SU1331784A1 - Device for controlling hoisting machine - Google Patents

Abstract

The invention relates to lifting machines and is intended to automate the acceleration and deceleration modes of mine lifting installations and elevators. The purpose of the invention is to improve the accuracy and reliability of the lifting machine. The device contains series-connected elevator position sensors, a program block, a set speed correction block, a comparison block, a speed controller and an electric drive control block, as well as a load sensor that is connected to the second input of the program block, an acceleration sensor and a speed sensor connected to the block correction of a given speed through its respective inputs, the speed sensor is also connected to the second input of the comparison unit. Switching modes of operation (start or braking) of the device is carried out using the speed setting unit. 2 Il. (L co oo 00 4

Description

113

The invention relates to lifting machines and is intended to automate the acceleration and deceleration modes of mine lifting installations, elevators, etc.

The purpose of the invention is to increase the accuracy and reliability of the lifting machine.

Figure 1 shows a block diagram of a device for controlling a lifting machine; Fig. 2 shows diagrams of the change in time of the output signals of the device (during starting and braking).

The device contains a positioning sensor 1 of the elevating machine, blocks of programs 2, setpoint correction 3 and comparison A, speed controller 5, electric drive control unit 6, load sensors 7, acceleration 8 and speed 9 of the elevator.

The set speed correction unit 3 contains four operational amplifiers 10-13, four voltage limiters 14-17, an optocoupler 18, two key elements 19 and 20 and two null-organs 21 and 22.

Block 2 of the programs contains blocks for specifying acceleration 23, assignments for jerk 2 and functional converter 25.

The functional transducer 25 realizes the known dependence of the circular frequency Id of natural oscillations on the rope stiffness and moments of inertia

U)

N.

I

(one)

where SC is the stiffness of the rope,

I - floor} 1st moment of inertia of the machine; l. Ij. + 1, - moment of mass inertia

lifting vessel with a load I f-p. (output of load sensor 7) and half of a branch of channel I, (output of position sensor 1), 1 - moment of inertia of the rest

masses

The jerk setting unit 24 is a multiplier that multiplies the signals from the acceleration setting unit 23 and the function converter 25 and implements a known relationship for a valid jerk.

The log, ELOP (w, / 2 /), (2)

where i f, on admissible acceleration.

The device works as follows.

Before starting the lifting machine, the program block 2 sets up

42

block 3. The acceleration reference block 23 sets the reference voltage U of the limiters 14 and 16, the value of which is proportional to the allowable acceleration of the elevator during start.

At the output of block 24, the task jerk

reference voltage Un is formed

, / Aor

limiter 15, which is proportional to the allowable jerk size fAon, defined by expression (2).

The start of the hoisting machine begins with a feed from the output of the setpoint 26 of the voltage velocity Uu), whose magnitude is proportional to the given speed aft, (Fig. 2). WITH THIS At the outputs of amplifiers 10 and 11,

respectively voltage Ug

Lrp

and p, whose values are determined by the reference voltages of the corresponding limiters 14 and 15 and are proportional to the allowable acceleration and jerk, respectively.

The voltage Ug at the output of the amplifier 12 operating in the integration mode begins to increase linearly, forming the required acceleration diagram. U voltage

at the output of the amplifier 13 operating in the integration mode, increases in a parabola, forming the required velocity diagram. From the output of the amplifier 13 signal U | enters the input of block 4 comparison.

In unit 4 of the comparison, this signal is compared with a signal proportional to the actual speed of the elevator. Signal

errors from the output of the comparator unit 4 are fed to the speed controller 5, the output signal of which is fed to the electric drive control unit 6, which ensures that the hopper works the required diagram

speed u).

Due to the fact that the elements of the control system (electric drive control unit 6) have inertia,

the actual velocity s, acceleration E, and jerk p lag behind the given u, UE, and Up.

During the time t, - t, (Fig. 2), the lifting machine accelerates from

jerk limiting (. At time t, the voltage U at the output of amplifier 12 reaches the value Ug, but this does not lead to the switching of the system (movement with constant

acceleration), since the value of the actual acceleration f is less than the corresponding allowable value

signal uc

and such a switch

would be premature. It occurs at a time t, the actual speed U) of the hoist reaches the corresponding predetermined signal value U ,,. The signal at the output usi «A

rhenium i hoist (signal to

the output of the acceleration sensor 8) reaches

permissible value (Uf), and the signal on the case of 10 s is equal to zero, which

at the output of amplifier 11 it becomes the result that the zero-organ 22

generates an enable signal acting on the key element 20, which in turn connects the 15-amplifier 13 to the limiter 17. The reference voltage of the limiter 17 is proportional to the magnitude of the given speed and d,. The signal and at the output of the amplifier 13 in this case becomes equal to U ,,. At time t 0; Ug

equal to zero.

At the output of the null organ 21, an enable signal appears, causing key element 19 to feedback the amplifier 12 to limiter 16, whose reference voltage sf, cr is also proportional to the admissible acceleration value. the voltage Ug at the output of amplifier 12 becomes equal to Ug and is proportional to the actual acceleration. In this case, the acceleration is then carried out with constant acceleration.

The signal (output of amplifier 13) and the actual speed with at the same time begin to increase linearly (w is lagging behind u due to the inertia of the system). At time t, the actual speed U) of the hoist reaches the corresponding signal value. . In this case, the signal at the output of amplifier 10 becomes equal to such a value that

Up 0. Further movement

25

thirty

to (and

ioA U).

- and

U) t

) and /

35

Chipboard

where K -; g - gain factor

amplifier 10, as determined by optron 18.

The next moment K (, - Uut.) Becomes less Up. R

  uh aon

20

 0; p 0;

the hoisting machine occurs at a constant speed U) W3j, (Unj

 and.,,",).

The operational braking of the lifting unit is carried out using an electric drive when the voltage at the output of the unit 26 of the speed of unit 3 is set to zero. In this case, the task block 3 is configured by the program block 2 in the same way as described.

The operation of the units of the proposed device in the mode of operating braking is similar to their operation during start.

Claims (1)

Invention Formula A device for controlling a lifting machine, comprising position sensors and loading machines of the lifting machine, the outputs of which are connected to the corresponding inputs of the program block, the first, second and third outputs of which are connected to the first, second and g third inputs of the setpoint correction block whose output is connected to the first input a comparator unit, the second input of which is connected to the output of the speed sensor, and the output is connected to the input of the speed regulator, an electric drive control unit and an acceleration sensor, characterized in that accuracy and reliability of operation of the elevator car, outputs the acceleration sensors and speed are connected respectively with the fourth and fifth inputs predetermined block speed correction, a sixth input coupled to the output setpoint 40 ten therefore, the signal at the output of the amplifier is no longer limited to 3 being reduced to zero, since the actual speed u) of the hoist tends to be given. during this period (tj-t), the difference K. (U. (j - UJ - UE 0 and signal Up (output of amplifier 11) becomes equal Up. This signal goes to J AOft The input of amplifier 12, which causes the signal and (output of amplifier 12), proportional to the specified acceleration of the lifting mat, decreases linearly, and the signal U (output of amplifier 16), proportional to the set speed of the lifting machine, begins to change again along a parabola. At the same time, the actual acceleration f and the speed id change respectively linearly and along a parabola. At time t, the actual speed U) of the hoist reaches the corresponding predetermined signal value U ,,. The signal at the output usi «A letter 10 s tanovits equal to zero what generates an enable signal acting on the key element 20, which in turn connects the 15-amplifier 13 to the limiter 17. The reference voltage of the limiter 17 is proportional to the magnitude of the given speed and d,. The signal and at the output of the amplifier 13 in this case becomes equal to U ,,. At time t 0; Ug 2 s Up 0. Further movement 25 thirty 35 0 20  0; p 0; the hoisting machine occurs at a constant speed U) W3j, (Unj  and.,,",). The operational braking of the lifting unit is carried out using an electric drive when the voltage at the output of the unit 26 of the speed of unit 3 is set to zero. In this case, the task block 3 is configured by the program block 2 in the same way as described. The operation of the units of the proposed device in the mode of operating braking is similar to their operation during start. Invention Formula A device for controlling a lifting machine, comprising position sensors and loading machines of the lifting machine, the outputs of which are connected to the corresponding inputs of the program block, the first, second and third outputs of which are connected to the first, second and g third inputs of the setpoint correction block whose output is connected to the first input a comparator unit, the second input of which is connected to the output of the speed sensor, and the output is connected to the input of the speed regulator, an electric drive control unit and an acceleration sensor, characterized in that accuracy and reliability of operation of the elevator car, outputs the acceleration sensors and speed are connected respectively with the fourth and fifth inputs predetermined block speed correction, a sixth input coupled to the output setpoint 40 50 55 51 speed, and the output of the speed controller is connected to the input of the drive control unit, the set speed correction block contains four serially connected operational amplifiers, the output of the last of which is the output of the set speed correction block, and the inputs of the first operational amplifier are the fifth and sixth inputs setpoint correction unit, the fourth input of which is connected to the input of the second operational amplifier, voltage limiters, the first and second of which are included in the circuits hydrochloric bond the first and second operational amplifiers respectively, the key elements optocoupler and a zero-body, parallel with the first limiter for voltage included fotorezis84 Optocoupler torus, and in the feedback circuit The second and fourth operational silicates are connected in series i connected by a third voltage limiter and a first key and a series connected fourth voltage limiter and a second key, respectively, the second inputs of the first and third, second and fourth voltage limiters are respectively the first, second and sixth inputs of the block setpoint correction, the input of the optocoupler LED is the third input of the setpoint correction block, the inputs of the first and second null organs are connected to the outputs the second and first operational amplifiers, and the outputs with the second inputs of the first and second keys, respectively.  1 I Editor P.Geershi Compiled by L. Reznikova Tehred V. KadarKorrektor A.Obruchar Order 3762/18 Circulation 720 Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Design, h t: t §I a .