CN108290717B - Method for driving and controlling hoist, hoist and control device for driving and controlling hoist driver - Google Patents
Method for driving and controlling hoist, hoist and control device for driving and controlling hoist driver Download PDFInfo
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- CN108290717B CN108290717B CN201680070349.XA CN201680070349A CN108290717B CN 108290717 B CN108290717 B CN 108290717B CN 201680070349 A CN201680070349 A CN 201680070349A CN 108290717 B CN108290717 B CN 108290717B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000008859 change Effects 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 10
- 230000010355 oscillation Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
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- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000009420 retrofitting Methods 0.000 description 1
- 230000009291 secondary effect Effects 0.000 description 1
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Classifications
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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
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
- B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/14—Applications of loading and unloading equipment
- B66B17/26—Applications of loading and unloading equipment for loading or unloading mining-hoist skips
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Conveyors (AREA)
- Cage And Drive Apparatuses For Elevators (AREA)
Abstract
本发明涉及一种用于驱控提升机(2)的、尤其是用于竖井提升系统的提升机的方法，提升机包括：具有配属的控制装置(6)的驱动器(4)；支索架(8)；至少一个提升索(10)；和，至少一个布置在提升索(10)上的、用于垂直地输送输送物的提升容器(12、14)。在提升容器(12、14)加载时，提升索(10)因为提升容器(12、14)的重量增加而伸长。在提升容器(12、14)卸载时，提升索(10)又收缩。为了保障在加载和卸载至少一个提升容器时的高度补偿，在加载或卸载期间，驱动器(4)保持接通，并且为了补偿提升索长度的改变支索架(8)的旋转角(α)在预定的旋转角趋势的基础上被连续地调整。
The invention relates to a method for driving a hoist (2), in particular a hoist of a shaft hoisting system, the hoist comprising: a drive (4) with an associated control device (6); (8); at least one lifting cable (10); and at least one lifting container (12, 14) arranged on the lifting cable (10) for vertically transporting the conveyed product. When the hoisting container (12, 14) is loaded, the hoisting line (10) elongates due to the increased weight of the hoisting container (12, 14). When the lifting container (12, 14) is unloaded, the lifting cable (10) contracts again. In order to guarantee height compensation when loading and unloading at least one lifting container, during loading or unloading, the drive (4) remains switched on, and the angle of rotation (α) of the support bracket (8) in order to compensate for a change in the length of the lifting rope The basis of the predetermined rotation angle trend is continuously adjusted.
Description
技术领域technical field
本发明涉及一种用于驱控提升机、尤其是用于竖井提升系统的提升机的方法，提升机包括：具有配属的控制装置的驱动器；支索架；至少一个提升索；和，至少一个布置在提升索上的、用于垂直地输送输送物的提升容器。本发明还涉及一种提升机以及一种用于驱控提升机的驱动器的控制装置。The invention relates to a method for controlling a hoist, in particular a hoist for a shaft hoisting system, the hoist comprising: a drive with an associated control device; a support frame; at least one hoisting rope; and, at least one A lifting container arranged on a lifting rope for vertically conveying goods. The invention also relates to a hoist and to a control device for driving a drive of the hoist.
背景技术Background technique
这种提升机例如由DE 10 2004 058 757 A1中提出。在这种现有技术中记载了一种竖井提升系统，它具有与马达处于连接的索盘，索盘引导用于输送物的提升索。此外，竖井提升系统配备有至少一个脉冲计数器，它从旋转运动中推导出当前的位移值并且得出输送物的当前速度值。此外，竖井提升系统通过电气自动化系统被控制和/或监控，其中，自动化系统为了运行而具有数字的行驶调节器，以用于为马达的调节计算额定值。Such a hoist is proposed, for example, from DE 10 2004 058 757 A1. This prior art describes a shaft hoisting system which has a cable drum connected to a motor, which guides a hoisting cable for conveying the material. Furthermore, the shaft hoisting system is equipped with at least one pulse counter, which deduces the current displacement value and the current speed value of the conveyed material from the rotary movement. Furthermore, the shaft hoisting system is controlled and/or monitored by the electrical automation system, wherein the automation system has a digital drive controller for operation to calculate a target value for the control of the motor.
用于采矿的提升机普遍存在以下问题，即，在提升容器加载期间，提升索因为提升容器的重量增加有时会伸长直至1.5m或更长。这个值与提升索长度、载重量和提升索的数量相关。原则上，所有提升机生产商的目的是，将加载时间保持得尽可能地短。因此，提升索的伸长在提升系统运行时在几秒钟的时间内发生。在提升容器卸载时，因为重量减少，使得提升索在短时间内又再次收缩。Hoists used in mining generally suffer from the problem that during loading of the hoisting container, the hoisting cable sometimes stretches up to 1.5 m or more due to the increased weight of the hoisting container. This value is related to the hoisting rope length, load capacity and number of hoisting ropes. In principle, the aim of all hoist manufacturers is to keep loading times as short as possible. Thus, the elongation of the hoisting rope takes place within a few seconds while the hoisting system is in operation. When the lifting container is unloaded, the lifting rope shrinks again in a short time due to the reduced weight.
提升索长度带来一系列的缺点。提升容器以及进而提升索开始垂直地振荡。此外，提升容器在加载过程中离开最佳的加载位置向下移动。此外还出现次要效应：提升索的振荡对驱动器的速度和力矩调节有不利影响，并且可能不利地影响提升索的使用寿命。因为这种垂直振荡，可能需要延长它的爬行行程或者减少加速度，以最小化机械机构的磨损或避免损坏。此外还可能额外地在于竖井中行驶期间出现水平的振荡。就加载和卸载过程而言此外也考虑，当提升容器在最佳位置之外时，那么材料就可能从提升容器旁掉到竖井中。The length of the hoisting line presents a series of disadvantages. The hoisting container and thus the hoisting rope start to oscillate vertically. Furthermore, the lifting container moves downwards out of the optimal loading position during loading. In addition, secondary effects occur: Oscillations of the hoisting cables have a negative effect on the speed and torque regulation of the drive and can adversely affect the service life of the hoisting cables. Because of this vertical oscillation, it may be necessary to extend its crawl stroke or reduce acceleration to minimize wear or avoid damage to the mechanical mechanism. In addition, horizontal oscillations may additionally occur during travel in the shaft. With regard to the loading and unloading process, it must also be taken into account that, if the lifting container is not in the optimum position, then material may fall past the lifting container into the shaft.
发明内容Contents of the invention
因此，本发明基于以下目的，在加载和卸载提升机的提升容器期间保障提升容器的高度补偿。The invention is therefore based on the object of ensuring height compensation of the lifting container during loading and unloading of the lifting container of an elevator.
该目的根据本发明通过一种用于驱控提升机的、尤其是用于竖井提升系统的提升机的方法得以解决，提升机包括：具有配属的控制装置的驱动器、；支索架；至少一个提升索；和，至少一个布置在提升索上的、用于垂直输送输送物的提升容器，其中，在加载或卸载至少一个提升容器期间，驱动器保持接通，并且为了补偿提升索长度的改变，支索架的旋转角在预设的旋转角趋势的基础上持续地调整。This object is solved according to the invention by a method for controlling a hoist, in particular a hoist for a shaft hoisting system, the hoist comprising: a drive with an associated control device; a support frame; at least one and, at least one lifting container arranged on the lifting cable for vertical conveyance of the conveyed product, wherein during loading or unloading of the at least one lifting container, the drive remains switched on, and in order to compensate for changes in the length of the lifting cable, The rotation angle of the guyline bracket is continuously adjusted based on the preset rotation angle trend.
此外，该目的根据本发明通过一种提升机、尤其是用于竖井提升系统的提升机得以解决，它包括具有适用于执行前述方法的控制装置的驱动器。Furthermore, this object is solved according to the invention by a hoist, in particular a hoist for a shaft hoisting system, which comprises a drive with a control device suitable for carrying out the aforementioned method.
最后，该目的根据本发明还通过一种用于驱控提升机的、尤其是用于竖井提升系统的提升机的驱动器的控制装置得以解决，其适用于执行前述方法。Finally, this object is also solved according to the invention by a control device for driving a drive of a hoist, in particular for a hoist of a shaft hoisting system, which is suitable for carrying out the aforementioned method.
关于方法在下面阐述的优点和优选的构造方案在实质上可以转移到驱动器和控制装置上。The advantages and preferred configurations explained below with respect to the method can in essence be transferred to the drive and control device.
本发明的基本构思是，通过以相应的速度在驱动器的方向上移动提升容器，因为提升索的伸长而造成的提升容器相对于负载位置的垂直错位可以被补偿。在提升容器卸载时，提升容器可以反向地移动远离驱动器，因为提升索基于越来越小的负载再次收缩。作为控制提升机的调节量，在此预设有支索架的旋转角或速度额定值，从而通过支索架的旋转改变提升索长度。由此使得提升容器保留在其最佳负载位置上并且不触发垂直振荡。The basic idea of the invention is that by moving the lifting container at a corresponding speed in the direction of the drive, a vertical misalignment of the lifting container relative to the load position due to elongation of the lifting rope can be compensated. When the hoisting container is unloaded, the hoisting container can be moved in the opposite direction away from the drive, since the hoisting rope retracts again due to a smaller and smaller load. As an adjustment variable for controlling the hoist, an angle of rotation or a speed setpoint of the rope support is preset here, so that the length of the lifting rope is changed by the rotation of the rope support. As a result, the lifting container remains in its optimal load position and vertical oscillations are not triggered.
为了实现这一点，在负载或卸载过程期间，驱动器或提升机的变流器保持接通。尤其是没有采用机械的制动装置，从而避免了制动元件的磨损。因此也避免了因为采用和松开制动装置而产生的停机时间，并且缩短了提升周期的持续时间。To achieve this, the converter of the drive or hoist remains switched on during the loading or unloading process. In particular, no mechanical brakes are used, so that wear on the brake elements is avoided. Downtimes due to applying and releasing the brake are thus also avoided and the duration of the lifting cycle is shortened.
对于这种补偿过程所需要的、支索架的旋转角趋势在此是预定的和已存储的。尤其是存储有速度额定值曲线，在它的基础上计算出在加载或卸载过程期间施加给驱动器的额定力矩趋势。驱动器自身在旋转角的改变方面驱控支索架。The angle of rotation trend of the cable support required for this compensation process is predetermined and stored here. In particular, speed setpoint curves are stored, on the basis of which the setpoint torque trend applied to the drive during the loading or unloading process is calculated. The drive itself drives the support bracket with respect to changes in the angle of rotation.
通过以控制技术实现提升索伸长的补偿，该方法的特色尤其在于精准的额定值和简单的可加装性和校准。另一个优点在于，额定扭矩(保持力矩)相对缓慢地形成。力矩形成均匀地在20到30秒内完成(相比，在打开制动装置的情况下，力矩形成通常在大约200毫秒内完成)。由此使得不仅对于电气系统(变压器、变流器、马达)的冲击负载更小，而且使得对于提升机的机械组件的冲击负载也更小。Compensation of the hoisting rope elongation by control technology is notable in particular for precise target values and simple retrofitting and calibration. Another advantage is that the setpoint torque (holding torque) builds up relatively slowly. Force square formation is uniformly completed within 20 to 30 seconds (compared to typically within about 200 milliseconds with the brakes on). This results in a lower shock load not only for the electrical system (transformer, converter, motor) but also for the mechanical components of the hoist.
根据一种优选的实施方式，旋转角趋势由以下来得出，即首先操作提升机的制动装置，并且在至少一个提升容器加载或卸载时测量提升索长度的改变，并且由此计算出支索架的旋转角趋势。在此，垂直的提升容器错位通过驱动器在受控运动的范畴内在不安装对提升机的实际值进行测量的其他传感器的情况下得到补偿。本方法可以用在大多数提升机中，因为加载过程通常总是一样的，并且加载基本上是线性地进行的。According to a preferred embodiment, the angle of rotation trend is obtained by first actuating the braking device of the hoist and measuring the change in the length of the hoisting rope when at least one hoisting container is loaded or unloaded, and calculating from this Rack rotation angle trend. In this case, the vertical lifting container misalignment is compensated by the drive within the scope of the controlled movement without additional sensors for measuring the actual value of the hoist. This method can be used in most elevators, since the loading process is usually always the same and the loading takes place essentially linearly.
关于方法的简化和节约时间方面，对提升索长度的改变的测量在安装或维修保养工作的范畴内完成。因此不需要连续地确定提升容器的错位，而是补偿的旋转角趋势被直接地或者间接地、即作为自身或者其他的与之关联的特征量和参数，例如一次性地在提升机启动时得出并存储。在以后对提升机进行维修和保养工作时，所得出的数据可以被重新校准。With regard to the simplification of the method and the saving of time, the measurement of the change in the length of the hoisting rope is done within the scope of installation or maintenance work. It is therefore not necessary to continuously determine the misalignment of the lifting container, but the compensated rotational angle trend is obtained directly or indirectly, that is, as itself or other associated characteristic variables and parameters, for example once when the hoist is started. out and store. The resulting data can be recalibrated for subsequent repair and maintenance work on the hoist.
可能发生的是，因为提升容器在加载时和在卸载时的不同高度，在这些位置上，提升索的延长和松弛彼此不同。在对这些不同的、需要补偿的长度进行最佳补偿方面，优选地在至少一个提升容器加载时为提升索长度的改变测量出第一测量值，随后在至少一个提升容器卸载时为提升索长度的改变测量出第二测量值，并且在这两个测量值之间存在偏差时，确定两个测量值的平均值作为提升索长度的待补偿的改变。It can happen that because of the different heights of the lifting container when it is loaded and when it is unloaded, the elongation and slack of the lifting cables differ from one another at these positions. With regard to the optimal compensation of these different lengths to be compensated, a first measured value is preferably measured for the change in the length of the hoisting rope when at least one lifting container is loaded, and then when the at least one lifting container is unloaded for the change in length of the hoisting rope The change of the hoisting rope measures a second measured value, and in the event of a deviation between these two measured values, the mean value of the two measured values is determined as the change to be compensated for in the hoisting rope length.
适宜地，提升机具有至少两个提升容器并且对于所有提升容器都执行对提升索长度的改变的补偿。因此确保提升机的特别可靠且高效的运行。Expediently, the hoist has at least two hoisting containers and the compensation for the change in the length of the hoisting rope is carried out for all hoisting containers. A particularly reliable and efficient operation of the hoist is thus ensured.
优选地，提升机具有两个提升容器，并且其中一个提升容器的加载和另一个提升容器的卸载同时进行。由此产生特别有利的协同效应，其中，通过驱动器的唯一一次补偿运动就不仅抵消了待加载的提升容器一方的提升索延长而且还抵消了待卸载的提升容器一方的提升索的收缩。Preferably, the hoist has two hoisting containers, and the loading of one hoisting container and the unloading of the other hoisting container take place simultaneously. This results in a particularly advantageous synergistic effect, in that a single compensating movement by the drive not only counteracts the extension of the hoisting cable on the side of the lifting container to be loaded but also counteracts the retraction of the hoisting cable on the side of the lifting container to be unloaded.
附图说明Description of drawings
本发明的一个实施例借助附图进行详细阐述。An exemplary embodiment of the invention is explained in detail with reference to the drawing.
具体实施方式Detailed ways
在此，唯一的附图极简地示出了用于竖井提升系统的提升机2。提升机具有驱动器4，它由控制装置6驱控。在所示实施例中，提升机2还包括：由驱动器4驱动的支索架8；以及具有两个提升容器12、14的提升索10，以用于垂直地输送在此未详尽示出的输送物、例如煤或矿石。但是，提升容器12、14也可以被用于输送人。The single figure here shows a hoist 2 for a shaft hoisting system in a very simplified manner. The hoist has a drive 4 which is controlled by a control device 6 . In the illustrated embodiment, the hoist 2 also comprises: a rigging frame 8 driven by a drive 4; and a hoisting rope 10 with two hoisting containers 12, 14 for vertically conveying Conveyors such as coal or ore. However, the lifting containers 12, 14 can also be used for transporting people.
在所示实施例中，仅仅示出了一个提升索。然而，也可以使用多个提升索以悬挂相应的提升容器12、14。In the illustrated embodiment, only one lifting rope is shown. However, it is also possible to use several hoisting cables for suspending the respective hoisting container 12 , 14 .
提升机2在此适用于在未详尽示出的竖井中在200m到4000m之间输送输送物。提升容器12、14在运行时通常在竖井中的较深停靠点H2处交替地进行加载，向上输送并且在较高停靠点H1处卸载。在此，以大约1吨/秒进行加载或卸载，直至80吨为止。The hoist 2 is suitable here for transporting the conveying material in a shaft not shown in detail over a distance of 200 m to 4000 m. During operation, the lifting containers 12 , 14 are usually loaded alternately at the deeper landing H 2 in the shaft, transported upwards and unloaded at the higher landing H 1 . Here, loading or unloading takes place at approximately 1 ton/second up to 80 tons.
在附图中示出了以下情形，其中，提升容器12在提升机2的左侧被卸载，并且提升容器14在右侧同时被加载。由于提升容器12的卸载，支索架8在这一侧的重量减少，从而作用到提升索10上的力逐渐地变小并且提升索10收缩，从而提升容器12垂直地到达较高位置，图中以点虚线表示。这在图中通过在提升容器12上方在提升索10区域内松弛的弹簧来表示。The drawing shows a situation in which a lifting container 12 is unloaded on the left side of the hoist 2 and a lifting container 14 is simultaneously loaded on the right side. As a result of the unloading of the lifting container 12, the weight of the support cable frame 8 on this side is reduced, so that the force acting on the lifting cable 10 is gradually reduced and the lifting cable 10 is retracted, so that the lifting container 12 reaches a higher position vertically, Fig. Indicated by dotted line. This is indicated in the figure by the spring being relaxed in the region of the hoisting rope 10 above the hoisting container 12 .
在支索架8的右侧，在加载提升容器14的同时完成类似的过程，然而却是在相反的方向上。由于提升容器14中的重量不断增加，持续变大的力向下作用到提升索10上，从而提升索10伸长，通过张紧的弹簧象征性地示出。根据提升索长度和输送物的重量，提升索10可以伸长直至1.5m。在没有外部作用的情况下，在此，提升容器14会占据较深位置，该位置在图中以点虚线表示。On the right side of the guyline bracket 8, a similar process is done while loading the lifting container 14, but in the opposite direction. Due to the increasing weight in the lifting container 14 , a continuously increasing force acts downward on the lifting cable 10 , so that the lifting cable 10 is stretched, symbolically represented by a tensioned spring. Depending on the length of the hoist and the weight of the conveyed material, the hoist 10 can be extended up to 1.5 m. In the absence of external influences, the lift container 14 would here occupy a deeper position, which is indicated in the figure by a dotted line.
为了抵消在卸载提升容器12时提升索长度的改变，支索架8通过在卸载过程中仍然接通的驱动器4如下地转动，即，提升容器12以与提升容器12“向上”运动相同的速度远离支索架8向下行驶。为此，驱动器4在加载或卸载期间保持活跃。尤其是没有操作提升机2的在此未详尽示出的制动装置。控制装置6连续地将预定的额定扭矩施加给驱动器4，该额定扭矩引起支索架8的旋转。支索架8的运动在图中通过角α表示。支索架8围绕着角α的旋转导致，在卸载期间，尽管提升索10不断地变短，提升容器12总是保持在相同的垂直位置H1上。In order to counteract the change in the length of the hoisting rope when unloading the lifting container 12, the stay rope bracket 8 is rotated by the drive 4 which is still switched on during the unloading process in such a way that the lifting container 12 moves "up" at the same speed as the lifting container 12 Travel down away from the stay bracket 8. For this purpose, the drive 4 remains active during loading or unloading. In particular, the braking device, which is not shown in detail here, actuates the hoist 2 . The control device 6 continuously applies a predetermined setpoint torque to the drive 4 , which setpoint torque causes a rotation of the guyline bracket 8 . The movement of the stay 8 is represented in the figure by the angle α. The rotation of the guyline bracket 8 about the angle α has the result that, during unloading, the hoisting container 12 always remains in the same vertical position H1 despite the continuous shortening of the hoisting rope 10 .
在待加载的提升容器14一方的索伸长由以下被补偿，即在驱动器4还活跃的情况下，提升容器14以对应的速度在支索架8的方向上移动。支索架8的该补偿运动的结果是，提升容器14同样在总体加载过程期间保持在相同的垂直位置H2上。The cable elongation on the part of the hoisting container 14 to be loaded is compensated by moving the hoisting container 14 at a corresponding speed in the direction of the cable support 8 while the drive 4 is still active. As a result of this compensating movement of the guyline bracket 8 , the lifting container 14 also remains in the same vertical position H 2 during the overall loading process.
在所示实施例中，两个提升容器12、14并行地卸载或加载，因此，支索架8以角α进行旋转就足以同时补偿支索架8两侧的提升索长度的改变。额定扭矩在此在该过程期间可能改变它的方向。In the illustrated embodiment, the two hoisting containers 12 , 14 are unloaded or loaded in parallel, so that a rotation of the guyline bracket 8 by the angle α is sufficient to simultaneously compensate for changes in hoisting rope length on both sides of the guyline bracket 8 . The setpoint torque can change its direction during this process.
提升索10平均每1000m的拉索长度伸长大约1m。加载持续大约每吨0.5到1秒。因此，提升机2以大约0.05米/秒的速度运动大约20秒。The hoisting cables 10 elongate on average by approximately 1 m per 1000 m of cable length. Loading lasts approximately 0.5 to 1 second per ton. Thus, the hoist 2 moves at a speed of about 0.05 m/s for about 20 seconds.
当提升机2包括多个提升容器12、14并且加载或卸载不同时进行时，那么驱动器4就交替地受到驱控，以补偿刚好使用的提升容器的相应的垂直错位。这同样适用于仅具有一个提升容器和一个配重的提升机2：根据提升容器的位置H1、H2改变支索架8的旋转方向。If the hoist 2 comprises a plurality of hoisting containers 12 , 14 and the loading or unloading does not take place simultaneously, the drive 4 is activated alternately in order to compensate for the corresponding vertical misalignment of the hoisting container that was just used. The same applies to a hoist 2 with only one hoisting container and one counterweight: the direction of rotation of the stay bracket 8 is changed depending on the position H 1 , H 2 of the hoisting container.
当相关于提升容器12、14不仅测量提升索10的伸长而且还测量它的松弛时，能够发生的是，基于提升容器在加载和在卸载时的不同高度H1、H2，提升索的延长和松弛相互不同。因此尤其是在加载时为提升索长度的改变测量出第一测量值，随后在卸载时为提升索长度的改变测量出第二测量值，并且在两个测量值之间有偏差时求出两个测量值的平均值并且该平均值被视为待补偿的值。When measuring not only the elongation of the hoisting cable 10 but also its slack in relation to the hoisting container 12, 14, it can happen that, based on the different heights H1, H2 of the hoisting container when loaded and when unloaded, the height of the hoisting cable Elongation and relaxation are different from each other. Thus, in particular a first measured value is measured for the change in the length of the hoisting rope when loading, a second measured value is then measured for the change in the length of the hoisting rope when unloading, and in the event of a deviation between the two measured values the two measured values are determined. The average value of the measured values is taken as the value to be compensated.
对于补偿提升索10的长度改变所需要的旋转角α被一次性地或者以较大的、长达几百运行时的时间间隔确定，并且为了提升系统的正常运行而以用于提升机2的方向性调节的参数的形式存储。为此，首先测量提升索10的伸长。测量可以在加载过程中完成。补充地或者替选地，可以在卸载过程中测量出提升索10的收缩。基于关于提升索10在加载和/或卸载时的伸长的信息，在所示实施例中得出速度额定值曲线(随着时间的位移)，它构成在提升机2运行时的驱动控制的基础。基于速度额定值曲线，由控制装置6为驱动器4计算出在运行时施加到驱动器4上的额定扭矩的趋势。The angle of rotation α required to compensate for a change in length of the hoisting rope 10 is determined once or at relatively large intervals of up to several hundred operating hours and is used for the normal operation of the hoisting system in terms of the rotation angle of the hoist 2 The form storage of the parameters of the directional adjustment. To this end, the elongation of the hoisting rope 10 is first measured. Measurements can be done during loading. Additionally or alternatively, the contraction of the hoisting rope 10 can be measured during the unloading process. Based on the information about the elongation of the hoisting rope 10 during loading and/or unloading, in the exemplary embodiment shown, a speed target value curve (displacement over time) is obtained, which forms the basis for the drive control of the hoisting machine 2 during operation. Base. On the basis of the speed target value curve, the trend of the target torque applied to the drive 4 during operation is calculated for the drive 4 by the control device 6 .
由于提升容器12、14的位置保持不变，尤其是不会引发垂直振荡，相应地，在相应的下一个行驶周期开始时实现提升机2的无振动启动。索负载也变得更小。此外，所描述的方法也提升了生产率，因为没有由于接入和松开机械制动装置造成的停机时间并且能够快速地启动。Since the position of the lifting containers 12 , 14 remains unchanged, in particular no vertical oscillations are induced, correspondingly a vibration-free start of the hoist 2 is achieved at the start of the corresponding next driving cycle. Cable loads are also reduced. Furthermore, the described method also increases productivity, since there is no downtime due to engaging and releasing the mechanical brake and a quick start-up is possible.
Claims (10)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP15197467.2A EP3176122A1 (en) | 2015-12-02 | 2015-12-02 | Method for controlling a conveyor machine, conveyor machine and control device for controlling a drive of a conveyor machine |
| EP15197467.2 | 2015-12-02 | ||
| PCT/EP2016/076500 WO2017092959A1 (en) | 2015-12-02 | 2016-11-03 | Method for actuating a hoist, hoist, and control device for actuating a hoist drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108290717A CN108290717A (en) | 2018-07-17 |
| CN108290717B true CN108290717B (en) | 2019-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201680070349.XA Active CN108290717B (en) | 2015-12-02 | 2016-11-03 | Method for driving and controlling hoist, hoist and control device for driving and controlling hoist driver |
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| Country | Link |
|---|---|
| EP (2) | EP3176122A1 (en) |
| CN (1) | CN108290717B (en) |
| AU (1) | AU2016363478B2 (en) |
| CA (1) | CA3006961C (en) |
| LT (1) | LT3365262T (en) |
| PL (1) | PL3365262T3 (en) |
| RS (1) | RS59438B1 (en) |
| RU (1) | RU2700906C1 (en) |
| WO (1) | WO2017092959A1 (en) |
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| CN112156722A (en) * | 2020-10-20 | 2021-01-01 | 北京石晶光电科技股份有限公司 | Automation control device of autoclave kettle brushing machine |
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| JP2010208752A (en) * | 2009-03-09 | 2010-09-24 | Toshiba Elevator Co Ltd | Elevator device |
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- 2015-12-02 EP EP15197467.2A patent/EP3176122A1/en not_active Withdrawn
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2016
- 2016-11-03 EP EP16797768.5A patent/EP3365262B1/en active Active
- 2016-11-03 CN CN201680070349.XA patent/CN108290717B/en active Active
- 2016-11-03 AU AU2016363478A patent/AU2016363478B2/en not_active Withdrawn - After Issue
- 2016-11-03 CA CA3006961A patent/CA3006961C/en active Active
- 2016-11-03 LT LT16797768T patent/LT3365262T/en unknown
- 2016-11-03 PL PL16797768T patent/PL3365262T3/en unknown
- 2016-11-03 RU RU2018120354A patent/RU2700906C1/en active
- 2016-11-03 RS RSP20191304 patent/RS59438B1/en unknown
- 2016-11-03 WO PCT/EP2016/076500 patent/WO2017092959A1/en active Application Filing
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2018
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| CN1232781A (en) * | 1998-03-12 | 1999-10-27 | 株式会社东芝 | traction elevator |
| CN1738761A (en) * | 2003-01-11 | 2006-02-22 | 催正斗 | Apparatus for equalizing tension of main ropes of elevator |
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| CN101959783A (en) * | 2008-02-26 | 2011-01-26 | 奥蒂斯电梯公司 | Dynamic compensation during elevator car re-leveling |
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Also Published As
| Publication number | Publication date |
|---|---|
| PL3365262T3 (en) | 2020-03-31 |
| AU2016363478A1 (en) | 2018-06-14 |
| RU2700906C1 (en) | 2019-09-23 |
| CA3006961C (en) | 2020-04-14 |
| WO2017092959A1 (en) | 2017-06-08 |
| RS59438B1 (en) | 2019-11-29 |
| ZA201803558B (en) | 2019-03-27 |
| CN108290717A (en) | 2018-07-17 |
| EP3365262A1 (en) | 2018-08-29 |
| AU2016363478B2 (en) | 2019-07-04 |
| CA3006961A1 (en) | 2017-06-08 |
| LT3365262T (en) | 2019-10-25 |
| EP3365262B1 (en) | 2019-08-28 |
| EP3176122A1 (en) | 2017-06-07 |
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