WO2014111177A1 - Verfahren zur antriebsregelung sowie nach dem verfahren arbeitende regelungseinrichtung - Google Patents
Verfahren zur antriebsregelung sowie nach dem verfahren arbeitende regelungseinrichtung Download PDFInfo
- Publication number
- WO2014111177A1 WO2014111177A1 PCT/EP2013/068261 EP2013068261W WO2014111177A1 WO 2014111177 A1 WO2014111177 A1 WO 2014111177A1 EP 2013068261 W EP2013068261 W EP 2013068261W WO 2014111177 A1 WO2014111177 A1 WO 2014111177A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- torque
- speed
- drive train
- controller
- control device
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C25/00—Control arrangements specially adapted for crushing or disintegrating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C15/00—Disintegrating by milling members in the form of rollers or balls co-operating with rings or discs
- B02C15/007—Mills with rollers pressed against a rotary horizontal disc
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C15/00—Disintegrating by milling members in the form of rollers or balls co-operating with rings or discs
- B02C15/02—Centrifugal pendulum-type mills
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C15/00—Disintegrating by milling members in the form of rollers or balls co-operating with rings or discs
- B02C15/06—Mills with rollers forced against the interior of a rotary ring, e.g. under spring action
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P31/00—Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C15/00—Disintegrating by milling members in the form of rollers or balls co-operating with rings or discs
- B02C2015/008—Roller drive arrangements
Definitions
- the present invention relates to a method for drive control, namely a method for controlling the drive of a heavy duty drive, in particular a heavy duty drive for crushing brittle materials, for example cement raw material, certain vertical mill and a control device for implementing the method and a corresponding, operating according to the method drive system for a vertical mill.
- a heavy duty drive in particular a heavy duty drive for crushing brittle materials, for example cement raw material
- certain vertical mill and a control device for implementing the method and a corresponding, operating according to the method drive system for a vertical mill.
- Vertical mills of the above type with a grinding table rotating about the vertical and grinding rollers above the grinding table are prone to strong mechanical vibrations, because in simple terms a vertical mill is a vibrating system in the form of a damped two - mass oscillator.
- the first mass includes the grinding table and all the units moving with the grinding table, and the second mass is the rotor of the driving motor.
- connection between these two masses is in the form of the drive train, that is to say at least one transmission encompassed by the drive train, which acts as a torsion spring in the oscillatable system.
- the system is stimulated by continuous, low-frequency load changes from the grinding process and random alternating loads from the milling process jerky, as well as to short-term or longer-lasting oscillations.
- the resulting forces and moments can become so strong that the grinding process must be stopped in order to avoid damage to the drive train, namely in particular the electric motor and / or the gearbox, or the system as a whole.
- a gearbox and at least one electric motor in the form of an asynchronous motor, preferably a slip ring rotor, and at least one frequency converter feeding the at least one electric motor are currently a preferred solution for vertical mills.
- the mill gearboxes are frequently used as variants of beveled motors. or spur planetary gears running.
- the task of the transmission is in addition to the speed and torque conversion, the inclusion of the axial grinding forces and their forwarding in the foundation.
- the load fluctuations and vibration excitations acting on the drive mechanism are characterized by impulse loads, as they arise, for example, when the grinding rollers roll over coarse material to be ground, stochastic loads of the grinding process, periodic suggestions from the gear and mill kinematics and a varying contact pressure of the grinding rollers.
- impulse loads as they arise, for example, when the grinding rollers roll over coarse material to be ground, stochastic loads of the grinding process, periodic suggestions from the gear and mill kinematics and a varying contact pressure of the grinding rollers.
- the interaction of these load influences leads to a complex load cycle, which can even fan resonance oscillations.
- an unstable grinding bed for example fluidizing or shaped by waviness, can also cause extreme vibration states of the mill, in particular a mill rumble.
- Vibration energy into heat which has a negative effect on the energy balance of the vertical mill.
- observations from vertical mills operating have shown that the driveline vibrations remain at a very high level even with the use of a clutch. Accordingly, it is an object of the present invention to provide a vertical mill drive control method and a closed loop controller which reduces such driveline vibrations, in particular a method and a corresponding apparatus which reduces such driveline vibrations without using a clutch in the drivetrain.
- the above object is achieved by a method for drive control of a vertical mill having the features of claim 1.
- the object is also achieved by a control device with the features of the parallel device claim as well as by a vertical mill or a drive system of a vertical mill with such a control device.
- the vertical mill here and hereinafter sometimes referred to only briefly as a mill comprises a grinding table rotatable about the vertical, which can be driven by at least one electric motor and a drive train comprising at least one transmission and is driven during operation of the mill.
- an actual rotational speed and in relation to the drive train a driveline torque is recorded, detected and / or determined and fed together with a predetermined or predefinable setpoint speed of a control device.
- the method is characterized in that the control device generates an output signal for a setpoint torque on the basis of the actual speed and the setpoint speed as well as the drive train torque.
- the output signal for the desired torque causes the resulting target torque is reduced or increased in the same direction with a torque resulting from the grinding process.
- regulating device namely a control device for controlling the drive of a vertical mill of the type mentioned above and described below
- the control device as input variables, a first and a second variable, namely an actual speed and a detected in relation to the drive train driveline torque, and as a further input variable, a predetermined or predetermined target speed can be fed.
- a predetermined or predetermined target speed can be fed.
- an output signal for a desired torque can be generated on the basis of the actual speed and the setpoint speed as well as the drive train torque.
- the output signal is characterized by the fact that the resulting desired torque is reduced or increased in the same direction with a torque resulting from the grinding process.
- the invention is therefore a method and a device for controlling the drive of a heavy load arrangement in the form of a drive system, in which the control takes into account the drive train torque detected in relation to the drive train in addition to the actual speed of the grinding table.
- the control takes into account the drive train torque detected in relation to the drive train in addition to the actual speed of the grinding table.
- the advantage of the invention is that dynamic load peaks can be reduced or reduced by the targeted reduction or increase of the drive-side setpoint torque.
- the adaptation, ie reduction or increase, of the setpoint torque is carried out in the same direction as the moment resulting from the grinding process.
- the reduction of such load peaks causes a reduction in the load of the drive train mechanics. So far, a corresponding dimensioning of the individual components of the drive train has always been made for handling such load peaks for safety reasons. This is no longer necessary so that the individual components of the drive train are cheaper, lighter and with less material can be used. This also applies to special loads, such as the so-called mill rumble.
- the actual speed is, for example, the instantaneous speed of a shaft on the output side of the transmission and thus a measure of the instantaneous speed of the grinding table.
- known sensors come into consideration, namely for example so-called incremental encoders. If the electric motor is powered by a frequency converter and the frequency converter is operated in so-called encoderless operation, a detection of the actual speed by means of a sensor is not required. Instead, the actual speed can be read directly from the frequency converter. Such a reading of the actual speed is referred to here and below as recording the actual speed.
- the driveline torque detected with respect to the powertrain is, for example, the mechanical one acting in the transmission
- a sensor also known per se, namely, for example, a torque sensor.
- to determine the drive train torque is also considered to determine a difference position of two drive train locations by measuring the rotational path or one of its time derivatives, in order to conclude on the drive train torque.
- a shaft on the input side of the transmission and the shaft on the output side of the transmission come into consideration.
- a difference between the rotational position of these two waves is a measure of the drive train torque. Accordingly, the detection of the drive train torque with respect to the drive train by means of two incremental encoder or the like and a suitable processing of the measured values obtained from such sensors.
- Another way to determine the drive train torque is its calculation, based on the frequency converter known and acting on the rotor inertia air gap torque and the determined acceleration of the rotor inertia.
- Another possibility for determining the drive train torque, in particular its dynamics is to anticipate the change in the drive train torque on the basis of a rotation angle coordinate determined only at one drive train location, in particular the grinding table, or one of its time derivatives. All of these possibilities are to be considered as encompassed by the language of inclusion, capture, or provision herein.
- the drive-side target torque can be increased or decreased in the same direction with the drive train torque.
- this can also be described in such a way that, given a torque resulting from the grinding process, which, for example, increases the setpoint torque abruptly (counter torque) and thus would normally lead to increased torsion in the drive train, this torsion and the concomitant load the drive train is avoided or reduced by the desired torque is changed in the same direction with the torque resulting from the grinding process, is reduced in this case.
- One cause of the above-described increased counter-moment is, for example, the rolling over of coarse material on the grinding bed by the grinding rolls.
- the detected driveline torque is a measure of a torque resulting from the grinding process, more precisely a measure of a difference between the nominal torque introduced into the driveline by the or each electric motor and the torque coupled into the driveline on the output side due to the grinding process.
- the driveline torque is thus also a measure of a torsion of the drive train.
- the control device causes a reduction of the output as a reference variable for the or each electric motor Sollmo- ment (the drive "stems” then not counteracting the originating from the process counter-torque but in the case of an abruptly reduced counter-torque, which leads to an instantaneous increase in the rotational speed of the grinding table, the regulating device causes an increase in the setpoint torque output as the reference variable for the or each electric motor the torsional change of the drivetrain resulting without such a co-ordinate adjustment of the target torque is avoided or at least reduced. This results in a reduction of the mechanical load in the drive train and allows the drivetrain without the previously customary oversizing.
- the hitherto customary oversizing has just been intended to absorb such forces occurring in the drive train as a result of the torsions previously assumed.
- This reduction or increase in the setpoint torque which results in the same direction from the grinding process, the sudden change in the moment, leads to a momentary change in the speed of the motor, so that it is adapted to the abruptly changed speed of the grinding table.
- the control device also ensures that the rotational speed of the grinding table remains constant or at least substantially constant.
- the regulating device comprises a speed controller and a torque governor.
- the speed controller outputs a first manipulated variable (manipulated variable of the speed controller) based on the actual speed and the set speed.
- the torque controller acts on the output of the speed controller, ie on the first control value output by the speed controller.
- the torque controller outputs a second manipulated variable (manipulated variable of the torque controller) on the basis of the detected drive train torque.
- the at least one electric motor is then driven to reduce or increase the setpoint torque in the same direction with the torque resulting from the grinding process on the basis of a combination, in particular addition, of the control variables output by the speed controller and the torque controller.
- a control device intended for carrying out this special form of the method comprises a speed controller and a torque controller acting on the output of the speed controller.
- a speed controller By means of the speed controller based on the actual speed and the target speed, a first control variable and by means of the torque controller based on the detected drive train torque, a second manipulated variable can be output.
- the control device is the at least one electric motor for the same direction reduction or increase of the desired torque with the torque resulting from the grinding process based on a combination, in particular addition, the controllable output from the speed controller and the torque controller control variables.
- a speed and a torque controller and the summary, in particular addition, of the respective control variables outputted by these two controllers is thus an example of means for the same direction reduction or increase the target torque for the electric motor with the torque resulting from the grinding process and a Possible embodiment for the reduction in the same direction or increasing the setpoint torque for the electric motor with the torque resulting from the grinding process.
- the manipulated variable output by the speed controller alone leads to a setpoint torque for maintaining a largely constant speed of the millimeter.
- the output from the torque controller control variable and their superposition with the output from the speed control variable leads to an adjustment of the resulting target torque corresponding to the respectively detected driveline torque.
- This adaptation causes, for example, a reduction of the setpoint torque if it is detected on the basis of the detected drive train torque that an increased counter-torque acts on the drive train due to the grinding process. Conversely, this adjustment causes an increase in the target torque, if it is detected due to the detected drive train torque that due to the variable load torque from the grinding process on the drive train a reduced counter-torque acts.
- the torque controller comprises a high-pass filter and a subsequent filter stage for amplifying the dynamics of the high-pass-filtered drive train torque.
- the detected drive train torque is high-pass filtered as part of the functionality of the torque controller, and then the dynamics of the resulting high-pass filtered drive train torque are amplified.
- the high-pass filtering takes place by means of the high-pass filter encompassed by the torque controller or a comparable functionality.
- the gain of the dynamics of the high-pass-filtered drive train torque is carried out by means of a likewise from the Torque regulators comprised transfer elements with differentiating behavior (D element).
- any such possibility for adjusting the rotational speed of the grinding table and also both possibilities together can be combined with the method described here and the regulating device operating according to the method, for example by outputting the desired torque output at the output of the regulating device for periodically varying the rotational speed of the grinding table or is adjusted based on a recognized pattern.
- the in the parallel The possibilities for adjusting the rotational speed of the grinding table described in applications and also both possibilities together can also be combined with the method described here and the control device operating according to the method by adjusting the speed setpoint supplied to the speed controller of the control device.
- Drawing contained features or elements or method steps for the expert in terms of solving the problem can be removed and lead by combinable features to a new subject or to new process steps or procedural steps.
- FIG. 1 shows a schematically greatly simplified representation of a vertical mill with a grinding table driven by means of a heavy-duty drive
- the vertical mill as a chain of action together with a control device intended for controlling the drive of the vertical mill
- control device with further details.
- FIG. 1 shows a schematic simplified view of a vertical mill 10 for comminuting brittle materials, for example cement raw material.
- the vertical mill 10 includes a rotatable about the vertical grinding table 12.
- the drive of the grinding table 12 by means of a heavy duty drive in the form of at least one motor, in particular at least ei
- the gear 16 is shown here without giving up further generality as bevel gear teeth with a subsequent planetary gear shown without further details
- the transmission 16 may also include, for example, a spur gear or the like and / or an upstream or subsequent planetary gear or the like.
- the vertical mill 10 includes at least one driven shaft.
- the vertical mill 10 comprises a motor shaft 18 as the drive-side shaft and as
- Electric motor 14 the grinding table 12 by means of the drive train in rotation.
- a grinding bed 22 ie a mixture of ground and to be ground material.
- the grinding effect is achieved by applying a grinding roller 24 or a plurality of grinding rollers 24 to the grinding bed on the one hand due to their weight, but on the other hand also due to additionally applied forces, which are applied, for example, by means of a hydraulic cylinder or the like acting on a pivotally mounted grinding roller 24 22 and the rotating grinding table 12 are pressed.
- the vertical mill 10 as a whole is a vibratory system and, in particular, the vertical mill 10 is prone to excessive mechanical torsional vibrations in the drive train.
- the resulting forces and moments can become so strong that the mechanical components of the powertrain, so for example the gear 16, extremely stressed or overstressed.
- Such torsional vibrations have hitherto been attempted by means of a coupling or the like, for example a highly elastic elastomer coupling.
- a coupling is for example arranged between the gear 16 and the grinding table 12 (not shown).
- Such a coupling can not compensate for vibrations in the rotational speed of the grinding table 12, it prevents or reduces a transmission of such vibrations into the gear 16 and the electric motor 14.
- Sensor 26 are detected relevant to vibration values, namely at least one value or measured value to a current speed of a rotating part of the transmission 16 or the grinding table 12 and at least one measured value to a mechanical torque acting in the drive train.
- the detected torque measured value is a measure of the torque or gear moment transmitted by means of the transmission 16, that is to say a measure of a moment which is mechanical in distinguishing between an electrical torque acting on the electric motor 14 and that in the drive train, in particular in the transmission 16 effective moment is called.
- the detected speed measurement value and the detected measured value for the mechanical torque are referred to below as actual speed 28 or drive train torque 30.
- the two acquired or recorded values or measured values 28, 30 are fed to a control device 34 together with a setpoint speed 32.
- the control device 34 generates an output signal 36 for a desired torque, which is supplied to a frequency converter 38 for the corresponding control of the or each electric motor 14.
- the or each electric motor 14 generates the desired torque requested with the output signal 36 during operation of the vertical mill 10.
- a frequency converter 38 is used to power the or each electric motor 14, and the frequency converter 38 is operated in a special operating mode, namely the so-called encoderless operation, the instantaneous speed can also be read in a manner known per se from a memory of the frequency converter 38.
- An actual speed 28 recorded in this way is not a measured value but is formed in the frequency converter 38 during the supply of the or each electric motor 14. Accordingly, to distinguish it from an actual rotational speed 28 detected by measurement, receipt of the actual rotational speed 28 on this basis is referred to as recording of the actual rotational speed 28.
- FIG. 2 shows individual elements of the vertical mill 10 as a chain of action as well as the control device 34 with further details. Thereafter, the control device 34 includes a speed controller 40 and a torque controller 42. The control device 34 are the input variables
- a predetermined or predetermined target speed 32 is supplied.
- a first manipulated variable 44 is output on the basis of the actual speed 28 and the desired speed 32, which is referred to as the manipulated variable of the speed controller 40 for differentiation.
- the torque controller 42 acts on the output of the speed controller 40, such that the output of the speed controller 40, so the first
- Control variable 44 and superimpose a output at the torque controller 42 output second manipulated variable 46.
- the superposition takes place, for example, by the two manipulated variables 44, 46 are added.
- the output from the torque controller 42 second control variable 46 is based on the detected drive train torque 30, which is supplied to the torque controller 42 at its input.
- the output from the torque controller 42 second manipulated variable 46 is also referred to as a manipulated variable of the torque controller 42 for distinction.
- the manipulated variable 44 of the speed controller 40 and the manipulated variable 46 of the torque controller 42 are a measure of a first and a second desired torque for the or each electric motor 14.
- the or each electric motor 14 is to drive the grinding table 12 by means of the control device 34 based on a overlay
- the two manipulated variables 44, 46 and the resulting output signal 36 is driven.
- Sollmoments brings the or each electric motor 14 to an engine torque M M.
- the drive train torque acts 30, which is shown here as acting in the transmission 16 gear torque M G.
- Due to the variable load torque from the grinding process acts on the grinding table 12, a process torque M P on the drive train. If the process moment M P decreases abruptly, this leads to an acceleration of the grinding table, along with a drive train relaxation, ie torque change of the drive train torque M T.
- a drive train relaxation ie torque change of the drive train torque M T.
- the illustration in FIG. 4 shows the control device 34 with yet further details.
- the speed controller 40 realized for example as a PI controller.
- the torque regulator 42 includes a first high pass portion (high pass filter 48), a second middle portion in which the dynamics of the resulting high pass filtered driveline torque is boosted (filter stage 50), and a final, third portion with a proportional member (P Member 52).
- the high-pass filter 48 is implemented by means of a low-pass filter 54, from the output of which the unfiltered drive train torque 30 is subtracted.
- the filter stage 50 comprises a differentiating behavior transfer element (D-link 56) whose output represents the rate of change of the driveline torque. Adding the high-pass filtered driveline torque and the output of the D gate 56 results in the intended gain in the dynamics of the high-pass filtered driveline torque.
- a P-member 52 is a transmission member with proportional behavior and at its output results in the desired torque of the torque controller 42nd
- All mentioned functional sections of the torque controller 42 are optional in themselves. This is expressed by the fact that the low-pass filter 54, the D-element 56 and the P-element 52 are individually parameterizable. For example, if the gain of P-gate 52 is set to "1", then P-gate 52 could be eliminated altogether, thereby giving up the degree of freedom of the parameterization, because of the gain applied to P-gate 52 at its input Signal then no longer takes place.
- the torque controller 42 does not include a D-link 56
- the torque ment governor 42 does not allow the rate of change of driveline torque 30 to the extent that is possible in an embodiment in which torque controller 42 includes such a D-link 56.
- a torque controller 42 can be used which does not include the described filter stage 50 and accordingly the D-member 56 there includes. The same applies mutatis mutandis to the first and third sections of the torque controller 42 with the local low-pass filter 54 and the P-member 52nd
- a method for controlling the drive of a vertical mill 10 with a grinding table 12 rotatable about the vertical, and a control device 34 intended for carrying out the method are disclosed the vertical mill 10 of the grinding table 12 is driven by at least one electric motor 14 and a drive train comprising at least one transmission 16.
- the control device 34 is supplied with an actual rotational speed 28 and a drive train torque 30 determined in relation to the drive train as well as a predetermined or predefinable nominal rotational speed 32.
- the control device 34 acts as a means for reducing or increasing the desired torque of the electric motor 14.
- the reduction or increase of the desired torque is carried out in the same direction with a torque resulting from the grinding process.
- the control device 34 generates an output signal 36 for a desired torque based on the actual speed 28 and the setpoint speed 32 and the drive train torque 30. ment. This causes the resulting target torque is reduced or increased in the same direction with a resulting from the grinding process moment.
- the control of the at least one electric motor 14 takes place.
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/761,050 US9789488B2 (en) | 2013-01-16 | 2013-09-04 | Drive control method and control device which operates according to the method |
ES13762761.8T ES2622892T3 (es) | 2013-01-16 | 2013-09-04 | Método de regulación de accionamiento, así como dispositivo de regulación que opera según el método |
AU2013373747A AU2013373747B2 (en) | 2013-01-16 | 2013-09-04 | Drive regulating method and regulating device which operates according to the method |
EP13762761.8A EP2945749B1 (de) | 2013-01-16 | 2013-09-04 | Verfahren zur antriebsregelung sowie nach dem verfahren arbeitende regelungseinrichtung |
CN201380070399.4A CN104918705B (zh) | 2013-01-16 | 2013-09-04 | 用于驱动调节的方法以及根据该方法工作的调节装置 |
BR112015016589-3A BR112015016589B1 (pt) | 2013-01-16 | 2013-09-04 | Método para regular o acionamento de um moinho vertical, dispositivo de regulagem para regular o acionamento de um moinho vertical e moinho vertical |
MX2015009139A MX360615B (es) | 2013-01-16 | 2013-09-04 | Método para la regulación de un accionamiento y dispositivo de regulación el cual opera de acuerdo con el método. |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013200578.4 | 2013-01-16 | ||
DE102013200578.4A DE102013200578A1 (de) | 2013-01-16 | 2013-01-16 | Verfahren zur Antriebsregelung |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014111177A1 true WO2014111177A1 (de) | 2014-07-24 |
Family
ID=48998582
Family Applications (5)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2013/066474 WO2014111174A1 (de) | 2013-01-16 | 2013-08-06 | Verfahren und vorrichtung zur regelung einer rotationsgeschwindigkeit eines antriebs |
PCT/EP2013/066483 WO2014111176A1 (de) | 2013-01-16 | 2013-08-06 | Verfahren zur antriebsregelung sowie nach dem verfahren arbeitendes antriebssystem |
PCT/EP2013/066477 WO2014111175A1 (de) | 2013-01-16 | 2013-08-06 | Verfahren zur antriebsregelung sowie nach dem verfahren arbeitendes antriebssystem |
PCT/EP2013/068261 WO2014111177A1 (de) | 2013-01-16 | 2013-09-04 | Verfahren zur antriebsregelung sowie nach dem verfahren arbeitende regelungseinrichtung |
PCT/EP2014/050676 WO2014111410A1 (de) | 2013-01-16 | 2014-01-15 | Verfahren zur antriebsregelung sowie nach dem verfahren arbeitendes antriebssystem |
Family Applications Before (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2013/066474 WO2014111174A1 (de) | 2013-01-16 | 2013-08-06 | Verfahren und vorrichtung zur regelung einer rotationsgeschwindigkeit eines antriebs |
PCT/EP2013/066483 WO2014111176A1 (de) | 2013-01-16 | 2013-08-06 | Verfahren zur antriebsregelung sowie nach dem verfahren arbeitendes antriebssystem |
PCT/EP2013/066477 WO2014111175A1 (de) | 2013-01-16 | 2013-08-06 | Verfahren zur antriebsregelung sowie nach dem verfahren arbeitendes antriebssystem |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2014/050676 WO2014111410A1 (de) | 2013-01-16 | 2014-01-15 | Verfahren zur antriebsregelung sowie nach dem verfahren arbeitendes antriebssystem |
Country Status (9)
Country | Link |
---|---|
US (5) | US20160023218A1 (de) |
EP (5) | EP2945747B1 (de) |
CN (5) | CN104918707B (de) |
AU (1) | AU2013373747B2 (de) |
BR (5) | BR112015016733A2 (de) |
DE (1) | DE102013200578A1 (de) |
ES (5) | ES2630063T3 (de) |
MX (5) | MX367108B (de) |
WO (5) | WO2014111174A1 (de) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013200578A1 (de) * | 2013-01-16 | 2014-07-17 | Siemens Aktiengesellschaft | Verfahren zur Antriebsregelung |
US10335797B2 (en) * | 2013-07-08 | 2019-07-02 | Flsmidth A/S | Heavy duty drive arrangement and mill |
US20170225172A1 (en) * | 2014-08-07 | 2017-08-10 | Emerson Electric (Us) Holding Corporation (Chile) Limitada | Monitor and Control of Tumbling Mill Using Measurements of Vibration, Electrical Power Input and Mechanical Power |
CN104570796A (zh) * | 2014-11-21 | 2015-04-29 | 揭阳市义发实业有限公司 | 一种撕碎机控制系统及方法 |
EP3023157A1 (de) | 2014-11-21 | 2016-05-25 | Siemens Aktiengesellschaft | Mehrfachantrieb für eine Schwerlastanwendung und Verfahren zum Betrieb eines solchen Mehrfachantriebs |
EP3050627B1 (de) | 2015-02-02 | 2018-08-22 | Flender GmbH | Antriebsanordnung, Arbeitsmaschine mit mindestens einer solchen Antriebsanordnung sowie Verfahren zum Betreiben einer solchen Antriebsanordnung |
DE102015218300B4 (de) | 2015-09-23 | 2019-10-31 | Flender Gmbh | Motorbetriebener Kranantrieb, Verfahren zu dessen Betrieb, und Steuergerät |
US10271021B2 (en) * | 2016-02-29 | 2019-04-23 | Microsoft Technology Licensing, Llc | Vehicle trajectory determination to stabilize vehicle-captured video |
DE102017200839A1 (de) * | 2017-01-19 | 2018-07-19 | Robert Bosch Gmbh | Verfahren zum Regeln einer Drehzahl einer elektrischen Maschine |
CN106733061A (zh) * | 2017-03-15 | 2017-05-31 | 浙江通宝表面处理设备科技有限公司 | 一种用于振磨机的降噪机构 |
CN109425751B (zh) * | 2017-08-28 | 2021-01-08 | 长城汽车股份有限公司 | 转速确定方法、装置及车辆 |
EP3713671B1 (de) * | 2017-11-23 | 2021-11-17 | Bühler AG | Intelligente, selbst-adaptive steuerungsvorrichtung zur automatisierten optimierung und steuerung der vermahlungslinie eines walzensystems und entsprechendes verfahren |
CN108380293B (zh) * | 2018-05-23 | 2021-02-09 | 安徽马钢粉末冶金有限公司 | 分级破碎机的控制方法 |
KR20200120156A (ko) | 2019-04-11 | 2020-10-21 | 삼성전자주식회사 | 전자 장치 및 전자 장치에서 의료 정보 공유 방법 |
DE102020200291A1 (de) | 2020-01-13 | 2021-07-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Überwachen einer Maschinenbaugruppe, Recheneinheit, Computerprogramm und maschinenlesbares Speichermedium |
CN111778607B (zh) * | 2020-07-01 | 2022-06-28 | 陕西长达纺织有限责任公司 | 一种方便操作的纱线碾压装置 |
CN112138834B (zh) * | 2020-08-31 | 2022-03-15 | 衡南世源农业发展有限公司 | 一种结构稳定的菜籽油磨碾装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008049545A1 (de) * | 2006-10-25 | 2008-05-02 | Gebr. Pfeiffer Ag | Sicherheitssystem für wälzmühlen |
DE102007033256A1 (de) * | 2007-07-17 | 2009-01-22 | Polysius Ag | Rollenmühle |
EP2492016A1 (de) * | 2011-02-24 | 2012-08-29 | Siemens Aktiengesellschaft | Getriebemotor für ein Mühlenantriebssystem |
Family Cites Families (51)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3591094A (en) * | 1969-02-20 | 1971-07-06 | Peter Gauer | Control system for roll grinders |
GB1529675A (en) * | 1974-10-24 | 1978-10-25 | Masson Scott Thrissell Eng Ltd | Machine drive assemblies |
US4160200A (en) * | 1976-06-29 | 1979-07-03 | Ricoh Company, Ltd. | Servo control apparatus |
CA1113066A (en) * | 1977-05-05 | 1981-11-24 | Marvin B. Shaver | Drive system for grinding mills |
AT367657B (de) * | 1978-08-24 | 1982-07-26 | Buehler Ag Geb | Ruehrwerkskugelmuehle-regelung |
CA1134476A (en) * | 1978-10-13 | 1982-10-26 | Serge L. Scuccato | Grinding mill control system |
JPS62106633U (de) | 1985-08-29 | 1987-07-08 | ||
GB2181971B (en) * | 1985-10-29 | 1988-11-09 | Smidth & Co As F L | Vertical roller mill |
JPS62286558A (ja) | 1986-06-06 | 1987-12-12 | 宇部興産株式会社 | 竪型粉砕機 |
DE3641538A1 (de) * | 1986-12-05 | 1988-06-09 | Heidelberger Druckmasch Ag | Einrichtung zum erfassen der drehzahl eines buerstenlosen gleichstrommotors |
JPS63218831A (ja) * | 1987-03-09 | 1988-09-12 | Nissan Motor Co Ltd | 過渡軸トルク計測装置 |
DE68925589T2 (de) | 1988-07-11 | 1996-06-05 | Koyo Seiko Co | Servolenkung |
US5189624A (en) * | 1989-09-29 | 1993-02-23 | General Electric Company | Intelligent machining workstation operating logic |
DE69032531T2 (de) | 1989-12-21 | 1999-03-04 | Texas Instruments Inc | Optische Struktur und Betriebsverfahren des Belichtungsmoduls eines Drucksystems |
JPH0584447A (ja) | 1991-09-27 | 1993-04-06 | Ube Ind Ltd | 竪型粉砕機 |
JPH0584448A (ja) | 1991-09-27 | 1993-04-06 | Ube Ind Ltd | 竪型粉砕機 |
JP2709666B2 (ja) | 1991-10-18 | 1998-02-04 | 宇部興産株式会社 | 竪型粉砕機 |
US5472651A (en) * | 1993-05-28 | 1995-12-05 | Repete Corporation | Optimizing pellet mill controller |
JPH09141116A (ja) * | 1995-11-20 | 1997-06-03 | Babcock Hitachi Kk | 粉砕機の振動予測装置および粉砕機の振動予測に基づく制御装置 |
JPH1089403A (ja) * | 1996-09-10 | 1998-04-07 | Nikon Corp | 防振装置 |
CN1120396C (zh) * | 1998-07-21 | 2003-09-03 | 皇家菲利浦电子有限公司 | 控制系统、驱动系统和控制方法,包括驱动系统的设备 |
JP2000126632A (ja) | 1998-10-23 | 2000-05-09 | Babcock Hitachi Kk | ローラミルのローラ支持構造 |
KR100478370B1 (ko) * | 2000-08-10 | 2005-03-28 | 미쓰비시덴키 가부시키가이샤 | 연속 압연기의 제어 장치 |
US7208939B2 (en) * | 2001-02-28 | 2007-04-24 | Bvr Technologies Co. | Methods and apparatus for sensing angular position and speed of a rotatable shaft utilizing linearized annular magnet and commutated ratiometric hall sensors |
US6808248B1 (en) * | 2003-04-29 | 2004-10-26 | Hewlett-Packard Development Company, L.P. | Position measurement system and method |
JP4813056B2 (ja) * | 2004-07-29 | 2011-11-09 | パナソニック株式会社 | 部品実装用実装ヘッド、及び該実装ヘッドを備える部品実装装置 |
US8020792B2 (en) * | 2005-12-27 | 2011-09-20 | Metso Minerals Industries, Inc. | Locked charge detector |
DE102006011975A1 (de) * | 2006-03-15 | 2007-09-27 | Siemens Ag | Betriebsverfahren für ein Walzwerk zum Walzen eines bandförmigen Walzguts |
DK2069389T3 (en) * | 2006-08-04 | 2015-01-12 | Bp Corp North America Inc | Glucanases, nucleic acids encoding them, and processes for their preparation and use |
WO2008090923A1 (ja) | 2007-01-26 | 2008-07-31 | Ube Machinery Corporation, Ltd. | 竪型粉砕機の制御方法および制御装置 |
JP5057212B2 (ja) | 2007-01-26 | 2012-10-24 | 宇部興産機械株式会社 | 竪型粉砕機の制御方法 |
DE102007006092A1 (de) * | 2007-02-07 | 2008-08-14 | Polysius Ag | Verfahren zur Zerkleinerung von Mahlgut mit einer Rollenmühle |
US7850104B2 (en) * | 2007-03-21 | 2010-12-14 | Honeywell International Inc. | Inferential pulverized fuel flow sensing and manipulation within a coal mill |
US7867532B2 (en) * | 2007-09-28 | 2011-01-11 | Lextron, Inc. | System and method for flaking grains |
AT506189A1 (de) * | 2008-01-09 | 2009-07-15 | Holcim Technology Ltd | Verfahren zum schützen von mühlantrieben von vertikal-wälzmühlen sowie vertikal-wälzmühle |
US7690590B2 (en) * | 2008-06-13 | 2010-04-06 | Alstom Technology Ltd | Electronically controlled journal loading system |
DE102008036784C5 (de) * | 2008-08-07 | 2013-06-20 | Thyssenkrupp Polysius Ag | Rollenmühle und Verfahren zur Zerkleinerung von Mahlgut |
JP5263024B2 (ja) * | 2009-06-18 | 2013-08-14 | 株式会社日立製作所 | 回転角検出装置および回転速度検出装置 |
US8132750B2 (en) * | 2009-06-24 | 2012-03-13 | Alstom Technology Ltd | Force monitor for pulverizer integral spring assembly |
PL2295147T3 (pl) | 2009-09-10 | 2012-06-29 | Flender Gmbh | Układ napędowy młyna |
JP5485672B2 (ja) * | 2009-12-07 | 2014-05-07 | 株式会社Sokudo | 基板処理装置および基板処理方法 |
DE102009057732A1 (de) | 2009-12-10 | 2011-06-16 | Heinemann, Otto, Dipl.-Ing. | Verfahren und Vorrichtung zur leistungsoptimierten Zerkleinerung von Mahlgut mit Rollenmühlen |
US8608097B2 (en) * | 2010-11-08 | 2013-12-17 | Alstom Technology Ltd | System and method for monitoring operational characteristics of pulverizers |
US8602338B2 (en) * | 2010-11-22 | 2013-12-10 | Alstom Technology Ltd | Oscillation monitor for pulverizer journal assembly |
DE102011018705C5 (de) | 2011-04-26 | 2020-03-26 | Khd Humboldt Wedag Gmbh | Verfahren zur Regelung des Walzenspaltdrucks einer Rollenpresse und Rollenpresse |
FR2977170B1 (fr) * | 2011-06-29 | 2013-08-09 | Cie Engrenages Et Reducteurs Messian Durand | Dispositif d'entrainement pour broyeur, et broyeur correspondant |
JP5906782B2 (ja) | 2012-02-13 | 2016-04-20 | 宇部興産機械株式会社 | 竪型粉砕機 |
DE102012107043B4 (de) * | 2012-08-01 | 2017-08-17 | Thyssenkrupp Industrial Solutions Ag | Rollenmühle und Verfahren zum Zerkleinern von Mahlgut mit einer Rollenmühle |
DE102013200578A1 (de) * | 2013-01-16 | 2014-07-17 | Siemens Aktiengesellschaft | Verfahren zur Antriebsregelung |
US9449671B2 (en) * | 2013-03-15 | 2016-09-20 | Intel Corporation | Techniques for probabilistic dynamic random access memory row repair |
US20170225172A1 (en) * | 2014-08-07 | 2017-08-10 | Emerson Electric (Us) Holding Corporation (Chile) Limitada | Monitor and Control of Tumbling Mill Using Measurements of Vibration, Electrical Power Input and Mechanical Power |
-
2013
- 2013-01-16 DE DE102013200578.4A patent/DE102013200578A1/de not_active Withdrawn
- 2013-08-06 CN CN201380070572.0A patent/CN104918707B/zh active Active
- 2013-08-06 BR BR112015016733A patent/BR112015016733A2/pt active Search and Examination
- 2013-08-06 US US14/761,196 patent/US20160023218A1/en not_active Abandoned
- 2013-08-06 WO PCT/EP2013/066474 patent/WO2014111174A1/de active Application Filing
- 2013-08-06 MX MX2015009128A patent/MX367108B/es active IP Right Grant
- 2013-08-06 WO PCT/EP2013/066483 patent/WO2014111176A1/de active Application Filing
- 2013-08-06 BR BR112015016747A patent/BR112015016747A2/pt active Search and Examination
- 2013-08-06 BR BR112015016948A patent/BR112015016948A2/pt active Search and Examination
- 2013-08-06 EP EP13750538.4A patent/EP2945747B1/de active Active
- 2013-08-06 MX MX2015009136A patent/MX361554B/es active IP Right Grant
- 2013-08-06 CN CN201380070570.1A patent/CN104918706B/zh active Active
- 2013-08-06 ES ES13750538.4T patent/ES2630063T3/es active Active
- 2013-08-06 US US14/761,254 patent/US9789489B2/en active Active
- 2013-08-06 MX MX2015009134A patent/MX364768B/es active IP Right Grant
- 2013-08-06 EP EP13750664.8A patent/EP2945748B1/de active Active
- 2013-08-06 ES ES13750664.8T patent/ES2625796T3/es active Active
- 2013-08-06 EP EP13750284.5A patent/EP2945750B2/de active Active
- 2013-08-06 US US14/761,203 patent/US10118181B2/en not_active Expired - Fee Related
- 2013-08-06 WO PCT/EP2013/066477 patent/WO2014111175A1/de active Application Filing
- 2013-08-06 CN CN201380070571.6A patent/CN104936702B/zh active Active
- 2013-08-06 ES ES13750284.5T patent/ES2645619T3/es active Active
- 2013-09-04 MX MX2015009139A patent/MX360615B/es active IP Right Grant
- 2013-09-04 US US14/761,050 patent/US9789488B2/en active Active
- 2013-09-04 CN CN201380070399.4A patent/CN104918705B/zh active Active
- 2013-09-04 AU AU2013373747A patent/AU2013373747B2/en not_active Ceased
- 2013-09-04 EP EP13762761.8A patent/EP2945749B1/de active Active
- 2013-09-04 ES ES13762761.8T patent/ES2622892T3/es active Active
- 2013-09-04 WO PCT/EP2013/068261 patent/WO2014111177A1/de active Application Filing
- 2013-09-04 BR BR112015016589-3A patent/BR112015016589B1/pt active IP Right Grant
-
2014
- 2014-01-15 EP EP14700990.6A patent/EP2928611B1/de not_active Not-in-force
- 2014-01-15 ES ES14700990.6T patent/ES2628201T3/es active Active
- 2014-01-15 MX MX2015009137A patent/MX364669B/es active IP Right Grant
- 2014-01-15 CN CN201480004957.1A patent/CN105073266B/zh not_active Expired - Fee Related
- 2014-01-15 US US14/761,189 patent/US10556238B2/en not_active Expired - Fee Related
- 2014-01-15 WO PCT/EP2014/050676 patent/WO2014111410A1/de active Application Filing
- 2014-01-15 BR BR112015016737A patent/BR112015016737A2/pt active Search and Examination
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008049545A1 (de) * | 2006-10-25 | 2008-05-02 | Gebr. Pfeiffer Ag | Sicherheitssystem für wälzmühlen |
DE102007033256A1 (de) * | 2007-07-17 | 2009-01-22 | Polysius Ag | Rollenmühle |
EP2492016A1 (de) * | 2011-02-24 | 2012-08-29 | Siemens Aktiengesellschaft | Getriebemotor für ein Mühlenantriebssystem |
Also Published As
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2945749B1 (de) | Verfahren zur antriebsregelung sowie nach dem verfahren arbeitende regelungseinrichtung | |
DE3828638C1 (de) | ||
EP2085149B2 (de) | Schwingungserzeuger für ein Vibrationsrammgerät | |
EP1973665B1 (de) | Verfahren zur zerkleinerung sowie eine rollenmühle | |
WO2013186183A1 (de) | Maschinenkomponente eines antriebsstrangs sowie verfahren zur auslegung und/oder zur inbetriebnahme und/oder zum betreiben eines solchen antriebsstrangs | |
EP2522978B1 (de) | Prüfstand für dynamische Prüfaufgaben an Verbrennungskraftmaschinen, sowie Verfahren zum Betreiben eines derartigen Prüfstandes | |
DE102015205099B4 (de) | Bremsen eines Schienenfahrzeugs | |
DE102015002743A1 (de) | Selbstfahrende Baumaschine und Verfahren zum Betreiben einer selbstfahrenden Baumaschine | |
DE102007040834A1 (de) | Verfahren zum Betreiben einer Windenergieanlage und Steuer- und Regeleinheit zur Ausführung des Verfahrens | |
DE102007041878B4 (de) | Verfahren und Rollenmühle zur Zerkleinerung von Mahlgut | |
DE102007003695B4 (de) | Verfahren und Vorrichtung zum Steuern von Antrieben | |
AT506758B1 (de) | Verfahren zur dämpfung von maschinenresonanzen | |
EP3304227A1 (de) | Regelung eines spanenden bearbeitungsprozesses mittels p-regler und belastungsabhängigem regelfaktor | |
EP3463840B1 (de) | Verfahren zum pressen eines werkstückes mit einer vorbestimmten presskraft | |
DE19961880B4 (de) | Elektrisches Antriebssystem zur aktiven Schwingungsdämpfung | |
DE102011121839A1 (de) | Verfahren zur Bewegungssteuerung mit Trägheitsmoment - Ermittlung | |
DE102017106559B4 (de) | Auslegung oder Durchführung einer Bewegungsaufgabe einer bewegten Masse in einer mechanischen Anlage entlang zumindest einer Bewegungsachse | |
WO2016155893A1 (de) | Antriebsvorrichtung mit trägheitsmomentschätzung | |
DE102020110468A1 (de) | Verfahren zur Regelung der Dämpfung der Bewegung einer Presswalze einer Hochdruckwalzenpresse und korrespondierende Hochdruckwalzenpresse | |
DE102006025366A1 (de) | Elektrischer Antrieb sowie Verfahren zum Steuern eines solchen Antriebs | |
DE102013002782A1 (de) | Achsenantrieb mit Vorrichtung zur Reduzierung des mechanischen Spiels | |
EP3223094A1 (de) | Steuereinrichtung für eine cnc-fräsmaschine | |
EP4245434A1 (de) | Raupenzugziehverfahren und raupenzugziehmaschine | |
EP2275886A1 (de) | Steuereinrichtung für eine Hydraulikzylindereinheit | |
EP2436838A1 (de) | Verfahren zum Betreiben eines Kalanders |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13762761 Country of ref document: EP Kind code of ref document: A1 |
|
REEP | Request for entry into the european phase |
Ref document number: 2013762761 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2013762761 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14761050 Country of ref document: US Ref document number: MX/A/2015/009139 Country of ref document: MX |
|
ENP | Entry into the national phase |
Ref document number: 2013373747 Country of ref document: AU Date of ref document: 20130904 Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112015016589 Country of ref document: BR |
|
ENP | Entry into the national phase |
Ref document number: 112015016589 Country of ref document: BR Kind code of ref document: A2 Effective date: 20150710 |