WO2014005833A1 - Dispositif de régulation pour réguler l'accélération d'un dispositif de transport déplacé verticalement - Google Patents

Dispositif de régulation pour réguler l'accélération d'un dispositif de transport déplacé verticalement Download PDF

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Publication number
WO2014005833A1
WO2014005833A1 PCT/EP2013/062662 EP2013062662W WO2014005833A1 WO 2014005833 A1 WO2014005833 A1 WO 2014005833A1 EP 2013062662 W EP2013062662 W EP 2013062662W WO 2014005833 A1 WO2014005833 A1 WO 2014005833A1
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WO
WIPO (PCT)
Prior art keywords
acceleration
transport device
asoii
setpoint
control
Prior art date
Application number
PCT/EP2013/062662
Other languages
German (de)
English (en)
Inventor
Martin Schautt
Richard Roberts
Felix SCHREIBER
Original Assignee
Rg Mechatronics Gmbh
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 Rg Mechatronics Gmbh filed Critical Rg Mechatronics Gmbh
Publication of WO2014005833A1 publication Critical patent/WO2014005833A1/fr

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Classifications

    • 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

Definitions

  • Control device for regulating the acceleration of a vertical
  • the invention relates to a method for controlling the acceleration of a moving vertically transport device according to the preamble of patent claim 1, a control device with a corresponding control algorithm according to the preamble of claim 1 1 and a transport device with a control device for controlling the acceleration of the transport device according to the preamble of the claim 12.
  • Various brake control circuits are known from the field of elevator technology, with which an elevator car in all operating states of the elevator,
  • Known brake control circuits comprise a control unit with a control algorithm and a sensor system for detecting the control variable, as well as a brake, which forms the actuator of the control.
  • the controlled variable of the brake control is usually the
  • Transport device can also be the braking force or the braking torque of the brake.
  • WO 2010 107 409 describes a control device for controlling the acceleration of a lift which is moved in the vertical direction, in which the current speed and acceleration values of the lift are determined by sensors and fed to an electronic unit. If the electronics detects exceeding certain speed or acceleration limits, braking is initiated. The exact function of the controller is not explained.
  • a braking device for braking elevator cars which includes a sensor for detecting the absolute position, speed and acceleration of an elevator car and a controller which, when a first limit value is exceeded
  • a hydraulic elevator brake which has a control device for adjusting the hydraulic pressure or the
  • the braking force is adjusted so that a simple acceleration of gravity corresponding delay value is achieved.
  • Adjustment of the braking force has to be made in connection with the acceleration signal is not disclosed. It is therefore the object of the present invention to provide a control device for controlling the acceleration of a vertically moved
  • a method for regulating the acceleration of a transport device moving in the vertical direction by means of a regulating device comprising the following steps:
  • Acceleration sensor is measured. According to the invention, therefore, depending on the direction of movement (upwards / downwards) of the transport device, a specific acceleration control algorithm is selected and a respectively suitable setpoint value for the acceleration regulation is determined. The transport device can thus be safely braked in both directions of movement. The individual process steps become
  • the z. B. can be stored in a control unit.
  • the reason for the selection of different acceleration control algorithms and setpoints is essentially that the change in the signal of the acceleration sensor during a braking intervention during a
  • Upward movement has a different sign than a downward movement the transport device. Namely, the transport device moves in
  • Accelerometer measured acceleration; on a downward movement, the same braking action causes an increase in the
  • Transport means to generate a control signal, by means of which the braking force of the brake is reduced, when the measured acceleration of the accelerator of the transport device is greater than the acceleration setpoint, and by means of which the braking force of the brake is increased, if the actual acceleration of the transport device is smaller than of the
  • Acceleration setpoint (first acceleration control algorithm)
  • first acceleration control algorithm in the case of an upwardly moving transport device to generate a control signal by means of which the braking force of the brake is increased when the measured acceleration of the transport device is greater than that
  • the transport device can be according to the invention, for example, an elevator car, a lift or any other transport system that moves in the vertical direction.
  • the above-mentioned sensors for determining the direction of movement of the transport device can, for. B. one or more position and / or
  • the direction of movement may, for. B. derived from the signal of a position sensor. Alternatively, it could also be determined from the signal of the speed sensor.
  • acceleration setpoint it is proposed to specify an acceleration setpoint that is greater than 1 g in the case of a downwardly moving transport device, and in the case of an upwardly moving acceleration device Transport Authority to specify an acceleration setpoint that is less than 1 g, each including the gravitational acceleration.
  • Acceleration setpoint can be selected within a specified interval.
  • the acceleration setpoint may be, for example, within a first interval of z. B. 1, 4 g to 1, 9 g, and in the case of an upwardly moving
  • Transport device for example, within a second interval of z. B. 0.6 g to 0.1 g are selected.
  • the interval of the acceleration setpoints can also be smaller or larger.
  • the acceleration setpoint or the setpoint interval may be dependent on the current acceleration of the transport device, for example.
  • the lower limit of the setpoint interval can be z. B. in the case of a downwardly moving transport device be chosen so that it (at the moment of brake release) is greater than the measured acceleration, and the upper limit of the desired value interval can in the event of an upward movement of the
  • Transport device e.g. be chosen so that they (at the moment of
  • the acceleration setpoint or the control algorithm may also depend on one or more of the following variables: the nature of a fault in the (drive) system of the transport, the position of the transport, the speed of the transport, the acceleration of the
  • Transport device or the loading of the transport device. This makes it possible to respond to various error situations or operating conditions
  • Transport device is an elevator with a suspended on a rope elevator car.
  • a counterweight To balance the weight of the elevator car and their load is attached to the other end of the rope a counterweight. If the counterweight is greater than the weight of the elevator car including loading, the elevator car will accelerate from alone upwards, for example, in the event of a failure or idling of the drive. If the counterweight is smaller than the weight of the elevator car including loading, the elevator car will accelerate downwards. In both cases, therefore, the acceleration sensor will sense the current acceleration of the elevator, although there is no brake intervention. However, in order to actually delay the elevator, the must
  • the brake can specify a setpoint that is greater or less than the current acceleration. Accordingly, it may be necessary in such (fault) situations that the invention
  • Acceleration control must be able to respond accordingly
  • this z. B. contain a sensor whose signals are the nature of a fault in
  • (Drive) system of the transport device can be determined.
  • a sensor is provided for determining a cable break and / or a failure of the drive.
  • the controller software is preferably designed to execute a control algorithm with different parameters depending on the type of system error.
  • the acceleration of the transport device should not be greater than 1 g in either upward or downward direction.
  • Gravitational acceleration of 1 g should therefore not exceed an upper limit of 2 g and a lower limit of 0 g.
  • Embodiment and field of application of the transport device but also other limits can be specified. To the given
  • Control device preferably means for limiting the acceleration of Transporteinnchtung.
  • the said means may for example comprise a controller which controls a brake device accordingly.
  • control device may also comprise means for limiting the speed, the position or another state variable of the transport device.
  • Such devices are well known in the art.
  • Accelerometer sensor to process signals and also the
  • the software determines direction of movement of the transport device. The software then selects depending on the determined direction of movement (upwards or downwards).
  • the control device preferably comprises at least one
  • the acceleration sensor preferably operates on the capacitive measuring principle and is preferably constructed as a micro-electro-mechanical system (MEMS).
  • MEMS micro-electro-mechanical system
  • the acceleration sensor is preferably mounted on the elevator car.
  • the sensor signals of the sensor system should be constantly monitored.
  • at least one of the sensors, e.g. the acceleration sensor or the sensor for direction detection provided redundantly.
  • the transport device comprises two
  • Acceleration sensors and a sensor for direction detection such as a position sensor.
  • the sensor signals of the two acceleration sensors can in this case z. B. compared directly.
  • To accurately identify a faulty sensor at least three sensors must be compared. But this requires a uniform signal size of the three sensors.
  • the acceleration signals of the two acceleration sensors 7 are integrated over time and the path signal of the position sensor is differentiated by time. As a result, three speed signals are obtained, which can be compared with each other.
  • the defective sensor can be detected by the deviating speed signal.
  • the first estimate of velocity v, from position x, is most easily done by comparing the last two measured positions and their associated measurement times
  • a filter may preferably be used.
  • x position (m)
  • v speed (m / s)
  • the determined speed can be divided into two parts - a high and a low-frequency part.
  • We can write: with time constant of the low-pass filter. If both signals match, then you can just as well estimate the
  • the acceleration control according to the invention can, for example, a
  • control loop of the invention Be part of a parent or subordinate control loop. For example, several sub-loops can be nested to form a single-circuited loop.
  • the control loop of the invention can be part of a parent or subordinate control loop. For example, several sub-loops can be nested to form a single-circuited loop.
  • Acceleration controller can thus be extended for example by a speed and / or position control loop.
  • FIG. 1 shows a rail-guided passenger elevator with a control device for controlling the acceleration of the elevator car; the acceleration measured by an acceleration sensor during various braking maneuvers in the case of an upwardly or downwardly moving elevator;
  • FIG. 3a shows the braking force of the elevator brake as a function of the Zuspannweg the brake.
  • Fig. 3b the associated, measured by an acceleration sensor
  • FIG. 4 shows the acceleration of the elevator car measured by an acceleration sensor in the event of a failure of the drive when the counterweight of the elevator is greater than the weight of the elevator car inclusive
  • FIG. 6 shows the acceleration of the elevator car measured by an acceleration sensor in the event of a cable break
  • Fig. 7 is a schematic representation of various components of a
  • FIG. 1 shows an elevator car 1 which can be moved up or down in a lift shaft along vertically extending guide rails 2.
  • the direction of movement is designated B.
  • a bearing 3 is provided in each case, which allows the smoothest possible movement of the elevator car 1.
  • the elevator car 1 is suspended on a cable 4, at the other end a counterweight 17 is attached.
  • the counterweight 17 is typically sized so that there is an about 50% loaded elevator car 1 in the
  • the rope 4 is deflected by a traction sheave 18.
  • the elevator is driven by a drive 19, e.g. an electric motor, driven.
  • a brake 5 is provided to decelerate the elevator car 1. This is attached to the elevator car 1 and uses the guide rail 2 as
  • the brake 5 is preferably used as an emergency brake or
  • Safety gear can also be designed as a service brake, possibly with emergency brake function.
  • the elevator system illustrated in FIG. 1 comprises a control device 23 implemented in the control unit 6 (see FIG. 7) for regulating the
  • the control unit 6 is integrated here in the elevator car 1, but could also be arranged elsewhere.
  • the control device 23 also includes an acceleration sensor 7 and a sensor 8 for determining the direction of movement.
  • the sensor 8 may be, for example, a position sensor which detects the position of the elevator car 1 in the elevator shaft. Alternatively or additionally, a speed sensor can also be used.
  • Acceleration sensor 7 is integrated here in the control unit 6, but could also be arranged elsewhere.
  • the sensor system (7) comprises an acceleration sensor with a capacitive measuring principle, which is constructed as a microelectromechanical system (MEMS).
  • MEMS microelectromechanical system
  • the controller software 16 processes the signals supplied by the sensors 7, 8 and determines the direction of movement B of the elevator car 1 based on the direction detection algorithm 20. From the recorded
  • Positional change in elevator motion may e.g. the direction are derived.
  • the direction are derived.
  • Movement direction of the elevator 1 are also determined by a speed sensor. For example, during an upward movement, the
  • Speed signal with a positive sign and with downward movement with a negative sign tainted Since in the case of a stationary elevator 1 no clear direction signal can be determined, the control unit 6 according to the invention forcibly specify a certain direction at standstill. Similarly, the direction detection may fail if the sensor has failed. Therefore, at standstill of the elevator 1 and in case of error, preferably a downward movement is determined, since on the transport device 1 basically the gravitational acceleration acts, the elevator 1 always in
  • Control unit 6 use the determined speed or the position signal to detect the standstill. Depending on the direction of movement of the elevator car 1, an associated acceleration control algorithm 21, 22 (see FIG. 7) is then selected and a suitable desired acceleration value aso for the one to be carried out
  • Acceleration control determined. The acceleration as the
  • Transport device 1 is finally by means of the selected
  • the selection of the acceleration control algorithm may, for example, be done by e.g. at least one parameter is set by the controller 6. The at least one parameter depends on the
  • FIG. 2 shows the acceleration as measured by the acceleration sensor 7 during various braking maneuvers, in each case in the case where the acceleration sensor 7
  • Elevator car 1 moves upwards or downwards.
  • FIG. 2 shows a situation in which the elevator car 1 first moves downwards at a constant speed-that of the acceleration sensor 7 measured value in this case is 1 g (see characteristic curve 9).
  • the acceleration sensor 7 measures
  • Brake engagements are different levels, as can be seen on the curves 10 and 14.
  • acceleration values smaller than 1 g occur, as can be seen on the characteristic curves 11 and 15.
  • a maximum value 12 of e.g. 2 g and a minimum value 13 of e.g. 0 g are not exceeded or fallen below.
  • FIG. 3 a shows the braking force F B exerted by the brake 5 as a function of the application path X B.
  • the braking force F B increases after the overcoming of a clearance xo approximately linearly with increasing application travel X B.
  • FIG. 3b shows the acceleration as measured by the acceleration sensor 7 as a function of the application path X B of the brake 5 in the event that the elevator car 1 moves upwards or downwards. During a downward movement of the elevator car 1, the acceleration sensor 7 measures a higher one
  • the acceleration sensor 7 measures smaller values the more the brake 5 is applied.
  • the controller software 16 is therefore designed so that in the case of a downwardly moving elevator car 1 according to a first control algorithm 22 (FIG. 7) it outputs a control signal by means of which the braking force of the brake 5 is reduced if the actual acceleration as of the transport device 1 is greater than the acceleration target value asoii, and the braking force of the brake 5 is increased when the actual acceleration as of the transport device 1 is smaller than the acceleration command value asoii, and in the case of an upwardly moving transport device 1 according to a second control algorithm 21 (Fig. 7) outputs a control signal by means of which the braking force of the brake 5 is increased when the actual acceleration as of the conveyor 1 is greater than the acceleration command value asoii and the braking force of the brake 5 is reduced as it decreases is as the
  • FIG. 8 shows the essential method steps of a corresponding method
  • a triggering can be caused, for example, by an external fault in the elevator system (eg cable break or activation of an emergency stop switch) or by an internal braking request
  • the brake is triggered automatically the direction of movement of the elevator car 1 is determined by the direction detection algorithm 20 (Fig. 7), as described above, in step S1, If an upward movement of the elevator car 1 is detected, in S S2, the second control algorithm 21 (see FIG. 7) is selected. In contrast, the elevator car 1 moves in
  • step S3 the first control algorithm 22 is selected in step S3.
  • an acceleration target value asoii is determined, which is smaller than 1 g, and in the case of a downward movement an acceleration target value asoii greater than 1 g is generated (step S5).
  • a setpoint interval could alternatively be specified within which the actual or sensed acceleration as may move. The acceleration as of the elevator car 1 is then controlled on the basis of the selected control algorithm 21, 22 and using the determined setpoint asoii, the brake 5 depending on the control deviation
  • the order of the individual steps may vary according to the invention. For example, it may be useful to first determine the setpoint asoii and then select the control algorithm and perform the control.
  • the acceleration control the current acceleration as of the elevator car 1 is constantly measured by the acceleration sensor 7.
  • the other movement variables such as the speed, the position and the direction of movement can be continuously detected, so that, for example, in a sudden change in the direction of movement (for example, when stopping at an upward movement) can be reacted immediately and a suitable setpoint asoii and the correct control algorithm 21, 22 can be selected.
  • the control is terminated (step "End") as soon as the elevator has reached the stoppage of motion, and then, when the brake maintains a force value to hold the elevator 1 at standstill, a request to release the brake 5 is sufficient the controller is sent.
  • the elevator 1 can be accelerated via the cable 4 by the drive 19 or delayed by a (operating) brake additionally arranged on the drive 19. Further, the elevator 1 may be e.g. be accelerated in an error case in which the drive 19 has failed. In such cases, the acceleration sensor will measure acceleration values as shown in FIG. 4 or 5.
  • FIG. 4 shows the acceleration of the elevator car 1 measured by the acceleration sensor 7, for example in the case of an error in which the drive 19 has failed. It is assumed that the counterweight 17 is slightly larger than the weight of the elevator car 1 including loading, so that the elevator car 1 accelerates in the upward direction. Thus, the course previously shown in Figure 3b shifts upward. It follows that to
  • the controller according to the invention can detect a corresponding deviation with the aid of the acceleration sensor system 7 and be informed of this
  • FIG. 5 shows that measured by the acceleration sensor 7
  • FIG. 6 shows the acceleration as measured by the acceleration sensor 7 when braking an elevator car 1 moving in the downward direction out of free fall (for example, when the cable 4 is torn due to an accident). As can be seen, the acceleration sensor 7 first measures an acceleration of 0 g, since the elevator car 1 is in free fall.
  • the brake 5 continues to tighten, whereby the acceleration as measured by the acceleration sensor 7 increases approximately linearly.
  • Such an emergency braking can be initiated automatically, for example, if the error state "free fall" is detected, which can be detected, for example, by evaluating the signal of the acceleration sensor 7, the position sensor 8 or another sensor for detecting a cable break: Since a rope break is a sudden onset Event represents, just such a rope tear can be detected, for example, by a sudden drop of the measured acceleration to 0g. As in the case of FIG. 4 or FIG. 5, too, a deceleration only occurs starting from a delivery position x 2 , in which case over 1 g of delay must be achieved.
  • the controller is therefore programmed accordingly and, in the case of a detected cable break, will preset or adjust the desired value and / or the control algorithm 21, 22 and / or the manipulated variable accordingly.
  • controller software 16 integrated in the control unit 6 comprises
  • predetermined value in particular a maximum and / or minimum value.
  • the maximum value may be, for example, 2 g and the minimum value 0 g.
  • the mentioned means can z. B. as software (not shown), which monitors the predetermined acceleration thresholds and the elevator brake 5 or another elevator brake either automatically activated or deactivated or not triggers when a threshold value is exceeded.
  • control will not activate the breme 5 until the danger is eliminated and the elevator 1 in free fall begins to move downwards.
  • the limitation of the acceleration can take place either in the context of a regulation or a control.
  • the controller software 16 also means for limiting the acceleration
  • Speed and / or the position of the elevator car 1 include. Analogously to the limitation of the acceleration described above, threshold values can again be monitored and, if the respective one of them is exceeded Thresholds an automatic braking of the elevator car 1 are initiated.
  • the limit value control of the speed and the elevator position can again take place within the scope of a regulation or a control.
  • the elevator car 1 can thus be automatically stopped, for example, at the upper and lower end of the elevator shaft.
  • the acceleration, velocity or position signals required for the limit value control can either be measured directly by respective sensors 7, 8 or derived from the signal of a sensor (eg by integration or derivation of the signal). So the position of the limit value control can either be measured directly by respective sensors 7, 8 or derived from the signal of a sensor (eg by integration or derivation of the signal). So the position of the limit value control can either be measured directly by respective sensors 7, 8 or derived from the signal of a sensor (eg by integration or derivation of the signal). So the position of the
  • Elevator car 1 z. B. be integrated from the signal of a speed sensor.
  • control 6 according to the invention can monitor the input signals and
  • the acceleration sensor 7 and / or the sensor for direction detection 8 is formed redundant.
  • two acceleration sensors 7 and one position sensor 8 suffice.
  • the two acceleration sensors 7 can be directly compared with each other. To determine a faulty sensor, however, all three sensors must be compared. This requires a comparable
  • Gained speed signals that can be compared with each other.
  • the defective sensor can be based on its opposite the two

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

Abstract

L'invention concerne un dispositif de régulation (23) et un procédé pour réguler l'accélération (aS) d'un dispositif de transport (1), déplacé verticalement, au moyen d'un frein (5). Selon l'invention, le sens de déplacement du dispositif de transport (1) est déterminé au moyen d'un ensemble de capteurs (7, 8) ; en fonction du sens de déplacement (B) préalablement déterminé, un algorithme de régulation d'accélération (21, 22) est sélectionné et une valeur de consigne d'accélération (aSoll) est déterminée pour la régulation d'accélération à effectuer ; et l'accélération du dispositif de transport (1) est régulée au moyen de l'algorithme de régulation d'accélération (21, 22) sélectionné et de la valeur de consigne d'accélération (aSoll) précédemment déterminée, l'accélération effective du dispositif de transport (1) étant mesurée au moyen d'un capteur (7).
PCT/EP2013/062662 2012-07-05 2013-06-18 Dispositif de régulation pour réguler l'accélération d'un dispositif de transport déplacé verticalement WO2014005833A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012106056.8A DE102012106056A1 (de) 2012-07-05 2012-07-05 Regelvorrichtung zum Regeln der Beschleunigung einer in vertikaler Richtung bewegten Transporteinrichtung
DE102012106056.8 2012-07-05

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WO2014005833A1 true WO2014005833A1 (fr) 2014-01-09

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0648703A1 (fr) 1993-10-18 1995-04-19 Inventio Ag Système de sécurité par freinage pour cabine d'ascenseur
US5969303A (en) * 1998-03-17 1999-10-19 Inventio Ag Emergency stop circuit for a direct current elevator drive
EP1679279B1 (fr) 2005-01-07 2007-08-29 Thyssen Krupp Aufzüge GmbH Ascenseur avec système de contrôle
WO2010072714A1 (fr) * 2008-12-23 2010-07-01 Inventio Ag Système d'ascenseur
WO2010107409A1 (fr) 2009-03-16 2010-09-23 Otis Elevator Company Système de détection et de traitement de suraccélération et de vitesse excessive
US20100258382A1 (en) * 2007-12-17 2010-10-14 Mitsubishi Electric Corporation Elevator system
EP1942071B1 (fr) 2007-01-08 2010-11-10 Thyssenkrupp Elevator Manufacturing Spain S.L. Supports de flottaison pour le calage adéquat d'un appareil de sécurité
WO2013110693A1 (fr) * 2012-01-25 2013-08-01 Inventio Ag Procédé et système de commande pour surveiller les déplacements d'une cabine d'ascenseur

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1671912B1 (fr) * 2004-12-17 2011-02-09 Inventio AG Système d'ascenseur avec unité de freinage et méthode pour mantenir l'ascenseur en position arrêtée
BRPI0814570B1 (pt) * 2007-07-17 2019-04-09 Inventio Ag Instalação de elevador com uma cabine de elevador e com um dispositivo de frenagem e processo para a parada de uma cabine de elevador no regime de operação especial através de um dispositivo de frenagem

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0648703A1 (fr) 1993-10-18 1995-04-19 Inventio Ag Système de sécurité par freinage pour cabine d'ascenseur
US5969303A (en) * 1998-03-17 1999-10-19 Inventio Ag Emergency stop circuit for a direct current elevator drive
EP1679279B1 (fr) 2005-01-07 2007-08-29 Thyssen Krupp Aufzüge GmbH Ascenseur avec système de contrôle
EP1942071B1 (fr) 2007-01-08 2010-11-10 Thyssenkrupp Elevator Manufacturing Spain S.L. Supports de flottaison pour le calage adéquat d'un appareil de sécurité
US20100258382A1 (en) * 2007-12-17 2010-10-14 Mitsubishi Electric Corporation Elevator system
WO2010072714A1 (fr) * 2008-12-23 2010-07-01 Inventio Ag Système d'ascenseur
WO2010107409A1 (fr) 2009-03-16 2010-09-23 Otis Elevator Company Système de détection et de traitement de suraccélération et de vitesse excessive
WO2013110693A1 (fr) * 2012-01-25 2013-08-01 Inventio Ag Procédé et système de commande pour surveiller les déplacements d'une cabine d'ascenseur

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