CA2240106A1 - Method and device for the regulation of a drive - Google Patents
Method and device for the regulation of a drive Download PDFInfo
- Publication number
- CA2240106A1 CA2240106A1 CA 2240106 CA2240106A CA2240106A1 CA 2240106 A1 CA2240106 A1 CA 2240106A1 CA 2240106 CA2240106 CA 2240106 CA 2240106 A CA2240106 A CA 2240106A CA 2240106 A1 CA2240106 A1 CA 2240106A1
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- CA
- Canada
- Prior art keywords
- regulation
- drive
- value
- rotational speed
- torque
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- Legal status (The legal status 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 status listed.)
- Abandoned
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B19/00—Mining-hoist operation
- B66B19/007—Mining-hoist operation method for modernisation of elevators
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Control (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
In this method and with this device for the regulation of a drive, apart from an existing drive regulation (1) provided with subordinate rotational speed and torque regulation, a superimposed rapid rotational speed regulation (2) is provided for holding of the load after opening of the holding brake. In addition, computation of the load in a lift cage (5) is possible by means of a processing unit (3) with the aid of a target torque value (TMSOLL) and an actual rotational speed value (vist) Thereby, the drive can be so regulated with little material effort that jerk-free starting is made possible. Furthermore, appreciable cost savings result, since no additional hardware, such as load-measuring devices at the lift cage (5), is needed. Beyond that, the lift cage construction is simplified and expensive rebuilding of the cages during modernisation of lift installations becomes superfluous.
Description
Description:
Method and device for the regulation of a drive 5 The invention concerns a method and a device for the regulation of a drive for jerk-free starting, for example for a lift, a crane or a vehicle.
A drive device, which is to make a finely meterable and jerk-free starting behaviour possible, has become known from US 4 995 478. The regulation of the drive takes place 10 on the basis of data which are supplied on the one hand by a load-measuring device arranged at a lift cage and on the other hand by a speed sensor which measures the rotational speed of the drive motor and converts it proportionally into a speed. In order to ensure jerk-free starting in upward direction or in downward direction, the friction values are also to be compensated for in that case.
In the case of the afore-mentioned drive equipment, the load in the cage must bemeasured with the aid of a load-measuring device arranged at the lift cage in order to be included in the regulation process. The exact load values necessary for the regulation require a generally cost-intensive load-measuring device which must be mounted and 20 wired at the lift cage with a relatively large amount of work.
The invention is based on the object of proposing a method and a device for the regulation of a drive of the initially mentioned kind, which do not have the afore-mentioned disadvantages and enable jerk-free starting in a mode and manner favourable in cost.
This object is met by the invention characterised in patent claim 1.
The advantages achieved by the invention are to be seen subslanlially in that, apart from an exisbng drive regulation provided with regulation of rotational speed and torque, a 30 superimposed rapid rotational speed regulation, which can be realised with minimum technical effort, is provided for the holding of the load after opening of the holding brake.
Advantageous developments of and improvements in the method and the device, which are indicated in claim 1, for the regulation of a drive are possible by the measures 35 mentioned in the subclaims. The load in the lift cage can be measured by a further processing of the target torque value and the actual rotational speed value, whereby the drive can be so regulated with little material effort that jerk-free starting is made possible.
Thereby, appreciable cost savings result, since no additional hardware, such as load-measuring devices, is needed at the cage. Beyond that, the lift cage construction is 5 simplified and expensive rebuilding of the cages in the case of modemisations of lift installations becomes superfluous.
An example of embodiment of the invention is illustrated in the drawing and more closely explained in the following. There:
Fig. 1 shows a block schematic diagram of an existing drive regulation, a superimposed rapid rotational speed regulation and the computation of the load in a lift cage, Fig. 2 shows signal courses of the starting behaviour without load measurement, Fig. 3 shows signal courses of the starting behaviour with load measurement and Fig. 4 shows signal courses during the measuring of the load.
Fig. 1 shows an overall block schematic diagram by way of example at a lift installation with an existing drive regulation 1, a superimposed rapid rotational speed regulation 2 and a processing unit 3, which are responsible for the computation of the load in a lift cage 5 with the aid of a target torque value and an actual rotational speed value. Furthermore 25 schematically illustrated are a drive motor 6, a drive pulley 7, a counterweight 8 as well as a speed limiter cable 9, which runs over deflecting rollers 10 and is fastened at the lift cage 5. The methods for holding the load and for computation of the load in the lift cage 5 are described more closely in the following by the example of this lift.
30 An actual rotational speed value V,st, which is measured by means of a tachometer DT1, for example a digital tachometer, at the drive motor 6 and an actual movement value S,st, which is likewise measured by means of a tachometer DT2 on the basis of the movement of the speed limiter cable 9 of the lift cage 5, are fed to the existing drive regulation 1, from which a brget torque value TMSOLL is ascertained by means of target travel values REF
35 and a target drive torque value TMSOL10 resulting from a first regulator S-REG and a second regulator V-REG. The target torque value TMSOLL and an actual current value ljSt are fed to a subordinate torque regulation 12 and finally conducted to an inverter UR for the drive motor 6.
5 The proposed method according to the invention uses the movement of the tachometer DT1 at the drive motor 6 after the opening of the holding brake for the detection of a torque at the brake.
In principle, the drive motor 6 is regulated to the target rotational speed value zero by 10 means of the rapid rotational speed regulation 2 before the target value REF for the travel starts. During a time TSW (for example less than 0.1 seconds), a holding moment corresponding with a target torque value TMSOL1 is built up and regulated out to a stabonary final value.
15 A rapid detection and processing in the 1 millisecond cycle of an actual rotational speed value Vjst is taken over by a digital regulator 20, wherein the immediate delivery of the target torque value TMSOL1 resulting therefrom takes place to the subordinate torque regulation 12 or current regulation in the case of DC drives. This rapid rotational speed regulation 2 runs for a time TSW parallelly with the existing drive regulation 1, which is in 20 operation during the travel of the lift cage 5 and operates in the 10 millisecond cycle. As alternali~/e~ in the case of sufficient computing power of the processor, a rapid regulator with switching-over of the regulator parameters can be used for both tasks. After lapse of the bme TSW, the output signal TMSOL1 of this regulation is kept at the last state and the target bravel value REF is started.
In order that the ,olational speed regulation 2 rapidly reacts to an actual rolational speed value Vjst unequal to zero, the regulator 20 operates with high initial amplification at the limit of stability. This amplificabon can be chosen to be higher by a multiple than for the existing drive regulation 1, because the scanning time (1 millisecond instead of 10 30 milliseconds) is shorter and because only the directly coupled rotating mass of the drive motor 6 with the drive pulley 7 is decisive for the stability of the regulation in the case of the extremely rapid regulating process.
In the case of the very rapid movements of the drive pulley 7, which last only a few 35 milliseconds, the elastir~lly coupled and weakly damped masses of the lift cage 5 and the counterweight 8 remain virtually at rest. This also means that the compensating movements of the drive pulley 7 are hardly noticeable in the lift cage 5.
In order to avoid disturbing reactions on the lift cage 5, which are caused by the regulating 5 oscillations, and an overload of the power-setting member, the amplification of the regulator 20 is reduced by a certain amount from a high initial value for each 1-millisecond time interval so that the regulating oscillation decays to zero after a preset time has elapsed. The lower limit value of the amplification is so chosen that the regulating loop displays aperiodically stable behaviour.
For a smaller imbalance, i.e. in the case of partial load in the lift cage 5, the possibility exists that the rotational speed signal interrogated in the 1 millisecond cycle detects no movement in the drive pulley 7 in consequence of the low amplitude resolution. If the actual rotational speed value Vjst remains zero during a settable time after freeing of the 15 regulation, a flag "imbalance small" is set. This flag has the effect that the regulation processes only the rotational speed signal from the 10 millisecond cycle with higher amplitude resolution.
In addition, a target value TMKOR is superimposed on the torque regulation as soon as 20 one of the two rotational speed signals indicates a movement of the drive pulley 7. The direction of the target value is so chosen that a torque against the direction of movement is built up. The amount should be such that about 50% of the maximally required holding torque is produced.
25 In order to make certain that the rapid regulation process conbrolled in part by way of fixed time sequences is not already started by interference signals in the actual rotational speed value Vjst, a response threshold is provided. The afore-described regulating process is initiated only when the absolute value of the actual rotational speed value signal Vjst exceeds the preset U ,reshold value and the com"~and for the opening of the holding brake 30 is present.
The process for the computabon of the load in the lift cage 5 by means of the processing unit 3 is described more exactly in the following. In order to control a group of lifts efficiently, knowledge of the load state of each individual lift cage 5 is necessary. In 35 particular, the states "empty", "full" and "overload", the latter also due to regulations, must be able to be detected relatively accurately. In order to achieve this object, certain boundary conditions must be fulfilled on application of the method described in the following. These comprise:
5 - not too high a friction and - the static friction may not be significantly greater than the sliding friction.
Lifts without gears and lifts with gears without self-locking are particularly suitable for this method.
A mean value TMMIT is formed by addition of the target torque values TMSOLL for each scanning cycle over a certain time interval, which corresponds approximately with the transient time to a stable end value, and by mulliplicalion with a conslanl K1. This mean value is in tum converted by mulLiplicaLion with a second constant K2 into a load 15 measurement value TMMlTkg in kilograms. The constant factor K2 contains the conversion of the torque at the drive motor 6 to an equivalent load in the lift cage 5, i.e. the l.dns,l,ission ratio of a possibly present gear and/or a cable looping, the radius of the drive pulley 7 and the gravitational constant are contained therein. Beyond that, all influencing magnitudes, which apart from the useful load in the lift cage 5 produce a torque at the 20 drive motor 6, are comprehended by the magnitude UNBAL. These are:
- the counterweight 8, - the weight of carrying cables 25 not fully cG",pensated for by compensating elements and 25 - the hanging cable.
The last two influencing magnitudes are dependent on the posilion of the lift cage 5 in the shaft. The position on the shaft is, however, known to the lift control and the co"esponding values can thus be computed.
The load measurement value TMMlTkg computed above contains a portion of the friction in the system, which falsifies the results accGrd;ng to direction of movement during the rapid regulation process. If, however, an osci"ation with change of direcbon and decaying amplitude occurs (as described initially for the rapid rotational speed regulation 2) and the 35 mean value formation takes place only over a time interval which corresponds with the duration of the oscillations, the mean value of the frictional component is approximately equal to zero. Measurement errors, which result due to friction at the drive motor 6, gears and drive pulley 7, are to a large extent eliminated thereby. The decaying oscillation is thus a significant element of this load-measuring method.
According to the state of load of the lift cage 5 and the position in the shaft, the oscillation process as described above can be influenced in consequence of reaction of the cable forces on the drive pulley 7. In the extreme case, this undesired oscillation does not come about at all. In order in these cases to detect the component due to friction in the formed 10 measurement value described above, a tachometer signal IVT10 as well as the absolute value of the tachometer signal IVT10 are integrated. There is thus obtained the two values IVTS and ABSIVTS as well as the quotient IVTQ = IVTS/ABSIVTS. The value IVTQ is a factor which is multiplied by the measured frictional force referred to the circumference of the drive pulley 7 and the factors of looping and gravitational constant K3. This result is 15 added to the load measurement value TMMlTkg subject to consideration of the polarity.
From these values, the load in the lift cage 5 in kilograms results finally.
The measurement of the friction as well as of the position-dependent imbalance takes place by a leaming travel up/down over the entire lifting height during the commissioning 20 of the lift installation.
Figs. 2 and 3 show signal courses of the starting behaviour with and without processing unit 3 for computation of the load. The motor torque TMH, acceleration in the lift cage AK
and speed of the lift cage VK are indicated. Evident in particular is the smoother starting 25 behaviour with inclusion of the processing unit 3 with the aid of the significantly smaller acceleration peaks and the more rapid transient process.
Fig. 4 furthermore shows signal courses of the processing unit 3 for computation of the load from the target torque value TMSOLL and the tachometer signal IVT10 and the30 associated resulting courses of the target value TMS as well as the integrated tachometer signal IVTS.
Method and device for the regulation of a drive 5 The invention concerns a method and a device for the regulation of a drive for jerk-free starting, for example for a lift, a crane or a vehicle.
A drive device, which is to make a finely meterable and jerk-free starting behaviour possible, has become known from US 4 995 478. The regulation of the drive takes place 10 on the basis of data which are supplied on the one hand by a load-measuring device arranged at a lift cage and on the other hand by a speed sensor which measures the rotational speed of the drive motor and converts it proportionally into a speed. In order to ensure jerk-free starting in upward direction or in downward direction, the friction values are also to be compensated for in that case.
In the case of the afore-mentioned drive equipment, the load in the cage must bemeasured with the aid of a load-measuring device arranged at the lift cage in order to be included in the regulation process. The exact load values necessary for the regulation require a generally cost-intensive load-measuring device which must be mounted and 20 wired at the lift cage with a relatively large amount of work.
The invention is based on the object of proposing a method and a device for the regulation of a drive of the initially mentioned kind, which do not have the afore-mentioned disadvantages and enable jerk-free starting in a mode and manner favourable in cost.
This object is met by the invention characterised in patent claim 1.
The advantages achieved by the invention are to be seen subslanlially in that, apart from an exisbng drive regulation provided with regulation of rotational speed and torque, a 30 superimposed rapid rotational speed regulation, which can be realised with minimum technical effort, is provided for the holding of the load after opening of the holding brake.
Advantageous developments of and improvements in the method and the device, which are indicated in claim 1, for the regulation of a drive are possible by the measures 35 mentioned in the subclaims. The load in the lift cage can be measured by a further processing of the target torque value and the actual rotational speed value, whereby the drive can be so regulated with little material effort that jerk-free starting is made possible.
Thereby, appreciable cost savings result, since no additional hardware, such as load-measuring devices, is needed at the cage. Beyond that, the lift cage construction is 5 simplified and expensive rebuilding of the cages in the case of modemisations of lift installations becomes superfluous.
An example of embodiment of the invention is illustrated in the drawing and more closely explained in the following. There:
Fig. 1 shows a block schematic diagram of an existing drive regulation, a superimposed rapid rotational speed regulation and the computation of the load in a lift cage, Fig. 2 shows signal courses of the starting behaviour without load measurement, Fig. 3 shows signal courses of the starting behaviour with load measurement and Fig. 4 shows signal courses during the measuring of the load.
Fig. 1 shows an overall block schematic diagram by way of example at a lift installation with an existing drive regulation 1, a superimposed rapid rotational speed regulation 2 and a processing unit 3, which are responsible for the computation of the load in a lift cage 5 with the aid of a target torque value and an actual rotational speed value. Furthermore 25 schematically illustrated are a drive motor 6, a drive pulley 7, a counterweight 8 as well as a speed limiter cable 9, which runs over deflecting rollers 10 and is fastened at the lift cage 5. The methods for holding the load and for computation of the load in the lift cage 5 are described more closely in the following by the example of this lift.
30 An actual rotational speed value V,st, which is measured by means of a tachometer DT1, for example a digital tachometer, at the drive motor 6 and an actual movement value S,st, which is likewise measured by means of a tachometer DT2 on the basis of the movement of the speed limiter cable 9 of the lift cage 5, are fed to the existing drive regulation 1, from which a brget torque value TMSOLL is ascertained by means of target travel values REF
35 and a target drive torque value TMSOL10 resulting from a first regulator S-REG and a second regulator V-REG. The target torque value TMSOLL and an actual current value ljSt are fed to a subordinate torque regulation 12 and finally conducted to an inverter UR for the drive motor 6.
5 The proposed method according to the invention uses the movement of the tachometer DT1 at the drive motor 6 after the opening of the holding brake for the detection of a torque at the brake.
In principle, the drive motor 6 is regulated to the target rotational speed value zero by 10 means of the rapid rotational speed regulation 2 before the target value REF for the travel starts. During a time TSW (for example less than 0.1 seconds), a holding moment corresponding with a target torque value TMSOL1 is built up and regulated out to a stabonary final value.
15 A rapid detection and processing in the 1 millisecond cycle of an actual rotational speed value Vjst is taken over by a digital regulator 20, wherein the immediate delivery of the target torque value TMSOL1 resulting therefrom takes place to the subordinate torque regulation 12 or current regulation in the case of DC drives. This rapid rotational speed regulation 2 runs for a time TSW parallelly with the existing drive regulation 1, which is in 20 operation during the travel of the lift cage 5 and operates in the 10 millisecond cycle. As alternali~/e~ in the case of sufficient computing power of the processor, a rapid regulator with switching-over of the regulator parameters can be used for both tasks. After lapse of the bme TSW, the output signal TMSOL1 of this regulation is kept at the last state and the target bravel value REF is started.
In order that the ,olational speed regulation 2 rapidly reacts to an actual rolational speed value Vjst unequal to zero, the regulator 20 operates with high initial amplification at the limit of stability. This amplificabon can be chosen to be higher by a multiple than for the existing drive regulation 1, because the scanning time (1 millisecond instead of 10 30 milliseconds) is shorter and because only the directly coupled rotating mass of the drive motor 6 with the drive pulley 7 is decisive for the stability of the regulation in the case of the extremely rapid regulating process.
In the case of the very rapid movements of the drive pulley 7, which last only a few 35 milliseconds, the elastir~lly coupled and weakly damped masses of the lift cage 5 and the counterweight 8 remain virtually at rest. This also means that the compensating movements of the drive pulley 7 are hardly noticeable in the lift cage 5.
In order to avoid disturbing reactions on the lift cage 5, which are caused by the regulating 5 oscillations, and an overload of the power-setting member, the amplification of the regulator 20 is reduced by a certain amount from a high initial value for each 1-millisecond time interval so that the regulating oscillation decays to zero after a preset time has elapsed. The lower limit value of the amplification is so chosen that the regulating loop displays aperiodically stable behaviour.
For a smaller imbalance, i.e. in the case of partial load in the lift cage 5, the possibility exists that the rotational speed signal interrogated in the 1 millisecond cycle detects no movement in the drive pulley 7 in consequence of the low amplitude resolution. If the actual rotational speed value Vjst remains zero during a settable time after freeing of the 15 regulation, a flag "imbalance small" is set. This flag has the effect that the regulation processes only the rotational speed signal from the 10 millisecond cycle with higher amplitude resolution.
In addition, a target value TMKOR is superimposed on the torque regulation as soon as 20 one of the two rotational speed signals indicates a movement of the drive pulley 7. The direction of the target value is so chosen that a torque against the direction of movement is built up. The amount should be such that about 50% of the maximally required holding torque is produced.
25 In order to make certain that the rapid regulation process conbrolled in part by way of fixed time sequences is not already started by interference signals in the actual rotational speed value Vjst, a response threshold is provided. The afore-described regulating process is initiated only when the absolute value of the actual rotational speed value signal Vjst exceeds the preset U ,reshold value and the com"~and for the opening of the holding brake 30 is present.
The process for the computabon of the load in the lift cage 5 by means of the processing unit 3 is described more exactly in the following. In order to control a group of lifts efficiently, knowledge of the load state of each individual lift cage 5 is necessary. In 35 particular, the states "empty", "full" and "overload", the latter also due to regulations, must be able to be detected relatively accurately. In order to achieve this object, certain boundary conditions must be fulfilled on application of the method described in the following. These comprise:
5 - not too high a friction and - the static friction may not be significantly greater than the sliding friction.
Lifts without gears and lifts with gears without self-locking are particularly suitable for this method.
A mean value TMMIT is formed by addition of the target torque values TMSOLL for each scanning cycle over a certain time interval, which corresponds approximately with the transient time to a stable end value, and by mulliplicalion with a conslanl K1. This mean value is in tum converted by mulLiplicaLion with a second constant K2 into a load 15 measurement value TMMlTkg in kilograms. The constant factor K2 contains the conversion of the torque at the drive motor 6 to an equivalent load in the lift cage 5, i.e. the l.dns,l,ission ratio of a possibly present gear and/or a cable looping, the radius of the drive pulley 7 and the gravitational constant are contained therein. Beyond that, all influencing magnitudes, which apart from the useful load in the lift cage 5 produce a torque at the 20 drive motor 6, are comprehended by the magnitude UNBAL. These are:
- the counterweight 8, - the weight of carrying cables 25 not fully cG",pensated for by compensating elements and 25 - the hanging cable.
The last two influencing magnitudes are dependent on the posilion of the lift cage 5 in the shaft. The position on the shaft is, however, known to the lift control and the co"esponding values can thus be computed.
The load measurement value TMMlTkg computed above contains a portion of the friction in the system, which falsifies the results accGrd;ng to direction of movement during the rapid regulation process. If, however, an osci"ation with change of direcbon and decaying amplitude occurs (as described initially for the rapid rotational speed regulation 2) and the 35 mean value formation takes place only over a time interval which corresponds with the duration of the oscillations, the mean value of the frictional component is approximately equal to zero. Measurement errors, which result due to friction at the drive motor 6, gears and drive pulley 7, are to a large extent eliminated thereby. The decaying oscillation is thus a significant element of this load-measuring method.
According to the state of load of the lift cage 5 and the position in the shaft, the oscillation process as described above can be influenced in consequence of reaction of the cable forces on the drive pulley 7. In the extreme case, this undesired oscillation does not come about at all. In order in these cases to detect the component due to friction in the formed 10 measurement value described above, a tachometer signal IVT10 as well as the absolute value of the tachometer signal IVT10 are integrated. There is thus obtained the two values IVTS and ABSIVTS as well as the quotient IVTQ = IVTS/ABSIVTS. The value IVTQ is a factor which is multiplied by the measured frictional force referred to the circumference of the drive pulley 7 and the factors of looping and gravitational constant K3. This result is 15 added to the load measurement value TMMlTkg subject to consideration of the polarity.
From these values, the load in the lift cage 5 in kilograms results finally.
The measurement of the friction as well as of the position-dependent imbalance takes place by a leaming travel up/down over the entire lifting height during the commissioning 20 of the lift installation.
Figs. 2 and 3 show signal courses of the starting behaviour with and without processing unit 3 for computation of the load. The motor torque TMH, acceleration in the lift cage AK
and speed of the lift cage VK are indicated. Evident in particular is the smoother starting 25 behaviour with inclusion of the processing unit 3 with the aid of the significantly smaller acceleration peaks and the more rapid transient process.
Fig. 4 furthermore shows signal courses of the processing unit 3 for computation of the load from the target torque value TMSOLL and the tachometer signal IVT10 and the30 associated resulting courses of the target value TMS as well as the integrated tachometer signal IVTS.
Claims (8)
1. Method for the regulation of a drive for jerk-free starting, for example for a lift which apart from a lift cage (5) comprises a drive motor (6), a drive pulley (7), a counterweight (8), a speed limiter cable (9), deflecting rollers (10) and carrying cables (25), wherein the drive motor (6) is regulated by means of a drive regulation (1) and a torque regulation (12), characterised in that a driving torque target value (TMSOL10) of the drive regulation (1) and a torque target value (TMSOL1) of a superimposed rapid rotational speed regulation (2) are drawn on for determination of a target torque value (TMSOLL) for the torque regulation (12) for holding of the load.
2. Method according to claim 1, characterised in that the load in the lift cage (5) is ascertained by means of a processing unit (3) on the basis of an actual rotational speed value (Vist) and the target torque value (TMSOLL).
3. Method according to one of claims 1 and 2, characterised in that the rapid rotational speed regulation (2) operates parallelly with the drive regulation (1) during a time (TSW), during which the holding torque of the target torque value (TMSOL1) is built up.
4. Method according to one of claims 1 to 3, characterised in that a target torque value (TMKOR), which corresponds to a torque against the direction of movement of the drive pulley (7), is superimposed on the target torque value (TMSOL1) in the rapid rotational speed regulation (2).
5. Method according to one of claims 1 to 4, characterised in that influencing magnitudes which produce torques, such as the counterweight (8), the weight of the carrying cables (25) not fully balanced out by balancing elements as well as hanging cables, are comprehended by a factor (UNBAL) and taken into consideration in theprocessing unit (3) for computation of the load in the lift cage (5).
6. Device for the regulation of a drive for jerk-free starting, for example for a lift which apart from a lift cage (5) comprises a drive motor (6), a drive pulley (7), a counterweight (8), a speed limiter cable (9), deflecting rollers (10) and carrying cables (25), wherein the drive motor (6) is regulated by means of a drive regulation (1) and a torque regulation (12), characterised in that the regulation of the drive motor (6), apart from the drive regulation (1) provided with the torque regulation (12), contains a superimposed rapid rotational speed regulation (2).
7. Device according to claim 6, characterised in that a processing unit (3) is provided, which ascertains the load in the lift cage (5) on the basis of an actual rotational speed value (Vist) and a target torque value (TMSOLL).
8. Device according to one of the claims 6 and 7, characterised in that a tachometer (DT1) is arranged at the drive motor (6) and a tachometer (DT2) is arranged at the speed limiter cable (9) for the presentation of the actual rotational speed value (Vist) and an actual movement value (Sist) for the drive regulation (1), the rapid rotational speed regulation (2) and the processing unit (3).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP97810358 | 1997-06-09 | ||
| EP97810358.8 | 1997-06-09 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2240106A1 true CA2240106A1 (en) | 1998-12-09 |
Family
ID=8230254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2240106 Abandoned CA2240106A1 (en) | 1997-06-09 | 1998-06-09 | Method and device for the regulation of a drive |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP0884264A1 (en) |
| JP (1) | JPH1160089A (en) |
| CN (1) | CN1201753A (en) |
| CA (1) | CA2240106A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011101860A1 (en) * | 2011-05-12 | 2012-11-15 | Thyssenkrupp Aufzugswerke Gmbh | Method and device for controlling an elevator installation |
| CN102311023B (en) * | 2011-08-18 | 2014-04-02 | 上海交通大学 | Given method for on-line detection of additional starting moment loaded mine hoist |
| CN103287937B (en) * | 2013-05-09 | 2015-09-09 | 深圳市海浦蒙特科技有限公司 | Elevator starter torque Automatic adjustment method and system |
| WO2016091198A1 (en) * | 2014-12-11 | 2016-06-16 | 冯春魁 | Method and system for parameter acquisition, control, operation and load monitoring for elevator |
| JP6556353B2 (en) * | 2016-06-30 | 2019-08-07 | 三菱電機株式会社 | Elevator control device |
| JP7157772B2 (en) * | 2020-01-10 | 2022-10-20 | 株式会社日立製作所 | Elevator control device and elevator control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0433627A3 (en) * | 1989-12-20 | 1992-08-12 | Siemens Aktiengesellschaft | Method and apparatus to compensate for load of a biased moment position drive at the time of starting |
-
1998
- 1998-06-02 EP EP98110016A patent/EP0884264A1/en not_active Withdrawn
- 1998-06-08 CN CN 98109589 patent/CN1201753A/en active Pending
- 1998-06-09 JP JP10161128A patent/JPH1160089A/en active Pending
- 1998-06-09 CA CA 2240106 patent/CA2240106A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| CN1201753A (en) | 1998-12-16 |
| JPH1160089A (en) | 1999-03-02 |
| EP0884264A1 (en) | 1998-12-16 |
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