WO1992008275A1 - Dispositif de commande sensible a l'impact d'une charge pour un systeme regulateur de vitesse - Google Patents

Dispositif de commande sensible a l'impact d'une charge pour un systeme regulateur de vitesse Download PDF

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Publication number
WO1992008275A1
WO1992008275A1 PCT/US1990/006112 US9006112W WO9208275A1 WO 1992008275 A1 WO1992008275 A1 WO 1992008275A1 US 9006112 W US9006112 W US 9006112W WO 9208275 A1 WO9208275 A1 WO 9208275A1
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WO
WIPO (PCT)
Prior art keywords
speed
controller
drive motor
error
impact
Prior art date
Application number
PCT/US1990/006112
Other languages
English (en)
Inventor
Robert S. Peterson
Original Assignee
Aeg Westinghouse Industrial Automation Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aeg Westinghouse Industrial Automation Corporation filed Critical Aeg Westinghouse Industrial Automation Corporation
Priority to PCT/US1990/006112 priority Critical patent/WO1992008275A1/fr
Priority to US07/867,098 priority patent/US5355060A/en
Priority to CA002072071A priority patent/CA2072071A1/fr
Priority claimed from CA002072071A external-priority patent/CA2072071A1/fr
Priority to CN91101909A priority patent/CN1060938A/zh
Publication of WO1992008275A1 publication Critical patent/WO1992008275A1/fr

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Classifications

    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/2855—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value

Definitions

  • This invention relates to a speed regulator system for a d.c. motor, and more specifically to an impact load controller for use with a speed controller of such a system.
  • the strip passes through several stands of the mill.
  • the entry of the strip into the roll bite of the stand causes an impact load torque to be applied to the drive motors of the work rolls which are pulling the strip through the roll bite.
  • this load is applied to the speed regulator system, the drive speed suddenly drops. Any drop in drive speed of the stand which is being threaded will cause the strip to gather or buckle between the stand being threaded and the previous stand from which the strip has exited.
  • the increase in strip storage will result in reduction or loss in the tension in the strip between the two stands in which the strip is being threaded.
  • the present invention uses an impact load controller which operates on the rate of change in speed error to first cause the stand speed to overshoot within safe limits and then to quickly bring this overshoot speed down to the threading speed or reference speed setting of the mill.
  • This invention employs an impact load controller used with a (PI) speed controller in a speed regulator system for a drive motor and is used for compensating for the speed drop caused by a load disturbance applied to the motor.
  • PI PI
  • an impact load controller which has a means and a method for determining the difference between the present speed error and the previous speed error, which speed errors are continually being updated.
  • This difference in the speed error values is multiplied by "Goose Gain” factor to produce a gain value.
  • This gain value product is initially increased by a rate factor, which signal is initially applied to a low pass filter for precharging the low pass filter and to a summer device for operating the (PI) speed controller used in the speed regulator system. After a few milliseconds, the gain value product of the impact load controller is changed due, in part, to the updated values of the present speed error and the previous speed error. The new gain value product passes directly to the low pass filter.
  • the output from the low pass filter is combined with the speed error signal and optionally with an output of a (PI) speed controller which also operates on the speed error signal for an output signal from a summer device.
  • This output from the summer device is produced for a desired time period, for example, two (2) seconds after the strip has entered the roll bite, to operate the (PI) speed controller.
  • the impact load controller and the (PI) 2 speed controller are turned off, whereby the (PI) speed controller resumes its normal operation by operating solely on the speed error signal.
  • This control arrangement for the impact load controller of the invention may be a digital based microprocessor or an analog type of control system.
  • the impact load controller operates on a "strip in stand" logic signal, and is part of the main logic control for the mill.
  • the conditions which must be meet for operation of the logic system differ for a cold mill and a hot mill.
  • a still further object of the present invention is to provide an impact load controller which may be a microprocessor or an analog type control optionally used with a (PI) speed controller, and which impact load controller is operated for only a few seconds after the workpiece is in the mill stand.
  • an impact load controller which may be a microprocessor or an analog type control optionally used with a (PI) speed controller, and which impact load controller is operated for only a few seconds after the workpiece is in the mill stand.
  • a still further object of the present invention is to provide a means and method for changing the dynamics of a (PI) speed controller to reduce the effect of an impact load disturbance on the response of a speed regulator system.
  • a still further object of the present invention is to provide an impact load controller whose output is a function of the rate of change in the speed error, whereby this rate of change in speed error is a direct function of the magnitude of the impact load torque disturbance applied to the drive motor, that is, the greater the load, the greater the output signal of the impact load controller.
  • Figure 1 is a block diagram of a multiloop speed regulator system for a drive motor incorporating the present invention
  • Figure 2 is a schematic showing of two stands of a tandem rolling mill illustrating the material storage problem which is solved by the present invention
  • FIG. 3 is a detailed block diagram showing the invention and some of the components of Figure 1;
  • Figure 4 illustrates the derivation of the rate dynamics for the transfer function of the impact load controller of the invention
  • Figure ,5 shows a software diagram of the impact load controller of the present invention
  • FIG. 6 shows a more detailed block diagram of the impact load controller of the present invention
  • Figures 7A and 7B show a logic diagram for operating the present invention
  • Figures 8A, 8B, 9A, 9B, 10A, 10B, 11A, and 11B are flow charts for the impact load controller of the invention
  • Figures 12a and 12b are curves for a proportional integator squared (PI) speed controller with the (PI) speed controller and without the impact load controller of the invention
  • Figures 12c and 12d are curves for a proportional integrator squared (PI) 2 speed controller with the (PI) speed controller and with the impact load controller of the invention
  • Figures 13a and 13b are curves for a proportional integrator (PI) speed controller without the (PI) 2 speed controller and the impact load controller of the invention
  • Figures 13c and 13d are curves for a proportional integrator (PI) speed controller without the (PI) 2 speed controller and with the impact load controller of the invention
  • Figures 14a, 14b and 14c are curves for a proportional integrator squared (PI) 2 speed controller similar to that of Figures 12c and 12d and including an output signal for the impact load controller of the invention;
  • PI proportional integrator squared
  • FIGS 15A and 15B are schematic diagrams of an analog form of the impact load controller of the invention.
  • Figure 16 is a schematic diagram of the speed error detectors and the transfer functions for the analog control of Figures 15A and 15B.
  • FIG. 1 illustrates a simple schematic of a speed regulator system 10 for operating a direct current drive motor 12 connected to be energized by a thyristor armature supply (TAS) 14 in response to an armature voltage reference signal from an armature current controller 16, which may have (PI) characteristics.
  • An armature current sensor 18 provides an actual current negative feedback signal to a summer device 20.
  • Summer device 20 generates an armature current error signal which is the difference between an armature reference between an armature reference current la* and the actual current la.
  • the speed of drive motor 12 is detected by a digital tachometer 22 whose output is converted into a desired voltage by drive speed sensor 24.
  • the output from sensor 24 is a feedback signal W, which is negative, and is fed to a summer device 26, which also receives a desired motor speed reference W*, which is positive.
  • the output from summer device 26 is a speed error signal WE.
  • the speed error WE is used to control the normal speed controller for the system.
  • this speed error signal WE is used as simultaneous input to impact load controller 28, (PI) 2 integrator 30, and summer device 32. These three inputs to summer device 32 are positive.
  • the invention involves impact load controller 28.
  • the speed error WE signal is directed along line j , to summer device 32, and along lines 2 and L3 to impact load controller 28 and (PI) 2 speed controller, respectively. If (PI) 2 speed controller is not used, then the WE signal is direqted only along lines ⁇ - and L 2 .
  • the impact load controller 28 is turned off, then preferably (PI) 2 speed controller 30 is also turned off, and the WE signal only goes to summer device 32 for operation of (PI) speed controller 34.
  • the (PI) speed controller 34 is normally used for the operation of drive motor 12.
  • An example of a speed controller 30 having (PI) characteristics can be found in U.S. Patent No.
  • Figure 1 is a multiloop speed regulator system with components 14, 16, 18, and 20 comprising inner current loop 36, and with components 24, 26, 28, 30, 32, and 34 comprising outer speed control loop 38.
  • Figure 1 shows a simplified version for the current loop, however, it is to be noted that the system in U.S. Patent No. 3,950,684 which issued on April 13, 1976 to the present inventor can be used. This system includes a current reference ramp function generator. Also, the system of U.S. Patent No. 3,983,464 issuing on September 28, 1976 can be used with obvious modifications to include the invention.
  • Figure 2 shows the speed regulator system 10 of
  • FIG 1 which drives d.c. drive motors 12 which, in turn, drive the work rolls in a downstand stand 40 of a tandem mill.
  • This Figure 2 illustrates the problem occurring in a strip S when the strip leaves stand 42 and enters the roll bite of stand 40.
  • the dashed lines indicate that the strip is being stored between stands 40 and 42, and the solid line represents a taut strip between the -two stands 40 and 42.
  • Figures 3, 5, and 6 show in detail the impact load controller 28 of the invention
  • Figure 4 shows the derivation of the rate dynamics for the impact load controller 28.
  • the armature current reference la* in Figures 1 and 3 is generated during the normal operation of the mill by (PI) speed controller 34.
  • T current controller lead time constant (sec.)
  • T ⁇ current controller integrator time constant
  • TAS thyristor armature supply
  • T d TAS transport time delay (sec.)
  • the transfer function for the (PI) speed controller 30 is given in U. S. Patent No. 3,775,653 discussed hereinbefore, and represented is Figure 3 by l/T S, where T 2 is a time element and S is the Laplace operator.
  • the symbols to the right of (PI) speed controller 34 in Figure 34 in Figure 3 represent limits for the field flux f of motor 12 and for the armature reference current I *, and the transfer function 1 ⁇ J0 f for motor 12.
  • impact load controller 28 of the invention can be either of the digital type microprocessor arrangement with the flow charts for a program being shown in Figures 8A-11B, or of the analog type arrangement shown in Figures 15A-16.
  • K Gain (Output)
  • y (Input) S Laplace operator (1/sec).
  • the Laplace operator, S, (1/sec.) is set equal to 1-Z "1 , ⁇ d
  • Z -1 is a memory circuit equal to e ⁇ ⁇ d s
  • T d is an updated time in milliseconds for the digital controller of the microprocessor used in the invention.
  • the speed error WE which is the output of summer device 26 shown in Figures 1 and 3 represents the input to impact load controller 28, and the altered output is represented by WIG which is the input signal to summer device 32.
  • FIGS 5 and 6 show in greater detail the impact load controller 28 of the invention.
  • unit 44 multiplier 46, summer device 48, low pass filter 50, and summer device 52.
  • Figure 6 additionally shows a tuning device 54 for unit 44, and a tuning device 56 for filter 50.
  • tuning device 54 can change or fine tune the goose gain value of unit 44 in a range of absolute values from zero to 15, and tuning device 56 can adjust or fine tune the goose filter time constant of low pass filter 50 in a range from zero to 200 milliseconds.
  • These tuning devices 54 and 56 are equivalent to a potentiometer in an analog electrical type control arrangement for load impact controller 28, or can be incorporated into the program in a digital based microprocessor control arrangement for load impact controller 28.
  • low pass filter 50 is a first order filter and operates on the following transfer function: 1
  • unit 44 contains a gain factor which is represented by (GOOSE GAIN) and a rate of the change in the speed error which is represented by [WEG-WEGZ], where, as stated hereinbefore, WEG represents a present speed error value and WEGZ represents a previous speed error value.
  • the gain factor (GOOSE GAIN) is a multiplier for the difference between the present speed error value and the previous speed error value.
  • the output from unit 44 is increased an amount which is indicated in block 46 as being "2 R- ⁇ - 1 -**** SHIFT w>
  • This value is a representation for a binary address location, where it is conventionally known that if the location is shifted two places to the left, the input is multiplied by the integer raised to a power, and if the location is shifted to the right in the register, the input is divided by the integer raised to a power.
  • the base integer is always the numeral "2" raised to a power ranging from 0 to 5.
  • tuning parameters for the impact load controller 28 are the "GOOSE GAIN" of unit 44, the Goose Filter Time Constant of filter 50, and the multiplier of element 46. Once these parameters are set for a particular operation, they remain fixed throughout that operation.
  • GFLAG logical switches indicated as being GFLAG and FIRST GOOSE.
  • the GFLAG logical switches are associated with unit 44 and filter 50 for their operation and deactivation, and the GOOSE FILTER switches, FG1, FG2, and FG3, are associated with the low pass filter 50, for its initial precharging, and for its output being either connected or interrupted with respect to summer device 52, more about which is discussed hereinafter.
  • the impact load controller 28 of the invention operates on a logic system which is part of the main logic system for the mill.
  • An example for such a logic diagram is shown in Figures 7A AND 7B.
  • the logic signal "GFLAG" is True
  • the Goose Control of the load impact controller 28 is energized.
  • a speed error WE or WEG input enters unit 44, which operates on the transfer function of Figure 4.
  • PI controller 34 i.e.
  • the (PI) 2 speed controller ( Figure 1) will operate in conjunction with the impact load controller 28 to receive the error signal WE and to produce an output for a total of three inputs to the summer device 32 of Figure 3, as explained hereinbefore.
  • the (PI) speed controller 30 is turned off, so that the only input to summer device 32 is the speed error WE from summer device 26, shown particularly in Figure 3.
  • the impact load controller 28 is a pure rate controller in that a derivative or rate of change in speed error is used to change the dynamics of the multi-loop speed regulator system 10 of Figure 1.
  • the dynamics of the impact load controller 28 is a pure rate cascaded through the low pass filter 50.
  • the controller 28 is a pure rate controller with a high gain.
  • the gain factor 2 RATE SHIFT in the multiplier 46 can be increased or decreased by increasing or decreasing the integer value of "RATE SHIFT”.
  • the gain (GOOSE GAIN) for impact load controller 28 and the time constant "GOOSE FILTER TC" for the low pass filter 50 can be adjusted by a tuning device 54, 56 respectively. These adjustments, as well as the adjustment to multiplier 46, are only done in the mill set-up and not during the operation of the invention or the mill.
  • the impact load controller 28 and (PI) 2 speed controller 30 are only used in the threading phase of the mill when the strip initially enters the roll bite of a stand. Also, preferably, these two components 28 and 30 remain in operation during this threading phase for only two (2) seconds after the strip enters the roll bite. Both impact load controller 28 and (PI) 2 speed controller 30 can be reset to zero in preparation for the next threading operation of the mill.
  • the "WEMAX 2" condition is the pickup point for operation of the impact load controller 28 as shown in the speed error curve near the bottom of
  • the speed error WE will exceed .5% of the maximum stand speed, and the stand speed reference WPURMIN and the stand speed WPUMIN will both be less than 3.8% of the maximum stand speed.
  • This maximum stand speed may be as low as 200 ft/minute and as high as 500 ft/minute for the threading operation of a tandem cold rolling mill.
  • the impact load controller 28 is de-energized when the speed error WE becomes the drop out point for the operation of the invention or becomes less than "WEMAX 1" as shown in the speed error curve near the bottom of Figure 7B and indicated on line II of the logic diagram of Figure 7A, or until the strip has been in the stand for two seconds as indicated on line V.
  • These lines, I, II, II, IV, and V of Figures 7A-7B have associated with them control relays CRa, CRb, CRc, CRd, and CRe.
  • relays CRa, CRb, CRc, CRd, and CRe come into play for activation and deactivation of the GFLAG and Goose logic signals in the threading phase of the mill because the mill operates at low mill speeds to activate all the relays.
  • a hot mill only relays CRa, CRb, and CRe come into play, and relays CRc and CRd are not.applicable as shown in Figure 7B.
  • the threading speeds are relatively high thereby preventing the speed and speed detectors represented along lines III and IV from being energized.
  • FIG. 7B The logic diagram of Figure 7B has on Line VI a relay entitled "Impact Load - Goose Controller Selected.”
  • Figures 8A-11B show the steps involved for the operation of the Goose controller of the load impact controller 28. If the Goose controller is not selected, the program goes down along line "A" to the bottom of Figure 11B to blocks 62 to 72 where "FIRST GOOSE” and GFLAG are set to "False;” COUNTG and WEG are each set to zero; and WEZ is made equal to WE; and then to block 73 where WIG is set to zero. These variables can be reset for another threading operation of the mill. If the Goose controller is selected, the first test is to determine whether the strip is in the stand as indicated by SISIN in block 74.
  • COUNTG which is a timer is set to zero as seen in block 76, and the program proceeds to the next test in block 78. If the answer is "yes" to the test in block 74, the program proceeds to a test in block 80 asking whether COUNTG is less than COUNTGMAX which is a preset value in the microprocessor. If the answer in the test of block 80 is "no,” this indicates that the strip in the stand has been in the roll bite for two (2) seconds or more, and COUNTG is set to COUNTGMAX, as indicated in block 82. If the answer to the test in block 80 is "yes,” the time counter is incremented by 1 as indicated in block 84.
  • the program proceeds from blocks 82 and 84 to the test control in block 78.
  • This last block 94 indicates a subroutine where WEG is a new output, WIG is the previous output, and Goose Filter TC is the tuning package.
  • the output from subroutine 94 goes along line "B" to the bottom of Figure 11B where it goes to junction 75.
  • Block 114 is a subroutine similar to that of block 94 of Figure 8B. From block 114, the program proceeds to junction 75.
  • Block 140 sets WEG to WE; and block 142 sets WIG to (GAIN) [WEG - WEGZ] 2 RA E SHIFT which s derived from components 44 and 46 of the impact load controller 28 of Figure 5.
  • Block 144 sets WEGZ to WE.
  • Block 146 sets FIRST GOOSE to FALSE. The program proceeds from block 146 to junction 148, and along I to Figure 11 to eventually come to junction 75.
  • the input is through the impact load controller 28 for the first time.
  • the block 156 is a subroutine similar to block 94.
  • Block 154 contains the difference in the previous and present speed errors.
  • the program proceeds from block 158 to junction 148, and along line I to Figure 11A, and eventually to junction 75.
  • the impact load controller 28 for a stand of a rolling mill will be automatically operated basically during the threading phase as the strip enters the roll bite and will continue to operate for approximately two seconds thereafter.
  • the impact load controller 28 will be operated preferably in parallel with (PI) 2 speed controller 30, for controlling (PI) speed controller 34.
  • Figures 12a and 12b show a typical speed regulator response when (PI) 2 speed controller 30 is operated without the impact load controller 28 of the invention and in series with (PI) speed controller 34.
  • Figures 12c and 12d show a typical speed regulator response when (PI) speed controller 30 is used in parallel with the impact load controller 28 and in series with (PI) speed controller 34.
  • the horizontal axis of Figures 12b and 12d represents the steady state load current with the area above this axis representing the overshoot.
  • the bottom portion of the curves of Figures 12a and 12c represents the gathering of the strip between stands, is the integral of the rate of change in speed error with respect to time, and has a positive speed error value.
  • the top portion of the curve of Figure 12(a) represents the elimination of the strip storage, is the integral of the rate of change in speed error, and has a negative speed error value. It is readily observed when comparing these Figures
  • Figures 13a and 13b show a typical speed regulator response when (PI) speed controller 34 is operated without impact load controller 28 of the invention and without (PI) 2 speed controller 30, and Figures 13c and 13d show a typical speed regulator response when (PI) speed controller 34 is used in series with the impact load controller 28 and without (PI) 2 speed " controller 30.
  • Figures 14a, 14b, and 14c again represent a typical speed regulator response when (PI) 2 speed controller 30 is used in parallel with impact load controller 28 and in series with (PI) speed controller 34.
  • Figures 14a and 14c are similar to Figures 12c and 12d.
  • Figure 14b represents the output signal of impact load controller 28 when the strip is in the stand for a two second time interval. The curve shows a vertical line or "spike” followed by a smooth gradual decaying exponential portion.
  • the use of components 44 and 46 as taught hereinbefore produces an initial sharp increase in the dynamics of the system and filter 50 allows a gradual, slow decay in the response of the system.
  • Impact load controller 28 is energized when the speed error exceeds a "WEMAX 2" setting.
  • the initial output of impact load controller 28 is a function of the rate of change in the speed error which is based on the actual speed and a desired speed.
  • the rate of change in speed error at the time of the initial impact load is a direct function of the magnitude of the impact load torque disturbance applied to the drive motor 12 of Figure 1.
  • the larger the impact load torque disturbance the higher the output signal of impact load controller 28.
  • the output of impact load controller 28 is a function of the low pass filter time constant setting whereby the rate of change in speed error decays exponentially as seen in Figure 14b.
  • Impact load controller 28 adapts to the change in the magnitude of the impact load torque disturbance applied to the drive motor 12, i.e. the bigger the load, the greater the output signal of the impact load controller. This feature provides optimum reduction in drive speed error for the varying magnitudes of the load disturbances. Referring again to Figure 1, at the onset of operation of impact load controller 28, ' the output signal passes instantly through the proportional part of (PI) speed controller 34, thus instantly providing an increase in the armature current reference signal la* to armature current controller 16 for control of the current to drive motor 12.
  • PI proportional part of
  • the impact load controller 28 can be either of a microprocessor type of arrangement as described herein, or it can be of an analog type consisting of several electrical and logic components as shown in Figures 15A, 15B, and 16 and having the same numerals as that shown in Figures 1-6, and which can easily be understood by those skilled in the art.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

Un dispositif de commande sensible à l'impact d'une charge (28) compense la chute de vitesse d'un moteur d'entraînement (12) causée par une perturbation de la charge appliquée à ce dernier. Une modification est amorcée dans la dynamique d'un régulateur de vitesse (30, 34) dans un système de régulation de vitesse d'une cage d'un laminoir tandem par la détection d'une erreur de vitesse (WE) supérieure à une valeur d'erreur de vitesse prédéterminée et est éliminée après que l'erreur de vitesse a été réduite à une valeur prédéterminée. Le dispositif de réglage (28) est purement un dispositif de régulation tachymétrique dont le signal d'entrée est converti en une cadence de variation de l'erreur de vitesse, multipliée par un facteur de gain. Le produit de valeur de gain qui en résulte est initialement augmenté d'un facteur prédéterminé pour fournir un signal d'entrée élevé au régulateur de vitesse (PI) (34) d'un système de régulation de vitesse multiboucle destiné au moteur d'entraînement (12), et pour précharger un filtre passe-bas. A partir de là, le signal de sortie du dispositif de commande sensible à l'impact d'une charge (28) est fonction de la constante de temps du filtre passe-bas; ainsi, le gain de produit se composant de la cadence de variation de l'erreur de vitesse décroît de manière exponentielle. Le dispositif de commande sensible à limpact d'une charge (28) peut se présenter soit sous forme d'un appareil de commande du type à microprocesseur, soit sous forme d'un appareil de commande du type analogique.
PCT/US1990/006112 1990-10-24 1990-10-24 Dispositif de commande sensible a l'impact d'une charge pour un systeme regulateur de vitesse WO1992008275A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/US1990/006112 WO1992008275A1 (fr) 1990-10-24 1990-10-24 Dispositif de commande sensible a l'impact d'une charge pour un systeme regulateur de vitesse
US07/867,098 US5355060A (en) 1990-10-24 1990-10-24 Load impact controller for a speed regulator system
CA002072071A CA2072071A1 (fr) 1990-10-24 1990-10-24 Dispositif de reglage en cas de variation de la charge, utilise dans un regulateur de vitesse
CN91101909A CN1060938A (zh) 1990-10-24 1991-03-27 用于调速器系统的冲击负荷控制器

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PCT/US1990/006112 WO1992008275A1 (fr) 1990-10-24 1990-10-24 Dispositif de commande sensible a l'impact d'une charge pour un systeme regulateur de vitesse
CA002072071A CA2072071A1 (fr) 1990-10-24 1990-10-24 Dispositif de reglage en cas de variation de la charge, utilise dans un regulateur de vitesse

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WO1992008275A1 true WO1992008275A1 (fr) 1992-05-14

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4047080A (en) * 1976-05-12 1977-09-06 Westinghouse Electric Corporation Common bus parallel speed regulator system
US4556830A (en) * 1983-03-31 1985-12-03 Canadian General Electric Company Limited Speed controller for mill drives and the like
US4565952A (en) * 1983-11-04 1986-01-21 Mitsubishi Denki Kabushiki Kaisha Speed controlling device for rolling mills
US4700312A (en) * 1978-12-27 1987-10-13 Hitachi, Ltd. Method and apparatus for controlling snake motion in rolling mills
US4839573A (en) * 1986-08-18 1989-06-13 Wise William L Method and apparatus for feedback control loop bandwidth and phase margin regulation
US4905491A (en) * 1988-04-11 1990-03-06 Aluminum Company Of America Unwind/rewind eccentricity control for rolling mills

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4047080A (en) * 1976-05-12 1977-09-06 Westinghouse Electric Corporation Common bus parallel speed regulator system
US4700312A (en) * 1978-12-27 1987-10-13 Hitachi, Ltd. Method and apparatus for controlling snake motion in rolling mills
US4556830A (en) * 1983-03-31 1985-12-03 Canadian General Electric Company Limited Speed controller for mill drives and the like
US4565952A (en) * 1983-11-04 1986-01-21 Mitsubishi Denki Kabushiki Kaisha Speed controlling device for rolling mills
US4839573A (en) * 1986-08-18 1989-06-13 Wise William L Method and apparatus for feedback control loop bandwidth and phase margin regulation
US4905491A (en) * 1988-04-11 1990-03-06 Aluminum Company Of America Unwind/rewind eccentricity control for rolling mills

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