US20160023218A1 - Drive control method and drive system operating according to said method - Google Patents

Drive control method and drive system operating according to said method Download PDF

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Publication number
US20160023218A1
US20160023218A1 US14/761,196 US201314761196A US2016023218A1 US 20160023218 A1 US20160023218 A1 US 20160023218A1 US 201314761196 A US201314761196 A US 201314761196A US 2016023218 A1 US2016023218 A1 US 2016023218A1
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Prior art keywords
rotation speed
grinding table
grinding
electric motor
gearbox
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Abandoned
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US14/761,196
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English (en)
Inventor
Andreas Kube
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Siemens AG
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Siemens AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C25/00—Control arrangements specially adapted for crushing or disintegrating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C15/00—Disintegrating by milling members in the form of rollers or balls co-operating with rings or discs
    • B02C15/007—Mills with rollers pressed against a rotary horizontal disc
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C15/00—Disintegrating by milling members in the form of rollers or balls co-operating with rings or discs
    • B02C15/02—Centrifugal pendulum-type mills
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C15/00—Disintegrating by milling members in the form of rollers or balls co-operating with rings or discs
    • B02C15/06—Mills with rollers forced against the interior of a rotary ring, e.g. under spring action
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P31/00—Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C15/00—Disintegrating by milling members in the form of rollers or balls co-operating with rings or discs
    • B02C2015/008—Roller drive arrangements

Definitions

  • the present invention relates to a drive control method, namely a method for controlling a heavy duty drive, in particular a heavy duty drive for a vertical roller mill for comminuting brittle materials such as cement raw material, and to a corresponding drive system operating according to said method.
  • drive systems comprising a gearbox and an electric motor in the form of an asynchronous motor, preferably a wound rotor, and a frequency converter feeding the electric motor constitute a preferred solution.
  • the mill gearboxes are in practice implemented as variants of bevel or spur gear planetary mechanisms.
  • the purpose of the gearing arrangement is not only speed and torque conversion but also to absorb the axial grinding forces and transfer them into the base.
  • the first, apparently trivial task of the drive is to deliver the predefined rotation speed of the grinding table. As the process torque demand at the grinding table fluctuates, speed control is required.
  • the load fluctuations and vibration excitations acting on the drive mechanism are influenced by impulsive loads such as those produced when the grinding rollers encounter coarse material, stochastic loads of the grinding process, periodic excitations from the gearbox and mill kinematics, and a varying contact pressure of the grinding rollers.
  • impulsive loads such as those produced when the grinding rollers encounter coarse material
  • stochastic loads of the grinding process such as those produced when the grinding rollers encounter coarse material
  • periodic excitations from the gearbox and mill kinematics such as those produced when the grinding rollers encounter coarse material
  • periodic excitations from the gearbox and mill kinematics such as those produced when the grinding rollers encounter coarse material
  • periodic excitations from the gearbox and mill kinematics such as those produced when the grinding rollers encounter coarse material
  • periodic excitations from the gearbox and mill kinematics such as those produced when the grinding rollers encounter coarse material
  • periodic excitations from the gearbox and mill kinematics such as those produced when the grinding rollers
  • an unstable i.e. fluidizing or undulating grinding bed, for example, can also cause extreme vibrational states of the mill, in particular mill rumbling.
  • the approach proposed here deals with the effect of undesirable rumbling of a mill as the result of a particular surface structure of the grinding bed, and an object of the present invention is accordingly to specify a means of efficiently preventing or at least reducing such rumbling.
  • the mill As a resonant system, reacts to stochastic excitations from the grinding process e.g. with regular relative movements between the grinding rollers and the grinding bed. These regular relative movements result from the particular natural frequency of the mechanics and kinematics of the grinding rollers which are disposed in a movable, in particular swiveling manner above the grinding table and the grinding bed produced thereon during mill operation.
  • the grinding rollers act on the grinding bed on the one hand because of their own weight and because of their movable, in particular swivel mounting.
  • the action of the grinding rollers on the grinding bed can be intensified still further by an additionally applied contact pressure.
  • the above mentioned object is achieved by a method for drive control of a vertical roller mill having the features as claimed in claim 1 .
  • the object is also achieved by a drive system having the features of the parallel device claim.
  • the vertical roller mill also referred to here and in the following sometimes merely as the mill for short, comprises a grinding table rotating about the vertical, wherein the grinding table can be driven by means of a drive train comprising at least one electric motor and usually a gearbox and is driven during operation of the mill.
  • the method is characterized in that the rotation speed of the grinding table is cyclically varied.
  • the drive system comprises at least one electric motor, optionally a frequency converter feeding the electric motor, a gearbox between the at least one electric motor and the grinding table and optionally a sensor system for obtaining vibration-relevant measured values, in particular vibration-relevant measured values in the form of torque or speed measurements with respect to a rotation speed of a rotating component of the vertical roller mill or to at least one driving and/or supporting torque acting in or on the gearbox.
  • the drive system is characterized by a speed variation device with which the rotation speed of the grinding table can be varied, wherein the speed variation device is designed and set up to operate according to the method outlined above and described in greater detail below, and carries out such a method during operation of the drive system.
  • the invention is therefore a method and a device for drive control of a heavy duty arrangement in the form of a drive system in which the cyclical variation of the rotation speed of the grinding table has the aim of creating no regular structure in the grinding bed surface, i.e. no undulation of the grinding bed. Accordingly, the purpose of the method and the device operating according to said method is to prevent a possible cause of mill rumbling at source.
  • the advantage of the invention is that by cyclically varying the rotation speed of the grinding table, rumbling of the mill can be prevented or eliminated or at least reduced without having to stop the grinding process, and that this result is achieved by comparatively simple intervention in the overall system, namely by appropriately controlling the electric motor.
  • the prevention, elimination or reduction of the vibrations will hereinafter be referred to as prevention for short.
  • Cyclically varying the rotation speed of the grinding table is to be understood as meaning varying the rotation speed of the grinding table using an, in particular, variable speed profile in which the time-averaged speed profile corresponds to the setpoint rotation speed of the grinding table.
  • a special form of such cyclical variation of the rotation speed of the grinding table is periodic variation of the rotation speed of the grinding table, e.g. sinusoidally varying the rotation speed of the grinding table about a setpoint rotation speed of the grinding table.
  • cyclical or periodic variation of the rotation speed of the grinding table is activated in a time-controlled manner at predefined or predefinable, in particular equidistant points in time for a predetermined or predeterminable time period, e.g. every five minutes for ten seconds at a time.
  • the cyclical or periodic variation of the rotation speed of the grinding table is then not continuously active. Outside of the activation of the cyclical or periodic speed variation, “normal” rotation speed of the grinding table is produced.
  • the cyclical or periodic variation of the rotation speed of the grinding table is activated as a reaction to a vibration-relevant measured value fluctuation exceeding a predefined or predefinable limit value.
  • Vibration-relevant measured values are all the measured values obtained or obtainable in respect of the mill, the evaluation of which indicates mechanical vibrations of the mill, in particular such mechanical vibrations as are termed rumbling.
  • Possible means of obtaining such vibration-relevant measured values include sensors in the form of vibration monitors, vibration sensors or the like which are e.g. mounted on the mill framework or other parts of the mill structure. Alternatively or additionally possible are also sensors which are assigned to the drive train where they acquire vibration-relevant measured values.
  • the power draw of the electric motor is measured by means of such a sensor and vibration-relevant data is derived from an electric motor power draw correlated with varying load situations so that in this respect measured values relating to motor current drawn during operation of the mill in each case are also an example of vibration-relevant measured values.
  • the cyclical or periodic varying of the rotation speed of the grinding table does not therefore take place continuously but only as required, namely if monitoring of the respective value obtained automatically indicates the necessity of counteracting an existing, undesirable vibration or risk of vibration in the form of mill rumbling in each case.
  • cyclically varying the rotation speed of the grinding table takes the form of periodically varying the speed, wherein a frequency and/or an amplitude of the signal waveform underlying the periodic variation of the rotation speed of the grinding table and, alternatively or additionally, possibly also the signal waveform itself is increased or reduced, i.e. changed, as a function of a vibration-relevant measured value fluctuation exceeding a predefined or predefinable threshold value.
  • the periodic variation of the rotation speed of the grinding table is therefore itself varied on the basis of automatic evaluation of the above mentioned measured value.
  • the threshold value in question can be below or above the limit value mentioned earlier.
  • a threshold value below a limit value indicating existing or impending rumbling is a possibility.
  • the attainment or exceeding of such a threshold value indicates that the already occurring periodic variation of the rotation speed of the grinding table is insufficient to prevent or eliminate mill rumbling.
  • the threshold value additionally considered in this embodiment of the method will be above such a limit value. Exceeding of the threshold value is then an automatically evaluable indication that periodically varying the rotation speed of the grinding table is insufficient for preventing or eliminating mill rumbling.
  • the periodic variation is itself varied, e.g. by increasing the period of the underlying signal waveform.
  • This is aimed at changing the undulation of the grinding bed and the aim of the thereby achieved change in the undulation of the grinding bed is in turn that no natural frequencies in the overall mill system are excited by the resulting movements of the grinding rollers because of grinding bed undulation and therefore mill rumbling is prevented or eliminated, in any case at least reduced, namely e.g. in its frequency and/or vibration intensity and/or echo speed.
  • a sinusoidal profile, a triangular profile, a rectangular profile or a ramp profile, for example, can be used for periodically varying the rotation speed of the grinding table.
  • Such profiles can easily be generated using a signal generator or the like and, in the case of software implementation of the method, by appropriate mathematical expressions or families of characteristics.
  • a change in a respective signal waveform with which the rotation speed of the grinding table is periodically varied is initiated as a function of a vibration-relevant measured value fluctuation exceeding a predefined or predefinable threshold value.
  • This variant of the method is characterized by parallels with the changing (frequency, amplitude or signal waveform) of the periodic variation of the rotation speed of the grinding table already described above. Here, however, it is not the period of the periodic variation of the rotation speed of the grinding table that is changed as a function of the exceeding of the threshold value, but the signal waveform underlying said periodic variation.
  • this variant is designed to change the grinding table speed variation according to the automatically detectable exceeding of the threshold value which indicates that mill rumbling cannot be prevented or eliminated using the existing periodic variation of the rotation speed of the grinding table. This change is accomplished by changing the signal waveform. This also produces a change in the undulation of the grinding bed.
  • this is designed to ensure that no natural frequencies are excited in the overall mill system due to the resulting movements of the grinding rollers because of the grinding bed undulation, so that in this way the mill rumbling is prevented or eliminated, in any case at least reduced.
  • the two variants for changing the periodic variation of the rotation speed of the grinding table namely changing the period and changing the signal waveform, in particular quantitative and/or qualitative changing of the signal waveform, are self-evidently also combinable.
  • a software implementation of such a method provides all the possible variants of the method as functional units or the changing of the period and the changing of the signal waveform as parameterizable functional units. Based on a random number generator or the like, individual functional units and/or parameters for the parameterization of the functional units or combinations of possibly individually parameterized functional units are then selected in order to counteract existing or impending mill rumbling detected on the basis of the measured value monitoring outlined above.
  • torque or rotation speed measurements are used as vibration-relevant measured values and are acquired.
  • the further description of the approach proposed here will be based, without loss of generality, on such torque or speed measurements. These will now be subsumed under the term measured values.
  • a sensor system i.e. at least one sensor incorporated in the sensor system or belonging to the sensor system, is used to measure a rotation speed of a rotating component of the drive train and/or at least one driving and/or supporting torque acting on the gearbox.
  • a corresponding embodiment of the drive system outlined above is characterized by such a sensor system for obtaining a vibration-relevant measured value in the form of a torque or speed measurement, wherein by means of the sensor system a rotation speed of a rotating component of the vertical roller mill and/or at least one driving and/or supporting torque acting in or on the gearbox can be measured and is measured during operation.
  • sensors e.g. sensors for acquiring torque or rotation speed measurements in the drive train (drive sensor system) instead of vibration sensors on the mill structure
  • mechanical vibration of the mill and therefore also rumbling of the mill can also be detected using such measurements. It is actually even the case that such measured values replicate respective process events even more directly, as the events in the grinding mechanism become much more clearly apparent, according to the inventor's insight, in the degree of rotational freedom of the drive than in the vibration level of the mill structure as a whole. This is because the rumbling is a periodic collapse of the supporting effect of the grinding bed on the grinding rollers. Associated with the loss of this supporting effect, e.g.
  • Evaluation of the drive sensor system allows rumbling to be identified after just three to ten load cycles, i.e. in less than one second.
  • the advantage of using a sensor system of this kind and of the thereby obtained measurements is therefore that, because mill rumbling can be detected earlier, countermeasures, i.e. even emergency shutdown of the drive (“emergency stop”), for example, but self-evidently also the cyclical or periodic varying of the rotation speed of the grinding table highlighted here, can be initiated earlier and therefore the stressing of the drive, but also of the mill as a whole, by mill rumbling can be reduced.
  • emergency stop i.e. even emergency shutdown of the drive
  • the electric motor is fed by a frequency converter and the rotation speed of the grinding table is cyclically or periodically varied by means of appropriate control of the frequency converter.
  • a frequency converter By means of a frequency converter, the described cyclical or periodic varying of the rotation speed of the grinding table by appropriate control of the electric motor, but also the changing of the period or the changing of the underlying signal waveform and combinations thereof, can be comparatively easily achieved.
  • An alternative to a frequency converter is a superposition gear with which the above described cyclical or periodic varying of the rotation speed of the grinding table can be achieved in basically an equivalent manner.
  • the method and the drive system operating according to said method are based on the cyclical or periodic variation of the rotation speed of the grinding table and on a speed variation device designed for that purpose. Individual aspects of the functionality of the speed variation device have already been described above.
  • the functionality of the speed variation device, the optional acquisition and processing of the measured values in question functionally upstream of the cyclical or periodic variation of the speed, and the resolution of the variation of the rotation speed of the grinding table functionally downstream of the speed variation device can be realized in hardware and/or software.
  • the invention is also a computer program having program coding means for executing all the steps of the method described here and in the following when the computer program is run on a controller or the like for a drive system for a vertical roller mill.
  • the invention is therefore also a digital storage medium having electronically readable control signals which can interact with a programmable controller for a drive system for a vertical roller mill such that such a method can be executed.
  • the invention is also a drive system of the above mentioned type which comprises a processing unit and a memory, wherein such a computer program is loaded into the memory and is executed during operation of the drive system by the processing unit thereof.
  • FIG. 1 shows a greatly simplified schematic representation of a vertical roller mill comprising a grinding table driven by means of a heavy duty drive
  • FIG. 2 shows a plan view onto the grinding table and grinding bed
  • FIG. 3 shows a periodically varied rotation speed of the grinding table of the vertical roller mill
  • FIG. 4 shows a drive system of the vertical roller mill incorporating a controller which causes the rotation speed of the grinding table of the mill as shown in FIG. 3 to be cyclically and periodically varied.
  • FIG. 1 shows a greatly simplified schematic representation of a vertical roller mill 10 for comminuting brittle material, e.g. cement raw material.
  • the vertical roller mill 10 comprises a grinding table 12 rotatable about the vertical.
  • the grinding table 12 is driven by means of a heavy duty drive in the form of a motor, in particular an electric motor 14 , and, in the example shown here, by means of a gearbox 16 located between electric motor 14 and grinding table 12 .
  • the gearbox 16 is shown here, without loss of further generality, as bevel-gear teeth with following planetary gearing not shown in greater detail.
  • the gearbox 16 can also comprise spur-gear teeth or the like and/or a preceding or following planetary gearing or the like.
  • the vertical roller mill 10 comprises at least one driven shaft.
  • the vertical roller mill 10 comprises a motor shaft 18 and a grinding table shaft 20 . All the means for transmitting the driving force of the electric motor 14 to the grinding table 12 are termed the drive train.
  • the drive train comprises at least the electric motor 14 , the motor shaft 18 , the gearbox and the grinding table shaft 20 .
  • the vertical roller mill 10 as a whole is a resonant system.
  • the electric motor 14 causes the grinding table 12 to rotate.
  • a grinding bed 22 On the grinding table 12 there is, as a result of the grinding process and as a result of supplied material to be ground, a grinding bed 22 , i.e. a mixture of ground material and material to be ground.
  • the grinding effect is achieved by a grinding roller 24 or a plurality of grinding rollers 24 pressing onto the grinding bed 22 and the rotating grinding table 12 because of their weight on the one hand, but on the other hand in some cases also because of additionally applied forces which are applied e.g. by means of a hydraulic cylinder or the like engaging with a swivel-mounted grinding roller 24 .
  • FIG. 2 shows a simplified schematic plan view of the grinding table 12 with the grinding bed 22 and the (here) two grinding rollers 24 .
  • the radial dotted lines within the grinding bed 22 are to indicate an undulation of the grinding bed 22 that frequently arises during the grinding process. Such undulation of the grinding bed 22 is a possible cause of the mill rumbling that is to be prevented using the approach presented here. If the grinding bed 22 is undulating, it is easy to see that the swivel-mounted grinding rollers 24 follow the surface of the grinding bed 22 and the thereby caused upward and downward movement of the grinding rollers 24 is transmitted to the mill 10 in the form of vibrations. If the natural frequency of the mill 10 is excited in this way, resonance can even be set up.
  • vibrations have hitherto been detected by means of a sensor system disposed on the mill framework (vibration sensor; not shown). As soon as a vibration measurement acquired by the sensor system exceeds a limit value, the electric motor 14 is stopped and the mill 10 is subsequently restarted.
  • FIG. 3 shows a normally constant rotation speed 26 of the grinding table 12 apart from operational fluctuations, and a rotation speed 28 that is periodically varied according to the approach proposed here, namely a rotation speed 28 of the grinding table 12 that is varied symmetrically about the original constant rotation speed 26 .
  • the frequency underlying the periodic variation of the rotation speed 28 of the grinding table 12 is in the 0.1 Hz range, for example.
  • the amplitude of the periodic variation is e.g. in the range of 1% of the effective setpoint speed without the variation.
  • the periodic variation of the rotation speed of the grinding table 12 has an underlying triangular signal waveform.
  • the illustrated periodic variation of the speed 26 is a special form of a cyclical variation of the speed.
  • the feature of such a periodic variation of the speed 26 but also of each more general cyclical variation of the speed 26 of the grinding table 12 , is that the average value over time of the varied speed 26 results in the setpoint speed and that the varied speed values continually assume or pass through the setpoint speed value.
  • varying the rotation speed of the grinding table 12 prevents mill rumbling from occurring at all, because the cyclical or periodic variation of the rotation speed of the grinding table 12 prevents the formation of a regular undulation of the grinding bed 22 as shown in FIG. 2 .
  • Varying the rotation speed of the grinding table, especially periodically varying the rotation speed of the grinding table produces a local displacement of the wave contour in the surface of the grinding bed 22 compared to a state arising in the case of an unvaried rotation speed. This disrupts the regular excitation of the grinding rollers 24 , i.e. throws them out of their rhythm somewhat, and no resonance is produced.
  • a slight variation (ranging from 1 to 5%) is sufficient to achieve the desired effect.
  • the mill 10 rumbles less frequently, which advantageously impacts availability and the operator's freedoms in terms of process design.
  • the mill and drive mechanics are subject to much less stress.
  • the described cyclical or periodic varying of the rotation speed of the grinding table 12 can be active continuously or in a time-controlled manner.
  • time-controlled activation of the cyclical or periodic variation of the rotation speed of the grinding table 12 it is possible for the speed variation to be activated at equidistant points in time for a predefined or predefinable time period and then deactivated again.
  • the described cyclical or periodic varying of the rotation speed of the grinding table 12 can also be activated as a function of a state detected in relation to the mill 10 .
  • This can be done using a sensor system 30 ( FIG. 1 ) assigned in particular to the drive train, i.e. in particular the electric motor 14 , motor shaft 18 , gearbox 16 or grinding table shaft 20 , or to the grinding table 12 , to obtain vibration-relevant measured values 32 , e.g. torque or rotation speed measurements 32 .
  • vibration-relevant measured values 32 in the form of torque measurements 32 are a measure of the torque or gearbox torque transmitted by means of the gearbox 16 , i.e.
  • a measure of a torque which is termed the mechanically effective torque in the drive train, in particular in the gearbox 16 , to differentiate it from an electrical torque acting on the electric motor 14 .
  • the cyclical or periodic speed variation can be activated as required, e.g. whenever an acquired measured value 32 exceeds a predefined or predefinable limit.
  • a speed variation device 34 ( FIG. 1 ) is provided. This comprises, for example, a signal generator 36 realized in software or hardware and—if the method and its embodiments are implemented in software—a computer program 38 and a processing unit 40 in the form or in the manner of a microprocessor provided for executing the computer program 38 .
  • the computer program 38 is loaded into a memory 42 of the speed variation device 34 .
  • the signal generator 36 By generating an appropriate cyclical or periodic signal, the signal generator 36 causes the rotation speed of the grinding table 12 to be cyclically or periodically varied by e.g. combining a resulting, cyclical or periodic output signal 44 of the speed variation device 34 with a speed setpoint value 46 and feeding the combination of the two signals 44 , 46 (addition or subtraction) to a frequency converter 48 connected upstream of the electric motor 14 in per se known manner which, on the basis of the input signal 50 thus obtained, produces a respective supply voltage, in particular an AC voltage, for driving the electric motor 14 .
  • the speed of the electric motor 14 therefore fluctuates with the cyclicality or periodicity predefined by the speed variation device 34 and the resulting rotation speed of the grinding table 12 also fluctuates accordingly.
  • FIG. 4 shows in schematically simplified form that the speed variation device 34 is e.g. a sub-functionality of a controller 52 or the like, i.e. an open-loop control device for controlling the frequency converter 48 .
  • the controller 52 can also comprise other functional units such as a closed-loop control device 54 for controlling the speed of the electric motor 14 or similar.
  • the controller 52 , the frequency converter 48 and the electric motor 14 together constitute a drive system 56 for driving the mill 10 .
  • a superposition gear it is also possible for a superposition gear to be used.
  • the signal waveform underlying the periodic speed variation and/or a period 58 ( FIG. 4 ) of the output signal 44 of the speed variation device 34 underlying the periodic speed variation can be selected by means of the speed variation device 34 .

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  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Power Engineering (AREA)
  • Crushing And Grinding (AREA)
  • Disintegrating Or Milling (AREA)
  • Control Of Electric Motors In General (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Control Of Velocity Or Acceleration (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Control Of Multiple Motors (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)
  • Vibration Prevention Devices (AREA)
  • Centrifugal Separators (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Numerical Control (AREA)
  • Grinding Of Cylindrical And Plane Surfaces (AREA)
  • Testing Of Balance (AREA)
US14/761,196 2013-01-16 2013-08-06 Drive control method and drive system operating according to said method Abandoned US20160023218A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102013200578.4 2013-01-16
DE102013200578.4A DE102013200578A1 (de) 2013-01-16 2013-01-16 Verfahren zur Antriebsregelung
PCT/EP2013/066477 WO2014111175A1 (de) 2013-01-16 2013-08-06 Verfahren zur antriebsregelung sowie nach dem verfahren arbeitendes antriebssystem

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US14/761,196 Abandoned US20160023218A1 (en) 2013-01-16 2013-08-06 Drive control method and drive system operating according to said method
US14/761,203 Expired - Fee Related US10118181B2 (en) 2013-01-16 2013-08-06 Drive control method and drive system operating according to said method
US14/761,254 Active US9789489B2 (en) 2013-01-16 2013-08-06 Method and device for controlling a rotational speed of a drive
US14/761,050 Active 2034-05-15 US9789488B2 (en) 2013-01-16 2013-09-04 Drive control method and control device which operates according to the method
US14/761,189 Expired - Fee Related US10556238B2 (en) 2013-01-16 2014-01-15 Drive control method and drive system operating according to said method

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US14/761,203 Expired - Fee Related US10118181B2 (en) 2013-01-16 2013-08-06 Drive control method and drive system operating according to said method
US14/761,254 Active US9789489B2 (en) 2013-01-16 2013-08-06 Method and device for controlling a rotational speed of a drive
US14/761,050 Active 2034-05-15 US9789488B2 (en) 2013-01-16 2013-09-04 Drive control method and control device which operates according to the method
US14/761,189 Expired - Fee Related US10556238B2 (en) 2013-01-16 2014-01-15 Drive control method and drive system operating according to said method

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US (5) US20160023218A1 (de)
EP (5) EP2945748B1 (de)
CN (5) CN104918706B (de)
AU (1) AU2013373747B2 (de)
BR (5) BR112015016948A2 (de)
DE (1) DE102013200578A1 (de)
ES (5) ES2625796T3 (de)
MX (5) MX367108B (de)
WO (5) WO2014111174A1 (de)

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US10374525B2 (en) 2014-11-21 2019-08-06 Flender Gmbh Multiple drive for a heavy-load application and method for operating such a multiple drive
US10556238B2 (en) * 2013-01-16 2020-02-11 Siemens Aktiengesellschaft Drive control method and drive system operating according to said method
WO2020209596A1 (en) 2019-04-11 2020-10-15 Samsung Electronics Co., Ltd. Electronic device and method for sharing medical information by electronic device
US10865082B2 (en) 2015-09-23 2020-12-15 Flender Gmbh Motor-operated crane drive

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