WO2011040637A1 - 無励磁作動型電磁ブレーキ制御装置及び方法 - Google Patents
無励磁作動型電磁ブレーキ制御装置及び方法 Download PDFInfo
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- WO2011040637A1 WO2011040637A1 PCT/JP2010/067493 JP2010067493W WO2011040637A1 WO 2011040637 A1 WO2011040637 A1 WO 2011040637A1 JP 2010067493 W JP2010067493 W JP 2010067493W WO 2011040637 A1 WO2011040637 A1 WO 2011040637A1
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- voltage wave
- electromagnetic brake
- type electromagnetic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
- F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
- F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
- B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
- B66D5/24—Operating devices
- B66D5/30—Operating devices electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D3/00—Portable or mobile lifting or hauling appliances
- B66D3/18—Power-operated hoists
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- 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
- H02P15/00—Arrangements for controlling dynamo-electric brakes or clutches
Definitions
- the present invention relates to a non-excitation operation type electromagnetic brake control device and method for controlling a non-excitation operation type electromagnetic brake used in a hoisting machine having an induction motor to a fastening state, an open state, or a holding state.
- Non-excitation operation type electromagnetic brake control device that controls a non-excitation operation type electromagnetic brake to a fastening state, an open state, or a holding state has been proposed (for example, Patent Document 1).
- non-excited operation type electromagnetic brake control the movable iron core is pushed by the spring force in the non-excited state where the brake is engaged, and is generated between the movable iron core and the brake disc and between the brake disc and the non-movable iron core.
- the brake torque is generated by the frictional force.
- the movable iron core is attracted toward the fixed iron core by the magnetic attraction force, the brake disk is brought into a free state, and the brake torque is eliminated.
- the electric power for making the holding state after releasing the brake may be less than the electric power required when releasing the brake.
- FIG. 6 is a circuit diagram of a conventional non-excitation operation type electromagnetic brake control device.
- a non-excitation operation type electromagnetic brake control device 1 shown in FIG. 6 includes an AC power source 2, a brake coil 3, a triangular voltage wave generation unit 4, a comparison voltage wave generation unit 5, a comparison unit 6, and switches 7 and 8. And a control power supply unit 9 and diodes 10 and 11.
- the brake coil 3 When the switch 8 is turned on in response to an instruction from the outside, the brake coil 3 generates a magnetic attractive force by being supplied with a current I from the AC power supply 2, and a non-excited operation type electromagnetic brake (not shown) is engaged from the engaged state. Leave it open. At this time, the current I flows from the brake coil 3 to the anode side of the diode 11. Further, the timer (38) starts measuring at the same time when the switch 8 is turned on. The timer (38) measures that a predetermined time has elapsed since the switch 8 was turned on. When a certain time has elapsed, the non-excitation actuating electromagnetic brake (not shown) is changed from the open state to the holding state.
- the triangular voltage wave generation circuit 4 generates a triangular voltage wave formed by alternately arranging valleys and peaks having the same angle.
- the triangular voltage wave generation circuit 4 is connected to the comparator 21, the CR unit 22 connected to the non-inverting input part of the comparator 21, and the input part of the triangular voltage wave generation circuit 4 as shown in FIG.
- a resistor 24 having one end connected to the output part of the triangular voltage wave generation circuit 4 and the non-inverting input part of the comparator 21 and the other end connected to the output side of the comparator 21 and the resistor part 23;
- the CR unit 22 has one end connected to the non-inverting input side of the comparator 21, the other end grounded, a capacitor 25 connected in parallel to the resistor 25, and one end connected to the inverting input side of the comparator 21. And a capacitor 27 having the other end connected to the other end of the resistor 25.
- the resistor unit 23 has one end connected to the input unit of the triangular voltage wave generation circuit 4 and the other end connected to the non-inverting input side of the comparator 21, and one end connected to the input unit of the triangular voltage wave generation circuit 4.
- the resistor 29 is connected, the other end is connected to the output side of the comparator 21, and one end is connected to the other end of the resistor 28, and the other end is connected to the other end of the resistor 29.
- the output of the comparator 21 is high because the potential on the non-inverting input side of the comparator 21 is higher than the potential on the inverting input side.
- the output of the comparator 21 becomes low.
- the charging / discharging time of the capacitor 27 is determined by the CR value of the CR unit 22 and the resistance value of the resistor unit 23.
- the comparison voltage wave generation unit 5 generates a comparison voltage wave based on the current I.
- the comparison voltage wave generator 5 includes a shunt resistor 31 that detects the current I and converts the detected current I into a voltage to generate a comparison voltage wave.
- the comparison unit 6 compares the triangular voltage wave value with the comparative voltage wave value when the non-excitation operation type electromagnetic brake (not shown) is in the holding state.
- the comparison unit 6 includes a comparator 32 and a switching unit 33 composed of an npn-type transistor and a pnp-type transistor whose gates are connected to the output side of the comparator 32.
- the switch 7 as a switching unit supplies the current I to the brake coil 3 when the triangular voltage wave value is larger than the comparative voltage wave value, and the brake coil 3 when the triangular voltage wave value is equal to or smaller than the comparative voltage wave value. Is switched so as to interrupt the supply of the current I to the motor, and the average current flowing through the brake coil 3 is reduced when the non-excitation operation type electromagnetic brake (not shown) is in the holding state.
- the switch 7 is configured by a semiconductor element such as an IGBT (Insulated Gate Bipolar transistor), a Darlington transistor, a thyristor, or a TRIAC (registered trademark).
- the control power supply unit 9 supplies power for starting the comparator 32, turning on / off the switch 7, and the like.
- the control unit 9 includes a control power supply 34, a rectification unit 35 including four diodes, a resistor 36 connected between one end of the control power supply 34 and one end of the rectification unit 35, and a rectification unit 35. And a transformer 37 connected to the.
- FIG. 8 is a graph showing the time change of the current flowing in the brake coil of the non-excitation operation type electromagnetic brake control device of FIG.
- the current I1 from the AC power supply 2 is continuously supplied to the brake coil 3 during the time t1 when the non-excitation operation type electromagnetic brake (not shown) is in the open state.
- the continuation and interruption of the current supply to the brake coil 3 by the switch 7 is a triangular voltage, as will be described later. It is switched every wave carrier period. Therefore, the average current I2 flowing through the brake coil during time t2 is smaller than the current I1 flowing through the brake coil during time t1.
- FIG. 9 is a graph showing temporal changes of the triangular voltage wave and the comparative voltage wave generated in the non-excitation operation type electromagnetic brake control device of FIG. While the non-excitation actuating electromagnetic brake (not shown) is in the open state, the control power supply 9 controls the control voltage to charge the capacitors 26 and 27 of the triangular voltage wave generator 4 and raise the comparison voltage wave. Generate. On the other hand, when the non-excitation operation type electromagnetic brake (not shown) is in the holding state, the control voltage by the control power supply unit 9 is lowered to lower the comparison voltage wave, and the comparison voltage wave and the triangular voltage wave from the comparison unit 6 are reduced. Make a comparison.
- the transistor 7 is turned on during the time ONduty when the triangular voltage wave is higher than the comparative voltage wave in one carrier period T of the triangular voltage wave, and the transistor 7 is turned off during the time OFFduty when the triangular voltage wave is equal to or lower than the comparative voltage wave. become.
- the switch 7 when the triangular voltage wave value is larger than the comparative voltage wave value, the switch 7 is turned on to supply the current I to the brake coil 3, and the triangular voltage wave value is The average current flowing through the brake coil 3 can be reduced by turning off the switch 7 and interrupting the supply of the current I to the brake coil 3 when the voltage is equal to or lower than the comparison voltage wave value.
- the carrier frequency of the triangular voltage wave generated by the non-excitation operation type electromagnetic brake control device shown in FIG. 6 is low (for example, 3 kHz or less), there is a disadvantage that vibration noise occurs. Therefore, it is necessary to set the carrier frequency of the triangular voltage wave to a predetermined value or higher (for example, 4 kHz or higher).
- An object of the present invention is to provide a non-excitation actuated electromagnetic brake control apparatus and method capable of further reducing the average current flowing in the brake coil without vibration noise and frequent switching in the holding state of the non-excitation actuated electromagnetic brake. Is to provide.
- a non-excitation operation type electromagnetic brake control device is a non-excitation operation type electromagnetic brake control device that controls a non-excitation operation type electromagnetic brake to a fastening state, an open state, or a holding state, and generates a magnetic attraction force. It is formed by alternately arranging a brake coil that makes the non-excitation actuating electromagnetic brake from the engaged state to the open state, a trough having a first angle, and a crest having a second angle smaller than the first angle.
- a sharpened triangular voltage wave generator that generates a stepped sharpened triangular voltage wave
- a comparative voltage wave generator that generates a comparative voltage wave based on the current flowing through the brake coil
- a non-excited operation type electromagnetic brake A comparison unit for comparing the sharpened triangular voltage wave value with the comparative voltage wave value, and when the comparison unit determines that the sharp triangular voltage wave value is greater than the comparative voltage wave value,
- a switching unit that switches the current supply to the brake coil when the comparison unit determines that the sharp triangular voltage wave value is equal to or less than the comparison voltage wave value.
- a non-excitation operation type electromagnetic brake control method is a non-excitation operation type electromagnetic brake control method for controlling a non-excitation operation type electromagnetic brake to a fastening state, an open state, or a holding state, wherein a magnetic attraction force is applied to a brake coil. And generating a non-excitation actuating electromagnetic brake from the engaged state to the released state, and alternately forming a valley having a first angle and a peak having a second angle smaller than the first angle. Generating a stepped sharpened triangular voltage wave, generating a comparative voltage wave based on the current flowing through the brake coil, and a sharpened triangular voltage when the non-excitation actuated electromagnetic brake is in a holding state.
- the average current flowing through the brake coil can be further reduced without vibration noise and frequent switching in the holding state of the non-excitation operation type electromagnetic brake.
- FIG. 1 is a schematic view of a hoisting machine in which a non-excitation operation type electromagnetic brake control device according to the present invention is used.
- FIG. 2 is a circuit diagram of a non-excitation operation type electromagnetic brake control device according to the present invention.
- FIG. 3 is a circuit diagram of a sharpened triangular voltage wave generator used in the non-excitation operation type electromagnetic brake control device of FIG.
- FIG. 4 is a graph showing the time change of the current flowing through the brake coil of the non-excitation operation type electromagnetic brake control device of FIG.
- FIG. 5 is a graph showing temporal changes of the triangular voltage wave and the comparative voltage wave generated in the non-excitation operation type electromagnetic brake control device of FIG.
- FIG. 1 is a schematic view of a hoisting machine in which a non-excitation operation type electromagnetic brake control device according to the present invention is used.
- FIG. 2 is a circuit diagram of a non-excitation operation type electromagnetic brake control device according to the present invention.
- FIG. 3
- FIG. 6 is a circuit diagram of a conventional non-excitation operation type electromagnetic brake control device.
- FIG. 7 is a circuit diagram of a sharpened triangular voltage wave generator used in the non-excitation operation type electromagnetic brake control device of FIG.
- FIG. 8 is a graph showing the time change of the current flowing through the brake coil of the non-excitation operation type electromagnetic brake control device of FIG.
- FIG. 9 is a graph showing temporal changes of the triangular voltage wave and the comparative voltage wave generated in the non-excitation operation type electromagnetic brake control device of FIG.
- FIG. 1 is a schematic view of a hoisting machine in which a non-excitation operation type electromagnetic brake control device according to the present invention is used.
- a hoisting machine 100 is attached to a traversing device 101 that can move in the direction of arrow a or b, and is supplied with power from a power source 102 such as a three-phase power source.
- the hoisting machine 100 includes an induction motor 103 that performs winding in the direction of arrow c or lowering (rotation) in the direction of arrow d, a non-excitation actuating electromagnetic brake 104 that brakes the induction motor 103, and torque generated by the induction motor 103.
- the hoisting machine 100 is provided with a non-excitation operation type electromagnetic brake control device 110 that controls the non-excitation operation type electromagnetic brake to a fastening state, an open state, or a holding state in accordance with an operation of the operation unit 109.
- FIG. 2 is a circuit diagram of a non-excitation operation type electromagnetic brake control device according to the present invention.
- the non-excitation operation type electromagnetic brake control device 110 shown in FIG. 2 includes an AC power supply 2, a brake coil 3, a sharpened triangular voltage wave generation unit 111, a comparison voltage wave generation unit 5, a comparison unit 6, and a switch 7. , 8, a control power supply unit 9, and diodes 10, 11.
- the sharpened triangular voltage wave generation circuit 111 is a stepped sharpened triangular voltage wave formed by alternately arranging valleys having a first angle and peaks having a second angle smaller than the first angle. Is generated.
- the sharpened triangular voltage wave generation circuit 111 includes comparators 121a and 121b, CR units 122a and 122b connected to the non-inverting inputs of the comparators 121a and 121b, and a sharpened triangle.
- Resistors 123a and 123b connected to the input part of the voltage wave generation circuit 111, one end connected to the output part of the sharpened triangular voltage wave generation circuit 111 and the non-inverting input part of the comparators 121a and 121b, and the other end to the comparator 121a and 121b, and resistors 124a and 124b connected to the resistor portions 123a and 123b.
- the CR section 122a has one end connected to the non-inverting input side of the comparator 121a, the other end grounded, the resistor 125a, the capacitor 126a connected in parallel to the resistor 125a, and one end connected to the inverting input side of the comparator 121a. And a capacitor 127a having the other end connected to the other end of the resistor 125a.
- the resistor 123a has one end connected to the input of the sharpened triangular voltage wave generation circuit 111, the other end connected to the non-inverting input side of the comparator 121a, and one end sharpened triangular voltage wave generation circuit 111.
- a resistor 129a having the other end connected to the output side of the comparator 121a, one end connected to the other end of the resistor 128a, and the other end connected to the other end of the resistor 129a, Have
- the CR unit 122b has one end connected to the non-inverting input side of the comparator 121b, the other end connected to the resistor 125b, the capacitor 126b connected in parallel to the resistor 125b, and one end connected to the inverting input side of the comparator 121b. And a capacitor 127b having the other end connected to the other end of the resistor 125b.
- the resistor 123b has one end connected to the input of the sharpened triangular voltage wave generation circuit 111, the other end connected to the non-inverting input side of the comparator 121b, and one end sharpened triangular voltage wave generation circuit 111.
- a resistor 129b whose other end is connected to the output side of the comparator 121b, one end connected to the other end of the resistor 128b, and the other end connected to the other end of the resistor 129b, Have
- the output of the comparator 121a becomes high because the potential on the non-inverting input side of the comparator 121a is higher than the potential on the inverting input side.
- the output of the comparator 121a becomes low.
- the charging / discharging time of the capacitor 127a is determined by the resistance values of the CR portion 122a and the resistance portion 123a.
- the capacitor 127b when the capacitor 127b is not charged, since the potential on the non-inverting input side of the comparator 121b is higher than the potential on the inverting input side, the output of the comparator 121b becomes high. On the other hand, when the capacitor 127b is charged and the potential on the inverting input side of the comparator 121b exceeds the potential on the non-inverting input side, the output of the comparator 121b becomes low.
- the charging / discharging time of the capacitor 127b is determined by the resistance values of the CR portion 122b and the resistance portion 123b.
- the resistance value of the resistance part 123a is lower than the resistance value of the resistance part 123b
- the CR value of the CR part 122a is lower than the CR value of the CR part 122b.
- the crest portion is generated from a circuit unit including the comparator 121b, the CR unit 122b, the resistor unit 123b, and the resistor 124b, and is output from the sharpened triangular voltage wave generation circuit 111.
- the peak portion of the triangular voltage wave generated from the circuit unit configured by the comparator 121b, the CR unit 122b, the resistor unit 123b, and the resistor 124b includes the comparator 121a, the CR unit 122a, the resistor unit 123a, and the resistor 124a.
- an angle smaller than the valley portion of the triangular voltage wave generated from the circuit portion is generated from a circuit unit including the comparator 121b, the CR unit 122b, the resistor unit 123b, and the resistor 124b.
- FIG. 4 is a graph showing the time change of the current flowing through the brake coil of the non-excitation operation type electromagnetic brake control device of FIG.
- the current from the AC power source 2 is supplied to the brake coil 3 as in the case of the non-excitation actuating electromagnetic brake control device of FIG. I1 is continuously supplied.
- the average current I3 flowing through the brake coil during the time t2 when the non-excitation operation type electromagnetic brake (not shown) is in the holding state is smaller than the average current I2, as will be described later.
- FIG. 5 is a graph showing temporal changes of the triangular voltage wave and the comparative voltage wave generated in the non-excitation operation type electromagnetic brake control device of FIG. While the non-excitation actuating electromagnetic brake (not shown) is in the open state, the control power supply 9 controls the control voltage to charge the capacitors 26 and 27 of the triangular voltage wave generator 4 and raise the comparison voltage wave. Generate. On the other hand, when the non-excitation operation type electromagnetic brake (not shown) is in the holding state, the control voltage by the control power supply unit 9 is lowered to lower the comparison voltage wave, the comparison voltage wave by the comparison unit 6 and the sharpened triangular voltage wave Make a comparison.
- the transistor 7 is turned on during the time ONduty when the triangular voltage wave is higher than the comparative voltage wave in one carrier period T of the triangular voltage wave, and the transistor 7 is turned off during the time OFFduty when the triangular voltage wave is equal to or lower than the comparative voltage wave. become.
- the time Tb in which the sharpened triangular voltage wave generated by the sharpened triangular voltage wave generation unit 111 is higher than the comparative voltage wave the triangular voltage wave generated by the triangular voltage wave generation unit 4 is higher than the comparative voltage wave. Since the time Ta becomes shorter than the time Ta, the ratio of the time ON duty to the time OFF duty in one carrier cycle T in the non-excitation operation type electromagnetic brake control device of FIG. 2 is compared with that of the non-excitation operation type electromagnetic brake control device of FIG. Get smaller.
- the carrier frequency is changed by changing the ratio of the time ON duty to the time OFF duty in one carrier cycle T. Therefore, the average current flowing through the brake coil 3 can be further reduced without causing vibration noise and frequent switching. That is, the average current I3 is smaller than the average current I2. Thus, frequent switching does not occur. Therefore, it is possible to suppress the loss of the switch 7 (semiconductor element) due to frequent switching and to reduce or omit a cooling device such as a fin for preventing heat generation due to frequent switching. it can.
- the present invention is not limited to the above-described embodiment, and many changes and modifications are possible.
- the non-excitation operation type electromagnetic brake control device according to the present invention is also applied to other devices in which the non-excitation operation type electromagnetic brake is used. Can be used.
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Abstract
Description
図2は、本発明による無励磁作動型電磁ブレーキ制御装置の回路図である。
図3は、図2の無励磁作動型電磁ブレーキ制御装置で用いられる先鋭化三角電圧波生成部の回路図である。
図4は、図2の無励磁作動型電磁ブレーキ制御装置のブレーキコイルに流れる電流の時間変化を示すグラフである。
図5は、図2の無励磁作動型電磁ブレーキ制御装置で発生する三角電圧波及び比較電圧波の時間変化を示すグラフである。
図6は、従来の無励磁作動型電磁ブレーキ制御装置の回路図である。
図7は、図6の無励磁作動型電磁ブレーキ制御装置で用いられる先鋭化三角電圧波生成部の回路図である。
図8は、図6の無励磁作動型電磁ブレーキ制御装置のブレーキコイルに流れる電流の時間変化を示すグラフである。
図9は、図6の無励磁作動型電磁ブレーキ制御装置で発生する三角電圧波及び比較電圧波の時間変化を示すグラフである。
図1は、本発明による無励磁作動型電磁ブレーキ制御装置が用いられる巻上機の概略図である。図1において、巻上機100は、矢印a又はb方向に移動可能な横行装置101に取り付けられており、3相電源のような電源102から電力が供給される。
Claims (2)
- 無励磁作動型電磁ブレーキを締結状態、開放状態又は保持状態に制御する無励磁作動型電磁ブレーキ制御装置であって、
磁気吸引力を発生させて前記無励磁作動型電磁ブレーキを締結状態から開放状態にするブレーキコイルと、
第1の角度を有する谷部及び前記第1の角度より小さい第2の角度を有する山部を交互に配置して形成された段付の先鋭化三角電圧波を生成する先鋭化三角電圧波生成部と、
前記ブレーキコイルに流れる電流に基づいて比較電圧波を生成する比較電圧波生成部と、
前記無励磁作動型電磁ブレーキが保持状態であるときに前記先鋭化三角電圧波値と前記比較電圧波値とを比較する比較部と、
前記比較部により前記先鋭三角電圧波値が前記比較電圧波値より大きいと判断されたときに前記ブレーキコイルへの電流の供給を行い、前記比較部により前記先鋭三角電圧波値が前記比較電圧波値以下であると判断されたときに前記ブレーキコイルへの電流の供給を中断するよう切替を行う切替部と、
を有する無励磁作動型電磁ブレーキ制御装置。 - 無励磁作動型電磁ブレーキを締結状態、開放状態又は保持状態に制御する無励磁作動型電磁ブレーキ制御方法であって、
ブレーキコイルに磁気吸引力を発生させて前記無励磁作動型電磁ブレーキを締結状態から開放状態にするステップと、
第1の角度を有する谷部及び前記第1の角度より小さい第2の角度を有する山部を交互に配置して形成された段付の先鋭化三角電圧波を生成するステップと、
前記ブレーキコイルに流れる電流に基づいて比較電圧波を生成するステップと、
前記無励磁作動型電磁ブレーキが保持状態であるときに前記先鋭化三角電圧波値と前記比較電圧波値とを比較するステップと、
前記先鋭三角電圧波値が前記比較電圧波値より大きい場合には前記ブレーキコイルへの電流の供給を行い、前記先鋭三角電圧波値が前記比較電圧波値以下である場合には前記ブレーキコイルへの電流の供給を中断するステップと、
を有する無励磁作動型電磁ブレーキ制御方法。
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KR1020127007223A KR101320714B1 (ko) | 2009-09-30 | 2010-09-29 | 무여자 작동형 전자 브레이크 제어 장치 및 방법 |
CN201080043711.7A CN102549294B (zh) | 2009-09-30 | 2010-09-29 | 无励磁工作型电磁制动器控制装置以及方法 |
EP10820747.3A EP2484931B1 (en) | 2009-09-30 | 2010-09-29 | Device and method for controlling power-off type electromagnetic brake |
US13/498,105 US8786997B2 (en) | 2009-09-30 | 2010-09-29 | Non-excited operation type electromagnetic brake control device and method |
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JP2009228554A JP5334785B2 (ja) | 2009-09-30 | 2009-09-30 | 無励磁作動型電磁ブレーキ制御装置及び方法 |
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FI124198B (fi) | 2012-02-20 | 2014-04-30 | Konecranes Oyj | Jarrun valvonta |
US9601918B2 (en) | 2012-06-28 | 2017-03-21 | General Electric Company | Systems and methods for controlling acceleration of a power generator |
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CN104743466B (zh) * | 2013-12-31 | 2017-12-15 | 重庆顺心仪器设备有限公司 | 一种电梯抱闸电源 |
JP6851229B2 (ja) * | 2017-03-10 | 2021-03-31 | シャープ株式会社 | ブレーキ制御装置、走行車両、およびブレーキ駆動方法 |
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2010
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- 2010-09-29 US US13/498,105 patent/US8786997B2/en active Active
- 2010-09-29 EP EP10820747.3A patent/EP2484931B1/en not_active Not-in-force
- 2010-09-29 KR KR1020127007223A patent/KR101320714B1/ko active IP Right Grant
- 2010-09-29 CN CN201080043711.7A patent/CN102549294B/zh active Active
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Also Published As
Publication number | Publication date |
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KR101320714B1 (ko) | 2013-10-21 |
US20120268856A1 (en) | 2012-10-25 |
CN102549294B (zh) | 2014-09-03 |
EP2484931A4 (en) | 2016-01-13 |
CN102549294A (zh) | 2012-07-04 |
EP2484931B1 (en) | 2016-11-02 |
JP5334785B2 (ja) | 2013-11-06 |
EP2484931A1 (en) | 2012-08-08 |
JP2011075056A (ja) | 2011-04-14 |
KR20120061903A (ko) | 2012-06-13 |
US8786997B2 (en) | 2014-07-22 |
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