parts along the long stator.

Description

Decentralized linear motor control for transport systems

Description:

The invention relates to an electromotive linear drive assembly, in particular for moving walks or other transport device for the transport of persons or objects. The electromotive linear drive arrangement comprises a long stator running along a direction of movement as an active primary part, a plurality of secondary parts which are movable relative to the primary part and are arranged successively along the direction of movement, wherein the long stator has a multiplicity of successive long stator sections in the form of coil groups along the direction of movement. The invention also provides a method of operating the electromotive linear drive assembly for non-uniform movement of the secondaries.

For passenger transport moving walks are known, which have over their length a variable speed to bridge large distances in a shorter time can. In order to allow the persons to be transported easy entry and exit, the moving walkway is moved at its ends at a first, lower speed. After the boarding area, the moving walkway, which is usually formed from individual moving pavement slabs, accelerates to a second, higher transport speed, before the deceleration to a lower, for example the first, speed occurs in an exit area. In practice, for example, a speed of 0.6 m / s may be provided for the entry and exit areas, while the second, higher speed is 2 m / s. In order to allow the described change in speed along the length of the moving walk, the moving slabs must be telescopically movable relative to each other. In order to enable a different speed drive and acceleration, it is known to drive the moving slabs in the entry area and in the exit area with a screw, which has a variable pitch. With such a screw, the moving slabs are then accelerated to the second speed or decelerated by the second speed, wherein between the screws a

CONFIRMATION COPY Chain is provided, which moves at the higher, second speed.

Mechanically driven moving walkways with variable speed are known from EP 1 253 101 B1, EP 1 300 359 B1, EP 1 582 494 B1, EP 1 939 127 B1, EP 1 939 128 A2, EP 1 939 129 B1 and EP 1 939 130 B1 , Although the walkways described have been proven in practice, there is a need to simplify the design. In particular, the mechanical drive requires a relatively complicated configuration, whereby a maintenance effort which is usual for mechanical drives also results.

From EP 1 258 447 B1 and EP 1 502 891 B1, drive arrangements and, in particular, moving walks are known, in which individual step bodies in the form of escalator steps or moving pavement slabs are provided with their own electromotive drive. It initially results in the advantage that a central drive train in the form of a revolving chain or the like can be omitted. Furthermore, EP 1 258 447 B1 also proposes to move the moving pavement slabs on a return transport path at an increased speed, so that overall the number of moving slabs can be reduced. However, the equipment of moving pavement plates with its own electric motor is associated with a considerable effort on the whole.

The present invention is based on a known from practice electro-motor linear drive assembly according to the preamble of claim 1. The linear drive arrangement has, along the direction of movement, fixedly arranged coil groups as active primary parts and a plurality of movable secondary parts in the form of permanent magnets. The stationary coil groups are fed in sections via several inverters, whereby the position of the secondary parts, the feed forces and the motor currents through the coil groups are controlled by a central controller via the corresponding inverters. It is known to use absolute sensors for position detection, for which purpose markings, for example magnetic tapes, are arranged on the secondary parts, which can be detected by local sensors. fixed sensors are detected along the direction of movement. Due to the central control of all Langstatorabschnitte the primary part, the secondary parts can be matched to each other in a variable manner to be moved. However, the described electromotive linear drive arrangement with the central control of the movement of the secondary parts requires a relatively complicated configuration of the electrical circuit.

From EP 1 845 428 A2 an electromotive linear drive arrangement is known in which the secondary parts are each equipped with two permanent magnets which interact with different primary parts or primary part sections. The two magnets with the respectively associated primary part form two separate linear motors. At transition points so there is a transfer of the movement of the one linear motor to the other linear motor. The linear motors thus formed are only active alternately. The position of the equipped with the two permanent magnets pallet can be done by a sensor.

From EP 2 161 826 B1 a transfer device with dynamically variable drive ranges is known. The primary part is divided into several areas, each with a secondary part. The range limits of this division are moved dynamically with the secondary parts, whereby the individual secondary parts can be moved with a given movement profile. Successive secondary parts can be moved exactly the same or different from each other.

The present invention has for its object to provide an electromotive linear drive assembly and a method for operating the electromotive linear drive assembly, which allow a simple technical design and are particularly suitable for moving walkways for the transport of persons or objects.

The invention and the solution of the problem are an electromotive linear drive assembly according to claim 1 and a method for Operation of this electromotive linear drive arrangement according to claim 9.

Starting from an embodiment with the features described in the introduction, the electromotive linear drive arrangement is characterized in that each long stator section has its own control device for the motion control of the secondary part, wherein the control device is set up to move the secondary part on the basis of control parameters defined for the respective long stator section.

In the context of the invention, the secondary parts are thus controlled decentrally. Each Langstatorabschnitt can therefore be operated independently, with a predetermined motion profile for the secondary parts is stored in an associated memory for each control device. A central control of Langstatorabschnitte and thus a central control of the coil groups for the various long stator sections thus eliminated. Instead, the entire long stator is divided into stationary Langstatorabschnitte each associated with converters, each having its own control device. As soon as a secondary part reaches this long stator section, this secondary part is moved autonomously by the assigned control device on the basis of a stored motion profile.

In the context of the invention, it is preferably provided that the successive secondary parts are moved at each Langstatorabschnitt in the same way or at least to the same specifications, wherein along the entire Langstators different speeds of movement can be provided. Thus, for example, acceleration and deceleration distances or regions with a constant speed of movement can be realized at individual long stator sections.

As described above, the movement of the individual secondary parts to the Langstatorabschnitten by the associated control device. Optionally, it can be provided that directly adjacent motor sections communicate with one another in order to provide a direct, stepless transfer of the seconds. to allow därteile. Immediately adjacent long stator sections can, for example, communicate with one another in a master / slave mode, wherein a coordinated control takes place when the secondary section is connected to a transition of two successive long stator sections.

In the context of the invention, a fixed local assignment of Langstatorabschnitte, so that a complicated dynamic control and assignment is omitted. Apart from a communication of immediately consecutive long stator sections, the individual long stator sections operate independently. The control of the individual Langstatorabschnitte may be set up to monitor and adjust the position, the speed and the feed force of the individual secondaries. For the specific design of Langstatorabschnitte different opportunities arise. It can thus be provided that the number of long stator sections is greater than the number of secondary sections. By a fine subdivision of the long stator in short Langstatorabschnitte a great deal of flexibility is achieved. If, in this case, the length is shorter than the distance between successive secondary parts even for all long stator sections, secondary parts are also guided only in some of the long stator sections. Changes in the movement characteristics due to a corresponding programming are readily possible in a wide range.

However, it is often the case that the movement profile to be realized later is already known at least approximately in the case of the arrangement of the long stator sections. When the linear drive assembly is provided, for example, for a moving walk for the transportation of persons or objects, end portions of the moving walk are provided as an acceleration and deceleration path, while at a central portion of the moving walk, a high propelling speed is appropriate. It may therefore be useful to design the long stator sections according to the respective requirements with a different length. For example, if an area with a high speed is passed from the secondary parts, there may be expediently provided a greater length of Langstatorabschnitte there. The greater length then also takes into account the fact that with a faster movement per unit of time a greater distance is covered.

Moreover, it is not mandatory within the scope of the invention that only exactly one secondary part is guided on each long stator section during operation. In principle, it is also possible if two secondary parts or several secondary parts are simultaneously moved by the assigned control device on a long stator section. The guidance of a plurality of secondary parts on a long stator section can be carried out in a simple manner, in particular, if no substantial deceleration or acceleration is provided during operation on the respective long stator section. For example, in a moving walkway for carrying people or objects, a central portion between an entrance area and an exit area may be bridged by a long long stator section or a plurality of long stator sections having a comparatively long length. Expediently, in each case at least one sensor for condition detection of the secondary parts is connected to the control device. In the simplest case, a sensor for position determination is provided for each control device. Absolute sensors for position detection can be realized, for example, by the combination of incremental encoders and non-contacting proximity switches. Such an absolute sensor can also generate a direction-dependent reference index when driving over. The secondary parts can also be equipped with a device for continuous position determination, for example a magnetic tape. The determination of the force necessary for the movement of the secondary parts feed force can be carried out in a known manner by measuring the coil currents or voltages.

The control devices may be connected in the context of the invention to a central control, which, however, to the state of the tech- nik known configurations not controlled the entire movement and the control of the inverter.

In order to be able to change the entire movement sequence of the electromotive linear drive arrangement, a central control can cooperate with the control devices of the individual long stator sections such that a synchronization of the control devices is effected via a clock signal. The motion profile stored for each control is then adapted to the clock signal as a time reference. In the event of a change in the clock frequency, provision should be made in particular for the speed of the secondary parts to be proportionally changed at each long stator section. By means of the clock signal, therefore, the speed of the secondary parts along the long stator can be changed globally. In addition, the central controller via a corresponding connection and a start signal, a stop signal or a signal to change the operating mode transmitted. For example, different motion profiles for different operating modes can be stored for each of the control device, in which case, with a corresponding signal of the central control, all control devices simultaneously change to another operating mode. Since the parameters for the respective operating mode are already stored for each control device, such a change can be made particularly easily and quickly. The synchronization with a clock signal can be done for example by a fieldbus system such as EtherCAT. It should be noted that the individual long stator sections - except for a merely optionally provided master / slave operation of immediately consecutive long stator sections - do not require a state variable or status information of other long stator sections. As described above, it is provided according to a preferred embodiment of the invention that for each control device, a predetermined movement profile for the secondary parts is stored in an associated memory. This memory is preferably provided directly on the control device or as an integral part of the control device, so that a signal Transmission of the individual control devices to a remote storage can be omitted.

The term long stator refers as usual to the structural design of the electromotive linear drive assembly. Of course, the invention is not limited to a straight direction of movement. Along the direction of movement in particular also curves, arches, slopes, inclines or the like may be provided. In particular, the long stator can form a closed motion loop for the secondary parts. For example, if the electromotive linear drive assembly is part of a moving walkway for passenger transport, the persons are moved from a starting point to an end point, in which case the secondary parts must again go back to the starting position. Since the mechanical construction is simplified by eliminating a central drive device in the form of a chain or the like, can be realized with the electromotive linear drive assembly in a particularly simple manner a moving walk with extending in opposite directions sections, both sections for a passenger transport are provided. The individual secondaries must then be transferred only between the sections in a suitable manner.

If the secondary parts are merely moved between an end point and a starting point for the transport of persons or objects and thus returned, a drive can also be carried out at maximum speed in order to bridge this return area as quickly as possible and with as few secondary parts as possible. At least between a starting point and an end point for the transport of persons or objects, the secondary parts or the elements driven by the secondary parts can be guided mechanically in the form of moving pavement slabs and / or mechanically coupled to one another. By such a mechanical coupling can also in case of malfunction of Linear drive arrangement can be avoided that between two successive moving sidewalk pallets can form spaces. However, such a mechanical connection can be canceled if the secondary parts or the elements driven therewith in the form of traveling plates without a person to be conveyed or an object to be conveyed are moved between the end point and the starting point. In particular, within the scope of the invention, individual secondary parts can also be removed or added during operation. For example, it is also possible to replace individual secondary parts during maintenance for maintenance purposes.

In particular, the present invention is directed to the use of the described linear drive assembly for moving walkways for transporting persons or objects.

The invention furthermore relates to a method for operating the electromotive linear drive arrangement described, wherein different motion profiles are predetermined for the non-uniform movement of the secondary parts along the long stator for at least part of the long stator sections. As described above, an average speed of the secondary parts along the long stator can preferably be changed by the frequency of the clock signal of a central controller. The long stator sections control the assigned secondary part-apart from the optional consideration of the clock signal-preferably autonomously, wherein a matching sequence of movements can be provided at each long stator section for the secondary parts following there. The invention will be explained in the following with reference to a drawing showing only one exemplary embodiment. Show it:

Fig. 1 is an electromotive linear drive assembly according to the

State of the art, 2 shows a linear drive arrangement according to the invention,

3A a moving walk for passenger transport with an electric motor linear drive arrangement,

Fig. 3B is a speed profile of the movement of secondary parts along the moving walkway according to the Fig. 3A, Fig. 4 shows a possible structural design of a moving walk to

Carriage of persons.

FIG. 1 shows a prior art electromotive linear drive arrangement known from practice with a long stator running along a direction of movement, which has individual long stator sections 1 in the form of coil groups.

The stationary long stator sections 1 are each preceded by a converter 2 for controlling the coils of the respective long stator section 1. All inverters 2 are controlled by a central control 3 in order to move a plurality of secondary parts (not shown in FIG. 1) in the form of permanent magnets 6 along the long stator formed by the long stator sections 1 according to a predetermined movement profile. Furthermore, sensors 4 are arranged along the long stator, the signals of which are processed by the central controller 3.

This results in a total of a relatively complicated interconnection, wherein during operation of the electromotive linear drive assembly continuously control signals from the central control 3 are passed to the individual converters. The entire signal processing including safety logic takes place in the central control 3, where the exact movement profiles of the secondary parts along the long stator are also stored there. On the other hand, FIG. 2 shows an embodiment according to the invention of the electromotive linear drive arrangement, wherein a separate control device 5 for the movement control of the secondary parts is provided for each long stator section 1. The control devices 5 each comprise a memory in which the movement profile provided for the respective path section is stored.

For a movement of the secondary parts along the respective long stator section 1, the motion control takes place solely by the associated control device 5, which works largely independently. The sensors 4 likewise provided according to FIG. 2 are each connected to an associated control device 5 and not to a central control 3 '. The central controller 3 'is provided only to synchronize the controllers 5 for each long stator section with a clock signal. In addition, from the central controller 3 'also a start signal, a stop signal or a signal for changing the operating mode can be transmitted. The transmission of further data is neither necessary nor foreseen, so that the decentralization of the control results in a considerable simplification. In particular, it is not necessary to centrally monitor the entire movement sequence of the individual secondary parts via the long stator.

In FIG. 2, it is indicated that, optionally, the directly successive control devices 5 can be connected to one another in order to facilitate a transfer of the secondary parts from long stator section 1 to long stator section 1.

Fig. 3A shows a highly schematic representation of the use of an electromotive linear drive assembly according to the invention on a moving walkway for the transport of persons, wherein only the positions of the secondary parts in the form of permanent magnets 6 along the entire direction of movement are indicated. The long stator forms a closed motion loop for the secondary parts with an upper run 7 and a lower run 8. At the individual permanent magnets 6 as secondary parts mutually movable moving walk plates 9 (Fig. 4) are arranged.

In an entry area between the points X ₀ and Xi, the permanent magnets 6 as secondary parts and thus the pavement plates 9 attached thereto are accelerated from a low speed, which allows an ascending, to a continuous transport speed. With this transport speed, the moving slabs move between the points Xi and X ₂ . In order then to enable a passenger to dismount from the indicated moving pavement, a deceleration takes place between the points X ₂ and X ₃ . To then move the individual secondaries with permanent magnet 6 and moving slab 9 back to the boarding area, they are moved in the lower run 8 at a high speed between the points X4 and X5, whereby this distance can be bridged quickly with few elements. The secondaries then return to the starting point X ₀ and are thus circulated at a variable speed.

FIG. 3B shows by way of example a possible speed course along the entire travel path. Fig. 4 shows a possible embodiment of moving slabs 9 of a moving walkway for passenger transport. The moving platform slabs 9 are movable relative to each other, wherein the moving slabs 9 are pushed together at a slow advancing speed and only with an end portion 10 are exposed. With an increase in speed, a telescopic section 11 of the moving slab plates 9 is then successively released, as a result of which the effective length of the individual moving slabs 9 increases correspondingly. The moving slabs 9 are guided laterally in rails 12 and preferably also at least anchored to the upper run 7 in the pulling direction to each other. The individual moving base plates 9 are further connected to a permanent magnet 6 as Secondary part of the electromotive Linerantriebsanordnung connected. As described above, it can be provided on the lower run 8 that the moving walk plates 9 can be completely coupled to one another for faster movement.

Claims

claims

1. Electromotive linear drive arrangement, in particular for moving walks for the transport of persons or objects, with a long direction along a direction of movement Langstator active primary part, a plurality of movable relative to the primary part, passive and along the direction of succession arranged secondary parts, wherein the long stator along the Direction of movement has a plurality of successive Langstatorabschnitten (1) in the form of coil groups, characterized in that each Langstatorabschnitt (1) has its own control means (5) for the movement control of the secondary parts, wherein the control means (5) for moving the secondaries based on for respective long stator section (1) set control parameters are set.

2. Linear drive arrangement according to claim 1, characterized in that for each control device (5) a predetermined movement profile for the secondary parts is stored in an associated memory.

3. Linear drive arrangement according to claim 1 or 2, characterized in that the control means (5) to a central control (3 ') are connected, which causes a synchronization of the control means (5) via a clock signal.

4. Linear drive arrangement according to one of claims 1 to 3, characterized in that the number of Langstatorabschnitte (1) is greater than the number of secondary parts.

5. Linear drive arrangement according to one of claims 1 to 4, characterized in that the long stator forms a closed motion circuit for the secondary parts.

6. Linear drive arrangement according to one of claims 1 to 5, characterized in that each Langstatorabschnitt has a plurality of coils and a separate converter for driving the coils.

7. Linear drive arrangement according to one of claims 1 to 6, characterized in that the secondary parts are formed by permanent magnets.

8. Linear drive arrangement according to one of claims 1 to 7, characterized in that the control means (5) each have at least one sensor (4) is connected to the state detection of the secondary parts.

9. A method for operating an electromotive linear drive arrangement according to one of claims 1 to 8, wherein for non-uniform movement of the secondary parts along the long stator for at least a portion of the long stator sections (1) the respective control devices (5) different motion profiles are specified.

10. The method according to claim 9, characterized in that an average speed of the secondary parts along the long stator by the frequency of the clock signal of a central control (3 ') is changed.

11. The method according to claim 10, wherein the control devices (5) autonomously control the respective secondary section assigned to the corresponding long stator section (1) except for the consideration of the clock signal.

12. The method according to any one of claims 9 to 11, wherein the successive secondary parts are moved along the long stator in a matching sequence of movements.

13. The method according to any one of claims 9 to 12, wherein the number of secondary parts is changed.