WO2006033165A1 - Detecteur de mouvement d'armature et dispositif d'estimation de position d'armature pour frein d'ascenseur - Google Patents

Detecteur de mouvement d'armature et dispositif d'estimation de position d'armature pour frein d'ascenseur Download PDF

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Publication number
WO2006033165A1
WO2006033165A1 PCT/JP2004/014422 JP2004014422W WO2006033165A1 WO 2006033165 A1 WO2006033165 A1 WO 2006033165A1 JP 2004014422 W JP2004014422 W JP 2004014422W WO 2006033165 A1 WO2006033165 A1 WO 2006033165A1
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WIPO (PCT)
Prior art keywords
armature
brake
detector
voltage
movement
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PCT/JP2004/014422
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English (en)
Inventor
Forrai Alexandru
Takaharu Ueda
Takashi Yumura
Masanori Yasue
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Mitsubishi Denki Kabushiki Kaisha
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Application filed by Mitsubishi Denki Kabushiki Kaisha filed Critical Mitsubishi Denki Kabushiki Kaisha
Priority to PCT/JP2004/014422 priority Critical patent/WO2006033165A1/fr
Priority to CNB2004800436706A priority patent/CN100546895C/zh
Priority to DE112004002963T priority patent/DE112004002963B4/de
Publication of WO2006033165A1 publication Critical patent/WO2006033165A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B66B5/04—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed
    • B66B5/06—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/32—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on braking devices, e.g. acting on electrically controlled brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
    • B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
    • B66D5/06—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes with radial effect
    • B66D5/08—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes with radial effect embodying blocks or shoes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
    • B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
    • B66D5/24—Operating devices
    • B66D5/30—Operating devices electrical

Definitions

  • the present invention relates to an electromagnetic brake device forcontrollingtherotationofadrivingsheaveofanelevator.
  • the moving armature's position is detected using position, speed, or acceleration sensors (from now called mechanical sensors) or using a mechanical switch.
  • the elevator cage is started only after the brake has beenpulled-up avoiding the undesirable case when the elevator motor generates torque while the braking force of the brake is still acting;
  • the elevator motor torque is set to zero avoiding the undesirable case when the elevator motor generates torque while the braking force of the brake is applied.
  • the operation of the electromagnetic brake is detected by monitoring the brake coil current.
  • the methods proposed for armature movement detection based on momentary variation of current might be applied for elevator brake systems but has the following limitations: the current variation (current reduction during armature pull-up and current increase during armature release) might be due to voltage oscillations of the power source and not only due to armature movement, which can lead to erroneous operation; the current increasemightbeduetothebrake control apparatus applied upon brake application for impact noise reduction; the current variation (reduction or increase) depends on the constructive variant of the solenoid and is influenced by armature stroke and inductance of the solenoid, therefore precision of the method limits its application field.
  • the armature stroke is usually less than 1 mm and due to the limited space (compact design) the electromagnetic actuator is highly saturated (magnetic saturation is present) .
  • the present invention has been made to solve the above-mentioned problems, and it is an object of the invention to provide an armature movement detection apparatus for an elevator brake and an armature position estimation apparatus for an elevator brake, which can improve the precision with which the armature position is detected.
  • An armaturemovement detection apparatus for an elevatorbrake is an apparatus for detecting movement of an armature of an elevator brake, the elevator brake including: a brake rotor; a brake shoe for frictionally braking rotation of the brake rotor; a spring for urging the brake shoe to be pressed against the brake rotor; and a brake release section for releasing the brake shoe away from the brake rotor, the brake release section being provided with an electromagnet including a brake coil, and an armature that is attracted to the electromagnet against a resilient force of the spring upon energizing the electromagnet, the armaturemovement detectionapparatus including: a current detector for detecting an electric current that flows through the brake coil; a voltage detector for detecting a voltage appliedto the brake coil; a voltage variation detector for detecting an abnormal voltage drop occurring in a constant voltage source for energizing the electromagnet; and a movement detector for detecting movement of the armature relative to the electromagnet by comparing information obtained from
  • Anarmaturepositionestimationapparatus foranelevatorbrake is an apparatus for estimating a position of an armature of an elevator brake, the elevator brake including: a brake rotor; a brake shoe for frictionally braking rotation of the brake rotor; a spring for urging the brake shoe to be pressed against the brake rotor; and a brake release section for releasing the brake shoe away from the brake rotor, the brake release section being provided with an electromagnet including a brake coil, and an armature that is attracted to the electromagnet against a resilient force of the spring upon energizing the electromagnet, the armature position estimation apparatus including: a current detector for detecting an electric current that flows through the brake coil; a voltage detector for detecting a voltage applied to the brake coil; an armature position estimation section for estimating at least one of the position of the armature and a parameter dependent on the position of the armature based on information obtained from the current detector and the voltage detector; and a position indicator
  • Fig. 1 is a schematic view showing the entire construction of a brake system of an elevator including an armature movement detection apparatus according to the present invention.
  • Fig.2 is agraph showingatypicalrelationshipbetweenapplied voltage and time, armature displacement and time as well as coil current and time, when an electromagnet is energized and de-energized.
  • Fig.3 is a graphshowingatypical relationshipbetweenapplied voltage and time, armature displacement and time as well as induced electromotive force (E.M.F.) and time, when the electromagnet is energized and de-energized.
  • E.M.F. induced electromotive force
  • Fig.4 is a constructional view showing one example of armature movement detection apparatus based on electromotive force (E.M.F. ) estimation and monitoring according to the present invention.
  • Fig. 5 is an explanatory view of the operation of the armature movement detection apparatus based on electromotive force (E.M.F.) estimation and monitoring according to the present invention.
  • Fig.6 is an explanatory graph of the operation of the armature movement detection apparatus based on electromotive force (E.M. F. ) estimationandmonitoringuponbrake release accordingtothepresent invention.
  • Fig.7 is an explanatory graph of the operation of the armature movement detection apparatus based on electromotive force (E.M.F. ) estimation and monitoring upon brake application with or without armature control according to the present invention.
  • E.M.F. electromotive force
  • Fig.8 is agraph showingatypical relationshipbetweenapplied voltage and time, armature displacement and time as well as instantaneous electromagnetic power (P) and time, when the electromagnet is energized and de-energized.
  • Fig. 9 is a structural diagram showing one example of armature movementdetectionapparatusbasedoninstantaneous electromagnetic power (P) estimation and monitoring according to the present invention.
  • Fig. 10 is an explanatory, diagram of the operation of the armature movement detection apparatus based on instantaneous electromagnetic power (P) estimation and monitoring according to the present invention.
  • Fig.11 is an explanatorygraph of the operation ofthe armature movement detectionapparatus basedoninstantaneous electromagnetic power (P) estimation and monitoring upon brake release according to the present invention.
  • Fig.12 is anexplanatorygraph ofthe operation ofthe armature movement detectionapparatusbasedoninstantaneous electromagnetic power (P) estimation and monitoring upon brake application without armature control according to the present invention.
  • Fig. 13 is an explanatory graph (extension of the explanatory graph shown in Fig. 12) of the operation of the armature movement detection apparatus based on instantaneous electromagnetic power (P) estimation and monitoring upon brake application with armature control according to the present invention.
  • Fig. 14 is a explanatory view of armature current control applied during armature pull-up and armature hold.
  • Fig. 15 is a graph showing a typical relationship between armature (coil) current and time, armature displacement and time as well as applied voltage and time, when the electromagnet is energized (under current control) and de-energized, according to the present invention.
  • Fig. 16 is a graph showing a typical relationship between applied voltage and time, armature displacement and time, applied voltage derivate and time as well as induced electromotive force andtime, whentheelectromagnet is energized (undercurrent control) and de-energized.
  • Fig. 17 is an explanatoryview of the operation of the armature movement detection apparatus, when the electromagnet is energized (under current control) according to the present invention.
  • Fig.18 is anexplanatorygraphofthe operationofthe armature movement detection apparatus based on applied voltage or control signal monitoring upon brake release application with armature current control according to the present invention.
  • Fig. 19 is a schematic view showing the entire construction of a brake system of an elevator including an armature position estimation apparatus according to the present invention, composed of an armature position estimation section and a normal and abnormal position indicator section.
  • Fig. 20 is a graph showing a typical relationship between applied voltage and time, armature displacement and time as well as coil current andtime, when the electromagnet is energized (during armature pull-up and armature hold) and de-energized (during armature release) .
  • Fig.21 is a graph showing a typical variation ofthe inductance with air-gap.
  • Fig. 22 is an explanatory diagram of the parameter estimation principle based on signal injection.
  • Fig. 23 is an explanatory diagram of current control under hysteresis control loop.
  • Fig. 24 is an explanatory diagram of the principle of the switching frequency estimation.
  • Fig. 25 is a graph showing a typical relationship between appliedvoltage andtimeaswellas coilcurrentandtime.
  • the current is not controlled during the armature pull-up and provides a resistance estimation section.
  • the current is under hysteresis control during armature hold and after armature release andprovides an inductivity estimation section.
  • Fig. 26 is an explanatory diagram of the armature position estimation section of the armature position estimation apparatus and shows armature position estimation according to the gradient method.
  • Fig. 27 is a block graph showing the armature position estimation according to the reference model-based switching frequency estimation method according to the present invention.
  • Fig. 28 is a graph showing the operation principle of a trend estimator according to the present invention.
  • Fig. 29 is an explanatory diagram showing a recursive implementation trend estimating section.
  • Fig. 30 is an explanatory algorithm in a pseudo-programming language of the normal and abnormal position indicator section according to the present invention.
  • Fig. 31 is an explanatory graph showing estimated inductivity for different armature positions. Best Mode for carrying out the Invention First Embodiment
  • Fig. 1 shows the construction of an entire brake system of an elevator.
  • a car 1 of the elevator is hung, togetherwith a counter weight 4, by a main rope 3 wrapped around a driving sheave 2 in a well bucket: fashion.
  • a brake rotor (such as a brake drum or brake disc) 6 driven by a hoist motor 5 is generally installed on an axle that couples the hoist motor 5 and the driving sheave 2 with each other.
  • the brake shoe 8 is urged into engagement with the brake rotor 6 under the action off the resilient force of a spring 7 thereby to provide a braking force due to the friction.
  • abrake coil 10 consisting of an electromagnet is energized using a drive circuit 9 supplied by a constant voltage source 11
  • an armature 12 attached to the brake shoe 8 is attracted to the brake coil 10 while overcoming theresilient forceofthe spring7.
  • Abrakerelease section contains the electromagnet including the brake coil 10 and the armature 12.
  • a current detector 13 and a voltage detector 14 detect the electric curxent as well as the applied voltage on the brake coil 10 (electromagnet) .
  • a voltage variation detector 15 detects an abnormal voltage drop of the constant voltage source 11.
  • VD 1
  • the armature movement detection is performed in a movement detectorandmovement indicatorunit 16 accordingtothresholdlevels specified in a threshold level setting section 17.
  • the threshold levels settings specified in the threshold level setting section 17 are represented with THl and TH2 for the brake release period and TH3 and TH4 for the brake application period.
  • Fig. 2 shows a typical relationship of applied voltage (u) and time (t) (Fig. 2a), armature displacement (x) and time (t) (Fig. 2b) as well as coiIL current (i) and time (t) (Fig. 2c), when the electromagnet is energized and de-energized.
  • Fig. 3 is an explanatory/ view of the basic operation of the armature movement detection apparatus according to the first embodiment of present invention.
  • Fig. 3 (a) shows a voltage given to the brake coil 10
  • Fig.3 (b) shows the displacement of the armature 12
  • Fig. 3 (c) shows the induced electromotive force.
  • Fig. 3 when the brake is released, an attraction voltage is applied to the brake coil 10 at time point Tl, so that the electromagnet provided with the brake coil 10 attracts the armature 12.
  • the induced electroinotive force (Fig.3 (c) ) is a constant value (theoretically zero) due to the sensor offsets and when the electromagnetic attraction force is overcoming the force generated by the spring 7, the armature 12 starts to move and the induced electromotive force is increasing. After the moving armature 12 hits the fixed armature the induced electromagnetic force starts to decrease. The armature movement ends at time point T2.
  • Fig.4 is a constructional view show ⁇ Lng one example of armature movement detection apparatus based on electromotive force (E.M.F.) estimation and monitoring according to the present invention.
  • E.M.F. electromotive force
  • the induced electromotive force is estimated in an EMF estimating section 18 by measuring an applied voltage (u) and the current (i) using the voltage detector 14 and the current detector 13.
  • the armature movement is detected by a movement detection algorithm A section 19 according to the threshold level setting section 17 and considering the signal VD provided by the voltage variation detector 15.
  • a movement indicator 20 signals visually (for example, a LED is turned on or off if the armature 12 moved or did not move) and/or electronically (a digital signal is sent to a supervisory unit) the armature movement.
  • E.M.F. electromotive force estimation
  • the total magnetic flux ⁇ ⁇ (i,x) is dependent on the current (i) and the armature displacement (x) .
  • Equation (3) we compute the induced electromotive force as:
  • the section 21 performs filtering with a time constant ti.
  • the section 21 calculates the filtered current signal represented by i f ( and itsLaplacetransformrepresentedbyI f (s) ) accordingtothe following equation;
  • E f (s) K 1 (U(S) - R I f (s) - L ⁇ s/( ⁇ 2 s+l) ⁇ I f (s) ⁇ (8)
  • U (s) is the Laplace transform of the applied voltage (u) sensed by the voltage detector 14.
  • Equation (8) above is calculated by a differentiating section
  • a filtering section 23 (with time constant 1 2 ) , a brake coil resistance value 24, a coil inductance value 25, specified by an inductance adjusting section 26, and an amplifying section 27 (with gain Ki) .
  • the operation of the inductance adjusting section 26 will be described below.
  • the inductance L L(i) is obtained beforehand, and the relation between the brake coil current (i) and inductance L is tabulated.
  • the movement detector and movement indicator umit 16 calls orpicks up the inductance L fromthis table based on filtered signal of the current detector 13, and changes the inductance L in the electromotive force estimating section 18.
  • a filtered electromotive force signal e f (s) 28 is used inthemovement detectionalgorithitiAsection 19 forarmaturemovement detection according to the threshold levels specified in the threshold level setting section 17, when the abnormal voltage variation is detected by the voltage variation detector 15.
  • the armature movement detection algorithm (represented by Algorithm A.1) is as indicated in Fig. 6 in case of armature pull-up and in Fig. 7 in case of armature release with or without armature control
  • the signal 28 represented by ⁇ f becomes bigger than thethreshold level THl, and after a while becomes smaller than the threshold level TH2 specified in the threshold level setting section 17, that means the estimated electromotive force increased.
  • the signal 28 represented by e f becomes smaller than the thresholdlevel TH3, andafterawhilebecomes biggerthanathreshold level represented by TH4 specified in the threshold level setting section 17, that means the estimated electromotive force has been decreased.
  • the presented algorithm (shown in Fig. 7) also can be applied taking into account that the applied voltage on the brake coil 10 is measured using the voltage detection section 14.
  • Fig. 8 is an explanatory diagram of the basic operation of the armature movement detection apparatus according to the second embodiment of present invention.
  • Fig. 8 (a) shows a voltage given to the brake coil 10
  • Fig.8 (b) shows the displacement of the armature 12
  • Fig. 8(c) shows the instantaneous electromagnetic power change of the electromagnet.
  • Fig. 8 (c) when the brake is released, an attraction voltage is applied.to the brake coil 10 at time point Tl, so that the electromagnetprovidedwiththebrake coil 10 attracts the armature 12.
  • the instantaneous power (Fig. 8 (c) ) stored into the electromagnetic field increases and when the electromagnetic attraction force is overcoming the spring 7 the armature starts to . move and the instantaneous power drops and after a while increases again.
  • the armature movement ends at time point T2.
  • Fig.9 is a structural diagramthat shows the armature movement detection apparatus.
  • the inventor of the present invention has focused attention on the fact that the instantaneous power stored into the electromagnetic field changes when the armature starts to move.
  • the instantaneous power stored into the electromagnetic field of the brake coil 10 (electromagnet) supplied by the drive circuit 9 is detected by an instantaneous electromagnetic power estimation section 29, when the electric current is detected by the current detector 13. Comparing the output signal of the instantaneous electromagnetic power estimation section 29 with threshold levels (specified into the threshold level setting section 17) by the movement detection algorithms (specified into a movement detection algorithm B section 30), the armature movement is detected.
  • Themovement indicatorsection20 signalsvisually (forexample an LED is turned on or off if the armature moved or did not move) and/or electronically (the digital signal is sent to the supervisory unit) the armature movement.
  • the instantaneous power stored into the electromagnetic field is proportional to the product between current and first-order derivate of the current.
  • the section 31 calculates the filtered current signal represented by i f (and its Laplace transform represented by I f (s)) according to the following equation;
  • Equation (19) above is calculatedby a differentiating section
  • a filtering section 33 (with time constant ⁇ 2) , a coil inductance value 34 specified by an inductance adjusting section 35, and an amplifying section. 36 (with gain K 2 ) .
  • the operation, of the inductance adjusting section 35 is similar to the inductance adjusting section 26.
  • the inductance L L(i) is obtained beforehand, and the relation between the brake coil current (i) and inductance L is tabulated.
  • the movement detector and movement indicator unit 16 calls or picks up the inductance L from this table based on filtered signal of the current detector 13, andchanges the ⁇ nductance L inthe instantaneous electromagnetic power estimating section 29.
  • the filtered and amplified instantaneous power signal is noted by 37.
  • the armaturemovementdetectionalgorithm (represented by ALgorithm B.I) is indicated in Fig. 11 in case of armature pull-up and in Fig. 12 in case of armature release (represented by Algorithm B.2) .
  • the armature movement detection algorithm indicated in Fig. 12 is extended with the algorithm (represented by Algorithm B.3) indicated in Fig. 13.
  • the signal 37 represented by P f becomes smaller than the threshold level THl, and after a while becomes bigger than the threshold level TH2 specified in threshold level setting section 17, that means the instantaneous power decreased due to the armature movement and after the a ⁇ rmature stops starts to increase again.
  • the armature movement detection during armature release is indicated in Fig. 12.
  • threshold level represented by TH4 specified in the threshold level setting section 17, that means the instantaneous power stored into the electromagnetic field increased due to the armature movement, and after the armature stopped started to decrease.
  • the armature movement detection algorithm upon brake application according to the present inveation (shown in Fig. 12) is extended with the algorithm shown in Fig. 13 if a brake control apparatus is used for noise reduction. This is required in order to assure correct armature movement detection even under -un-proper armature control (control system fails or does not work properly) .
  • Fig. 13 (represented by Algorithm B.3) , after the armature control period ends, the signal 37 represented by Pf is detected and the value of logical signal SET2 returned by the algorithm shown in Fig. 12 is stored.
  • Armature current control is usually performed according to the control scheme presentedinFig.14, whereacontrollerK(s) usuallyhasthefollowing transfer function:
  • K(s) Kp+Ki/s (29) where Kp is the proportional gain and Ki is the integral gain.
  • U c (s) ⁇ Kp+Ki/s ⁇ Err(s) (30)
  • Thepowerconvertercanbeconsideredanidealoneintheworking frequency range therefore the applied voltage u is proportional tothecontrol signalu c . Therefore, forarmaturemovementdetection both signals can be used.
  • Fig. 15 is an explanatory view of the basic operation of the armature movement detection apparatus according to the third embodiment of present invention.
  • Fig. 15 (a) shows the brake coil 10 with current under control
  • Fig. 15 (b) shows the displacement of the armature 12
  • Fig. 15 (c) shows voltage given to the brake coil 10 under control - solid line, curve 1, when the armature moves and dashed line, curve 2, when the armature does not move.
  • Fig. 16 (a) shows the voltage given to the brake coil 10, which has a crest due to the control action, generated by the armature movement.
  • the simplest way to detect the armature movement is to monitor the derivate of the applied voltage u or the derivate of the control signal u c shown in Fig. 16 (c) .
  • a section 39 performs filtering with
  • a section 40 derivates the filtered signal, which is amplified by a section 41 (with gain Ki) .
  • a filtered and amplified signal noted by 42 is compared with threshold levels (specifiedinto the threshold level setting section 17) by the movement detection algorithms (specified into a movement detection algorithm C section 43) and the armature movement is detected.
  • the movement indicator section 20 signals visually and/or electronically the armature movement. Now, the operation of this embodiment will be described below.
  • Fig. 18 represented by Algorithm C
  • the signal 42 becomes bigger than the threshold level THl, and after a while becomes smaller than the threshold level TH2 specified in the threshold level setting section 17, that means the applied voltage or control signal has been increased by the current controller due to the detected current drop.
  • control signal is increasedproportionallywith thecurrentdrop (theintegraltermofthecontrollercanbeneglected, the armature movement is much faster than the integral term time constant) , which can be considered proportional to the induced electromotive force (e.m.f.) .
  • the induced electromotive force is approximately as follows (see also Equation (6)) :
  • the signal used for armature movement detection is the electromotive force or any magnitude proportional to it.
  • the induced electromotive force is approximately zero. If the armature moves, the current drop is sensed by the current controller and is compensated by increasing the control signal and implicitly the applied voltage. In this case the induced electromotive force has different values from zero (in this case positive values) as shown in Fig. 16 (d) .
  • the armature movement detection algorithm is performed in an identical manner as described in the first embodiment of the present invention .
  • Fig. 19 shows the construction of an entire brake system of an elevator according to the fourth embodiment of the present invention.
  • the armature position estimation is performed in an armature position estimation section 51 and the normal and abnormal armature position is indicated by a normal and abnormal position indicator section 52.
  • Other constructions are equivalent to the first embodiment.
  • Fig. 20 shows a typical relationship of: applied voltage (u) and time (t) (Fig. 20a), armature displacement (x) and time (t) (Fig. 20b) as well as coil current (i) and time (t) (Fig. 20c), when the electromagnet is energized and de-energized.
  • Fig. 21 shows the inductance variation with the air-gap in case of a non-saturated electromagnetic actuator. This means that if the coil' s inductance or any parameter proportional to it is estimated then armature position estimation is possible.
  • Fig. 22 shows the basic idea of parameter estimation, where (u) is the applied input signal also called ⁇ injected signal' and ( ⁇ ) the measured output signal.
  • RLS recursive least squares method
  • Equation (36) The idea is to minimize the quadratic loss function denoted by (V( ⁇ )) - see Equation (36) - using the least squares method.
  • the parameter estimation algorithm is written in recursive form using the matrix inversion lemma cited document ⁇ Kailath, Astrom ⁇ . Although this approach can offer good precision and fast convergence, due to its numerical complexity it is not suitable in many real_-time industrial applications.
  • the basic idea is to adjust the parameters in such a way that
  • the presented algorithm can be written in different forms and are known as gradient or projection algorithms cited document ⁇ Astrom ⁇ . Moreover there are other alternatives, too, such as:
  • sign which are called sign—sign algorithms (sign is thewell-known signum function) .
  • Another approach to estimate the armature position is to estimate the switching frequency of the current, which is under hysteresis control. This approach is described in cited document ⁇ Noh,Mizuno ⁇ and it is shown that the inductance is inverse proportional to the switching frequency.
  • the inductance estimate is achieved with a high-pass filter
  • a rectifier and a low-pass filter to demodulate the amplitude of the signal, illustrated in Fig. 24. as a sequence of signal operations.
  • the coil's resistance is estimated recursively according to the following equation.
  • index (k) refers to the values at the moment (t k ) and ( ⁇ R ) is a positive constant.
  • the index (k) refers to the values at the moment ( ⁇ tk) and ( ⁇ G ) and (Y L ) are positive constants.
  • one or other estimation method can be used.
  • Equations (8) and (9) canprovide accurate parameter estimate, which is armature position dependent, therefore constitute the core of armature position estimation method.
  • Fig. 26 shows the armature position estimation based on the gradient method.
  • a recursive parameter estimation section 55 provides the coil' s parameters recursive estimation (in two steps) , where the input values are:
  • the low-pass filter can be implemented as:
  • the derivator can be implemented as:
  • the output of recursive parameter estimation section 55 is low pass filtered by a low pass filtering section 56, which provides the input for a trend estimator section 57.
  • the algorithm can be applied for armature position estimation for any electromagnetic actuator.
  • the precision of the estimated parameter? is enhanced by a so-called ⁇ trend estimator' section 57.
  • the estimated inductance or its inverse incase ofthe electromagneticbrakes is atime-invariant parameter, but in practice small fluctuations around the mean value can be observed, which are due to sensor noise, estimation error, etc.
  • a so-called ⁇ trend estimator' is applied, after the estimated parameter reaches its mean value.
  • Fig. 28 shows the principle of the trend estimator.
  • Fig. 29 shows the recursive trend estimator section 57 according to Equations (48) and (49) .
  • the estimated parameter becomes the (n) parameterofthetrendestimator.
  • theestimatedparameter (m) is usedtomonitorthetransient states oftheestimatedparameter (p) .
  • the estimated value (n) can be considered valid (for a given armature position) if the estimated parameter (m) was in a
  • time-invariant parameters (m) equals zero.
  • Fig. 30 shows the normal and abnormal position indicator section 52, where the related algorithm is described in pseudo-programming language.
  • (i) is the measured current
  • (i H ⁇ H ) and (i RTH ) are current threshold levels during armature hold and after armature release.
  • (n) denotes the estimatedparameterby the trend estimator.
  • the parameters, (pHmin) and (pHmax) defines the normal parameter range during armature hold
  • (pRmin) and (pRmax) defines the normal parameter range after armature release - these parameters are defined a priori by the user.
  • Fig. 31 shows an example, the estimated inductivity for different armature positions.
  • Fig. 27 the demodulated error signal between the switching frequency of the real signal and the switching frequency of the reference model provides the armature position dependent parameter, which is used for armature position estimation.
  • Precision enhancement is achievedin a similarway, byusing a ⁇ trendestimator' section 57, which provides the inputs for the position indicator section 52.
  • the low-pass filter (LPF) as well as the high-pass filter (HPF) can be implemented in a similar way as in Equation (45) as well as in Equation (46) .
  • the block (ABS) in Fig. 27 means that the absolute value of the signal is taken.
  • an error signal 66 is computedas adifferencebetween a signal 64 anda signal 65.
  • the signal 64 is obtainedafterhigh-pass filtering (ahigh-pass filtering section 58) ofthemeasuredcurrent, provided by the current detector section 13 and after rectifying, providedby a rectifying section 59.
  • the signal 65 is obtained after taking the output of the reference model (a section 24) , whose input is provided by the drive circuit 9 or the voltage detector 14, which is high-pass filtered by a high-pass filtering section 61 and rectified by a rectifying section 62.
  • Fig. 27 the error signal 66 is demodulated using a low pass filter section 63, whose output is armature position dependent, which provides the input for the trend estimator section 57.
  • Thearmaturepositionestimationaswellaspositionindication is performed in an identical manner as described in the fourth embodiment of the present invention.

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

Abstract

L'invention concerne un détecteur de mouvement d'armature pour frein d'ascenseur, dans lequel un courant électrique qui circule à travers une bobine de frein est détecté par un détecteur de courant. Une tension appliquée à la bobine est détectée par un détecteur de tension. Une chute de tension anormale dans une source de tension constante pour l'excitation d'un électroaimant est détectée par un détecteur de variation de tension. Un détecteur de mouvement détecte le mouvement d'une armature par rapport à l'électroaimant, sur la base d'une comparaison entre une force électromotrice induite estimée, une puissance électromagnétique instantanée estimée, d'une part, et des seuils établis, d'autre part, et sur la base d'une vérification visant à déterminer si la chute de tension anormale a été détectée par le détecteur de variation de tension.
PCT/JP2004/014422 2004-09-24 2004-09-24 Detecteur de mouvement d'armature et dispositif d'estimation de position d'armature pour frein d'ascenseur WO2006033165A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP2004/014422 WO2006033165A1 (fr) 2004-09-24 2004-09-24 Detecteur de mouvement d'armature et dispositif d'estimation de position d'armature pour frein d'ascenseur
CNB2004800436706A CN100546895C (zh) 2004-09-24 2004-09-24 升降机制动器的电枢运动检测装置和电枢位置估测装置
DE112004002963T DE112004002963B4 (de) 2004-09-24 2004-09-24 Erfassungsvorrichtung zum Erfassen einer Ankerbewegung oder einer Ankerposition bei einer Aufzugsbremse

Applications Claiming Priority (1)

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PCT/JP2004/014422 WO2006033165A1 (fr) 2004-09-24 2004-09-24 Detecteur de mouvement d'armature et dispositif d'estimation de position d'armature pour frein d'ascenseur

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WO2015193834A1 (fr) * 2014-06-19 2015-12-23 Kone Corporation Système, frein de machinerie et procédé de commande du frein de machinerie
EP3335977A1 (fr) * 2016-12-15 2018-06-20 Robert Bosch GmbH Procédé et dispositif de compensation de la houle
WO2020127517A1 (fr) * 2018-12-20 2020-06-25 Inventio Ag Procédé et commande de frein pour la commande d'un frein d'une installation d'ascenseur
EP3798176A1 (fr) * 2019-06-14 2021-03-31 Ziehl-Abegg Se Procédé et dispositif de surveillance d'un frein électromagnétique
CN112744735A (zh) * 2019-10-30 2021-05-04 奥的斯电梯公司 用于电梯系统的制动装置及其检测方法

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DE102011088699B4 (de) 2011-12-15 2019-07-04 Robert Bosch Gmbh Verfahren zum Steuern einer Hubkolbenpumpe
CN102721565B (zh) * 2012-07-02 2014-11-26 河南省特种设备安全检测研究院 制动器制动性能综合测试装置及其测试方法
CN104458294B (zh) * 2014-12-18 2017-03-08 成都铁安科技有限责任公司 一种列车检测设备的故障监测方法及系统
CN110467072B (zh) * 2018-05-11 2022-04-12 上海三菱电梯有限公司 用于电梯系统的启动力矩补偿方法及电梯系统
CN110696792A (zh) * 2018-07-10 2020-01-17 成都安的光电科技有限公司 应用于拖挂房车的刹车控制方法及系统
CN110950261B (zh) * 2019-11-19 2021-06-04 日立电梯（中国）有限公司 电梯抱闸控制参数生成方法、装置、系统和计算机设备
CN111812432A (zh) * 2020-06-23 2020-10-23 向光恒 一种电磁刹车检测方法及装置
EP4039629A1 (fr) * 2021-02-04 2022-08-10 Otis Elevator Company Actionneur de sécurité électronique et procédé de détection de condition ou d'état

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WO2015193834A1 (fr) * 2014-06-19 2015-12-23 Kone Corporation Système, frein de machinerie et procédé de commande du frein de machinerie
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EP3335977A1 (fr) * 2016-12-15 2018-06-20 Robert Bosch GmbH Procédé et dispositif de compensation de la houle
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EP3798176A1 (fr) * 2019-06-14 2021-03-31 Ziehl-Abegg Se Procédé et dispositif de surveillance d'un frein électromagnétique
CN112744735A (zh) * 2019-10-30 2021-05-04 奥的斯电梯公司 用于电梯系统的制动装置及其检测方法
CN112744735B (zh) * 2019-10-30 2024-02-06 奥的斯电梯公司 用于电梯系统的制动装置及其检测方法

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DE112004002963B4 (de) 2010-04-22
DE112004002963T5 (de) 2007-09-20
CN100546895C (zh) 2009-10-07

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