EP0710619B1 - Procedure and device for monitoring and/or controlling the speed of an electric drive with frequency converter for lifting gears - Google Patents
Procedure and device for monitoring and/or controlling the speed of an electric drive with frequency converter for lifting gears Download PDFInfo
- Publication number
- EP0710619B1 EP0710619B1 EP95250263A EP95250263A EP0710619B1 EP 0710619 B1 EP0710619 B1 EP 0710619B1 EP 95250263 A EP95250263 A EP 95250263A EP 95250263 A EP95250263 A EP 95250263A EP 0710619 B1 EP0710619 B1 EP 0710619B1
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- Prior art keywords
- speed
- frequency
- maximum
- load
- nominal
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- 238000000034 method Methods 0.000 title claims description 22
- 238000012544 monitoring process Methods 0.000 title claims description 4
- 239000003999 initiator Substances 0.000 claims 6
- 239000013589 supplement Substances 0.000 claims 1
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/485—Control devices automatic electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/23—Circuits for controlling the lowering of the load
- B66C13/26—Circuits for controlling the lowering of the load by AC motors
Definitions
- the invention relates to a method for monitoring and / or controlling the speed of a Electric drive with a via a frequency converter to an alternating or Three-phase network connected asynchronous motor with a braking device is equipped.
- Hoists are mainly made from inexpensive and maintenance-free three-phase asynchronous motors driven.
- Asynchronous motors work on the three-phase network the network frequency of e.g. 50 Hertz in principle with a fixed nominal speed, of which only slight deviations are possible.
- frequency converters are used between the three-phase network and the asynchronous motor.
- Hoists and hoists must be built and dimensioned so that they are safe can be operated and personal injury and property damage due to dangerous movements the load can be prevented.
- a load movement must be braked by the motor and brake can and the hanging load must be able to be held.
- the prior art includes a solution according to EP 0 347 408 B1, in which Field weakening set frequency-dependent speeds via the frequency converter can be so that heavy loads with slower speed and light Loads can be lifted at nominal speed.
- Field weakening set frequency-dependent speeds via the frequency converter can be so that heavy loads with slower speed and light Loads can be lifted at nominal speed.
- the invention was therefore based on the object of a linear actuator of the generic type to be able to operate safely above the nominal frequency.
- a maximum permissible frequency for exceeding the nominal speed is determined for raised loads if the maximum load is not reached.
- the performance of the engine is used to the extent permitted by brake safety.
- Practical embodiments of this method consist, for example, in that a speed control determines the maximum permissible frequency for the attached load by comparing the actual speed with the output frequency setpoint at a time when a follow-up contact of a command transmitter is actuated by a first contact initiates the lifting movement and triggers the comparison process through its subsequent contact.
- Safety is also increased in that the permissible speed limit values can be determined depending on the load at the start of the lifting process.
- the maximum allowable Frequency is initially the frequency setpoint for an electric drive type point and measured the speed deviation and then a correspondingly larger maximum Frequency is output to the frequency converter if the speed deviation is the Falls below nominal value.
- the performance of the engine exploited by a higher speed.
- the electric drive type point is advantageously exploited because the behavior on this point is almost linear, what represents an advantage of the asynchronous motor and includes a reproducible process.
- the speed control device during the Strokes continuously the deviation between speed and target frequency on the the limit value typical of the electric drive and the limit value exceeded if the limit value is exceeded Brake device activated as an emergency stop device. This creates additional security against retrospectively occurring loads of the hoist that have not yet been taken into account.
- Another embodiment of the invention provides that for a stepless control the frequency reference between the first contacts of the command transmitter and the Operating the follow-up contact outputs an additional control signal from the command generator becomes. It is advantageous here that the operator directly via this command transmitter Speed can affect.
- An additional control signal can be an analog signal, e.g. an electrical Voltage.
- Such an analog system can control technology be processed advantageously.
- An asynchronous motor 1 drives (or brakes) via a gear 2 a cable drum 3, on the cable 4 of which a load 5 is suspended.
- a tachometer 6a is connected to the asynchronous motor 1 in the form of a pulse generator 6, the pulses 7 thereof via a first control line 8 to a Speed control device 9 arrive.
- a brake 11 for the asynchronous motor 1 is connected to the speed control device 9 via a second control line 10.
- a frequency converter 13 is connected between the AC network 12 and the speed control device 9 and contains an AC voltage part 13a, a DC voltage part 13b and a frequency converter part 13c.
- a command transmitter 15 (manual control device) is connected to the speed control device 9 via a control cable 14. Switching devices 15a for “lifting the load” and 15b for “lowering the load” are located within the command transmitter 15.
- a circuit part 15c for changing the voltage is also installed.
- the brake device 11 has an electrically released brake.
- the electrical brake ventilation takes place when the Motor terminal voltage.
- the pulse generator 6 generates an electrical signal accordingly the engine speed "n".
- the command generator 15 for the direction and speed of the lifting movement is about that Control cable 14 and the speed control device 9 with the frequency converter 13 and with connected to the braking device 11.
- the speed control device 9 detects the actual speed and the direction of rotation of the asynchronous motor 1 and the control command of the command generator 15 for a desired stroke movement and forms the frequency setpoint for the Frequency converter 13 and a maximum allowable frequency setpoint.
- the method for monitoring and / or controlling the speed of an electric drive consisting of the asynchronous motor 1 with gear 2 and the cable drum 3, the Asynchronous motor 1 connected to three-phase network 12 via frequency converter 13 is characterized by the braking device 11 acting on the asynchronous motor 1.
- the maximum torque 16 of the linear actuator originating from the asynchronous motor 1, the Gear 2 and the cable drum 3, which the lifting drive generates for lifting the load 5, is set smaller than the holding torque 17 (Fig. 2).
- An asynchronous motor 1 is thus included Frequency converter 13 as a lifting drive for hoists with variable speed created that is controlled and monitored so that the maximum for different loads Speed is limited so that a dangerous load movement by exceeding the available braking torque 18 is prevented and lifted loads held securely can be. The load is therefore always held securely when the direction of rotation is reversed.
- the speed control device 9 determines the maximum permissible frequency for the attached load 5 by comparing the actual speed with the output Frequency setpoint at a time when a follow-up contact of the command transmitter 15 actuates becomes. This initiates the lifting movement with a first contact and releases it Follow up the comparison process.
- the braking device 11 is activated as an emergency stop device when the Speed control device 9 continuously the deviation during the lifting movements between speed and target frequency is monitored for the limit value typical for electric drives and detects a limit violation.
- an additional control signal are issued by the command generator 15.
- an analog Signal e.g. an electrical voltage.
- the size of the analog signal at the time a first contact is activated defines the minimum speed
- the size of the analog signal at the time of Actuation of the follow-up contact defines the maximum permissible speed or Frequency.
- the analog signal keeps all speed and frequency setpoints within of the permissible range.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
Description
Die Erfindung betrifft ein Verfahren zum Überwachen und/oder Steuern der Drehzahl eines Elektroantriebs mit einem über einen Frequenzumrichter an ein Wechsel- oder Drehstromnetz angeschlossenen Asynchronmotor, der mit einer Bremsvorrichtung ausgerüstet ist.The invention relates to a method for monitoring and / or controlling the speed of a Electric drive with a via a frequency converter to an alternating or Three-phase network connected asynchronous motor with a braking device is equipped.
Hubwerke werden vorwiegend von preiswerten und wartungsfreien Drehstrom-Asynchronmotoren angetrieben. Asynchronmotoren arbeiten am Drehstromnetz aufgrund der Netzfrequenz von z.B. 50 Hertz prinzipbedingt mit einer festen Nenndrehzahl, von der nur geringfügige Abweichungen möglich sind. Um die Drehzahl gesteuert zu verändern, werden Frequenzumrichter zwischen Drehstromnetz und Asynchronmotor eingesetzt.Hoists are mainly made from inexpensive and maintenance-free three-phase asynchronous motors driven. Asynchronous motors work on the three-phase network the network frequency of e.g. 50 Hertz in principle with a fixed nominal speed, of which only slight deviations are possible. In order to change the speed in a controlled manner, frequency converters are used between the three-phase network and the asynchronous motor.
Hubwerke bzw. Hebezeuge müssen so gebaut und dimensioniert werden, daß sie sicher betrieben werden können und Personen- und Sachschäden durch gefährliche Bewegungen der Last verhindert werden.Hoists and hoists must be built and dimensioned so that they are safe can be operated and personal injury and property damage due to dangerous movements the load can be prevented.
Insbesondere muß eine Lastbewegung durch Motor und Bremse abgebremst werden können und die hängende Last muß gehalten werden können.In particular, a load movement must be braked by the motor and brake can and the hanging load must be able to be held.
Zum Stand der Technik gehört eine Lösung nach EP 0 347 408 B1, bei der durch Feldschwächung über den Frequenzumrichter frequenzabhängige Drehzahlen eingestellt werden können, so daß schwere Lasten mit langsamerer Geschwindigkeit und leichte Lasten mit Nenngeschwindigkeit gehoben werden können. Dabei wird jedoch verkannt, daß nicht allein der Hubvorgang sondern auch der Senkvorgang bei einem Hubwerk von großer Bedeutung in bezug auf das Sicherheitsverhalten ist.The prior art includes a solution according to EP 0 347 408 B1, in which Field weakening set frequency-dependent speeds via the frequency converter can be so that heavy loads with slower speed and light Loads can be lifted at nominal speed. However, it is overlooked that not only the lifting process but also the lowering process in a hoist of large size Is important in relation to security behavior.
Der Erfindung lag daher die Aufgabe zugrunde, einen Hubantrieb der gattungs-gemäßen Art auch oberhalb der Nennfrequenz sicher betreiben zu können.The invention was therefore based on the object of a linear actuator of the generic type to be able to operate safely above the nominal frequency.
Die gestellte Aufgabe wird erfindungsgemäß durch die Merkmale des Anspruchs 1 gelöst. Dadurch wird sichergestellt, daß in jeder Lage der Last ein unzulässig großes und schnelles Absenken derart, daß Gefahr für Menschen und Sachen besteht, vermieden wird. The object is achieved according to the invention by the features of claim 1. This ensures that an impermissibly large and fast in any position of the load Lowering in such a way that there is a danger to people and things is avoided.
Zweckmäßige Ausgestaltungen der Erfindungsmerkmale sind in den Unteransprüchen
angegeben.
In Ausgestaltung des Grundgedankens der Erfindung wird vorgeschlagen, das maximale
Drehmoment, das der Hubantrieb für das Anheben einer Last erzeugt, kleiner als das
Haltemoment der Bremsvorrichtung einzustellen.
Weiter wird vorgeschlagen, daß das verfügbare Bremsmoment um einen Zuschlag zu dem
maximalen Motordrehmoment erhöht ist, der bei einer Senkbewegung der maximalen Last
mit der Nenngeschwindigkeit notwendig ist, um die gehobene Last bis zum Stillstand in einer
zulässigen Zeit zu verzögern. Dadurch wird noch mehr Sicherheit gegen ein unzulässiges
Beschleunigen der Last im Senkbetrieb erzielt.Appropriate configurations of the features of the invention are specified in the subclaims.
In an embodiment of the basic idea of the invention, it is proposed to set the maximum torque that the lifting drive generates for lifting a load to be smaller than the holding torque of the braking device.
It is further proposed that the available braking torque be increased by an addition to the maximum motor torque which is necessary when the maximum load is lowered at the nominal speed in order to decelerate the lifted load to a standstill in a permissible time. This provides even more security against an impermissible acceleration of the load in lowering mode.
Weitere Vorteile ergeben sich daraus, daß für gehobene Lasten eine maximal zulässige
Frequenz für die Überschreitung der Nenngeschwindigkeit ermittelt wird, wenn die
Maximallast nicht erreicht wird. Vorteilhafterweise wird hier die Leistungsfähigkeit des Motors
in einem erlaubten Rahmen der Bremssicherheit ausgenutzt.
Praktische Ausführungsformen dieses Verfahrens bestehen z.B. darin, daß eine
Drehzahlsteuerung die maximal zulässige Frequenz für die angehängte Last durch einen
Vergleich der Ist-Drehzahl mit dem ausgegebenen Frequenz-Sollwert zu einem Zeitpunkt
ermittelt, wenn ein Folgekontakt eines Befehlsgebers betätigt wird, der durch einen ersten
Kontakt die Hubbewegung einleitet und durch dessen Folgekontakt den Vergleichsvorgang
auslöst. Die Sicherheit wird also auch dadurch erhöht, daß zu Beginn des Hubvorganges
zulässige Geschwindigkeitsgrenzwerte lastabhängig ermittelt werden können.Further advantages result from the fact that a maximum permissible frequency for exceeding the nominal speed is determined for raised loads if the maximum load is not reached. Advantageously, the performance of the engine is used to the extent permitted by brake safety.
Practical embodiments of this method consist, for example, in that a speed control determines the maximum permissible frequency for the attached load by comparing the actual speed with the output frequency setpoint at a time when a follow-up contact of a command transmitter is actuated by a first contact initiates the lifting movement and triggers the comparison process through its subsequent contact. Safety is also increased in that the permissible speed limit values can be determined depending on the load at the start of the lifting process.
In Weiterbildung der Erfindung ist vorgesehen, daß für die Ermittlung der maximal zulässigen Frequenz zunächst der Frequenz-Sollwert für einen Elektroantriebs-Typenpunkt vorgegeben und die Drehzahlabweichung gemessen und dann eine entsprechend größere maximale Frequenz an den Frequenzumrichter ausgegeben wird, wenn die Drehzahlabweichung den Nennwert unterschreitet. Vorteilhafterweise wird dadurch die Leistungsfähigkeit des Motors durch eine höhere Drehzahl ausgenutzt. Ferner wird vorteilhafterweise der Elektroantriebs-Typenpunkt deshalb ausgenutzt, weil das Verhalten in diesem Punkt nahezu linear ist, was einen Vorteil des Asynchronmotors darstellt und einen reproduzierbaren Vorgang beinhaltet.In a development of the invention it is provided that for the determination of the maximum allowable Frequency is initially the frequency setpoint for an electric drive type point and measured the speed deviation and then a correspondingly larger maximum Frequency is output to the frequency converter if the speed deviation is the Falls below nominal value. Advantageously, the performance of the engine exploited by a higher speed. Furthermore, the electric drive type point is advantageously exploited because the behavior on this point is almost linear, what represents an advantage of the asynchronous motor and includes a reproducible process.
Nach weiteren Merkmalen ist vorgesehen, daß die Drehzahlsteuereinrichtung während der Hubbewegungen kontinuierlich die Abweichung zwischen Drehzahl und Sollfrequenz auf den elektroantriebstypischen Grenzwert überwacht und bei Grenzwertüberschreitung die Bremsvorrichtung als Nothalte-Einrichtung aktiviert. Dadurch entsteht zusätzliche Sicherheit gegen nachträglich auftretende bislang nicht berücksichtigte Belastungen des Hubwerkes. According to further features, it is provided that the speed control device during the Strokes continuously the deviation between speed and target frequency on the the limit value typical of the electric drive and the limit value exceeded if the limit value is exceeded Brake device activated as an emergency stop device. This creates additional security against retrospectively occurring loads of the hoist that have not yet been taken into account.
Eine weitere Ausgestaltungsform der Erfindung sieht vor, daß für eine stufenlose Steuerung des Frequenzsollwertes zwischen den ersten Kontakten des Befehlsgebers und dem Betätigen des Folgekontaktes ein zusätzliches Steuersignal vom Befehlsgeber ausgegeben wird. Vorteilhaft ist hier, daß der Bediener über diesen Befehlsgeber direkt die Geschwindigkeit beeinflussen kann.Another embodiment of the invention provides that for a stepless control the frequency reference between the first contacts of the command transmitter and the Operating the follow-up contact outputs an additional control signal from the command generator becomes. It is advantageous here that the operator directly via this command transmitter Speed can affect.
Hierbei kann als zusätzliches Steuersignal ein analoges Signal, wie z.B. eine elektrische Spannung, eingesetzt werden. Ein solches analoges System kann steuerungstechnisch vorteilhaft verarbeitet werden.An additional control signal can be an analog signal, e.g. an electrical Voltage. Such an analog system can control technology be processed advantageously.
Nach weiteren Merkmalen wird vorgeschlagen, daß die Größe des Analogsignals zum Zeitpunkt der Kontaktbetätigung eines ersten Kontaktes die Minimaldrehzahl und die Größe des Analogsignals zum Zeitpunkt der Betätigung des Folgekontaktes die jeweils maximal zulässige Drehzahl bzw. Frequenz definiert, so daß durch das Analogsignal alle Drehzahl-bzw. Frequenz-Sollwerte innerhalb des zulässigen Bereiches vorgegeben werden. Diese Maßnahmen bedeuten ein Optimum an Ausnutzung des Betätigungsweges des Befehlsgebers und eine größtmögliche Genauigkeit bzw. Auflösung.According to further features, it is proposed that the size of the analog signal for When the first contact is activated, the minimum speed and the size of the analog signal at the time the follow-up contact is actuated, the maximum in each case permissible speed or frequency defined so that all speed or. Frequency setpoints can be specified within the permissible range. This Measures mean optimum use of the actuation path of the Commanders and the greatest possible accuracy or resolution.
Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt, anhand dessen das
Verfahren näher beschrieben wird.
Es zeigen:
- Fig. 1
- ein Blockschaltbild der für das Verfahren erforderlichen Einrichtung und
- Fig. 2
- ein Diagramm für die Drehzahl und das Drehmoment des Asynchronmotors.
Show it:
- Fig. 1
- a block diagram of the equipment required for the method and
- Fig. 2
- a diagram for the speed and torque of the asynchronous motor.
Ein Asynchronmotor 1 treibt (oder bremst) über ein Getriebe 2 eine Seiltrommel 3, an deren
Seil 4 eine Last 5 hängt.
An den Asynchronmotor 1 ist in Form eines Impulsgebers 6 ein Drehzahlmesser 6a
angeschlossen, dessen Impulse 7 über eine erste Steuerleitung 8 an eine
Drehzahlsteuereinrichtung 9 gelangen. An die Drehzahlsteuereinrichtung 9 ist über eine
zweite Steuerleitung 10 eine Bremse 11 für den Asynchronmotor 1 zugeschaltet. Zwischen
dem Wechselstromnetz 12 und der Drehzahlsteuereinrichtung 9 ist ein Frequenzumrichter
13 geschaltet, der einen Wechselspannungsteil 13a, einen Gleichspannungsteil 13b und
einen Frequenzwandlerteil 13c enthält. An die Drehzahlsteuereinrichtung 9 ist über ein
Steuerkabel 14 ein Befehlsgeber 15 (Handsteuergerät) angeschlossen. Innerhalb des
Befehlsgebers 15 befinden sich Schalteinrichtungen 15a für "Heben der Last" und 15b für
"Senken der Last". Außerdem ist ein Schaltungsteil 15c für eine Veränderung der Spannung
eingebaut.An asynchronous motor 1 drives (or brakes) via a gear 2 a
A tachometer 6a is connected to the asynchronous motor 1 in the form of a
Die Bremsvorrichtung 11 weist eine elektrisch gelüftete Bremse auf. Bei Asynchronmotoren
1 mit Verschiebeläufer erfolgt die elektrische Bremslüftung mit dem Einschalten der
Motorklemmenspannung. Der Impulsgeber 6 erzeugt ein elektrisches Signal entsprechend
der Motordrehzahl "n".The brake device 11 has an electrically released brake. For asynchronous motors
1 with sliding rotor, the electrical brake ventilation takes place when the
Motor terminal voltage. The
Der Befehlsgeber 15 für Richtung und Geschwindigkeit der Hubbewegung ist über das
Steuerkabel 14 und die Drehzahlsteuereinrichtung 9 mit dem Frequenzumrichter 13 und mit
der Bremsvorrichtung 11 verbunden. Die Drehzahlsteuereinrichtung 9 erfaßt die Ist-Drehzahl
und die Drehrichtung des Asynchronmotors 1 und den Steuerbefehl des Befehlsgebers 15
für eine gewünschte Hubbewegung und bildet daraus den Frequenz-Sollwert für den
Frequenzumrichter 13 und einen maximal zulässigen Frequenz-Sollwert.The
Das Verfahren zum Überwachen und/oder Steuern der Drehzahl eines Elektroantriebs,
bestehend aus dem Asynchronmotor 1 mit Getriebe 2 und der Seiltrommel 3, wobei der
Asynchronmotor 1 über den Frequenzumrichter 13 an das Drehstromnetz 12 angeschlossen
ist, wird durch die auf den Asynchronmotor 1 wirkende Bremsvorrichtung 11 geprägt. Das
maximale Drehmoment 16 des Hubantriebs, herrührend aus dem Asynchronmotor 1, dem
Getriebe 2 und der Seiltrommel 3, das der Hubantrieb für das Anheben der Last 5 erzeugt,
wird kleiner als das Haltemoment 17 eingestellt (Fig. 2). Damit ist ein Asynchronmotor 1 mit
Frequenzumrichter 13 als Hubantrieb für Hebezeuge mit variabler Geschwindigkeit
geschaffen, der so gesteuert und überwacht ist, daß für verschiedene Lasten die maximale
Drehzahl derart begrenzt wird, daß eine gefährliche Lastbewegung durch Überschreiten des
verfügbaren Bremsmomentes 18 verhindert wird und gehobene Lasten sicher gehalten
werden können. Die Last wird daher bei Drehrichtungsumkehr immer sicher gehalten.The method for monitoring and / or controlling the speed of an electric drive,
consisting of the asynchronous motor 1 with
Hierbei ist dann sinnvoll, daß das verfügbare Bremsmoment 18 um einen Zuschlag 19 zu
dem maximalen Motordrehmoment 16 erhöht wird, der bei einer Senkbewegung der
maximalen Last mit der Nenngeschwindigkeit notwendig ist, um die gehobene Last 5 bis
zum Stillstand in einer zulässigen Zeit zu verzögern und damit sicher zu bremsen.It then makes sense that the
Für gehobene Lasten 5 wird eine maximal zulässige Frequenz für die Überschreitung der
Nenngeschwindigkeit ermittelt, wenn die Maximallast nicht erreicht wird. For
Die Drehzahlsteuereinrichtung 9 bestimmt die maximal zulässige Frequenz für die
angehängte Last 5 durch einen Vergleich der Ist-Drehzahl mit dem ausgegebenen
Frequenz-Sollwert zu einem Zeitpunk, wenn ein Folgekontakt des Befehlsgebers 15 betätigt
wird. Dieser leitet durch einen ersten Kontakt die Hubbewegung ein und löst durch dessen
Folgekontakt den Vergleichsvorgang aus.The
Für die Ermittlung der maximal zulässigen Frequenz wird der Frequenz-Sollwert für einen Elektroantriebs-Typenpunkt 20 (größte zulässige Last = Nennmoment)) vorgegeben, weil in diesem Punkt das Verhalten nahezu linear ist. Danach wird die Drehzahlabweichung gemessen und eine entsprechende größere maximale Frequenz ausgegeben, wenn die Drehzahlabweichung den Nennwert unterschreitet.To determine the maximum permissible frequency, the frequency setpoint for one Electric drive type point 20 (largest permissible load = nominal torque)) specified because in at this point the behavior is almost linear. Then the speed deviation measured and a corresponding larger maximum frequency is output if the Speed deviation falls below the nominal value.
Die Bremsvorrichtung 11 wird als Nothalte-Einrichtung aktiviert, wenn die
Drehzahlsteuereinrichtung 9 während der Hubbewegungen kontinuierlich die Abweichung
zwischen Drehzahl und Sollfrequenz auf den elektroantriebstypischen Grenzwert überwacht
und eine Grenzwertüberschreitung feststellt.The braking device 11 is activated as an emergency stop device when the
Für eine stufenlose Steuerung des Frequenz-Sollwertes zwischen den ersten Kontakten des
Befehlsgebers 15 und dem Betätigen des Folgekontaktes kann ein zusätzliches Steuersignal
vom Befehlsgeber 15 ausgegeben werden. Als zusätzliches Steuersignal wird ein analoges
Signal, wie z.B. eine elektrische Spannung, eingesetzt.For stepless control of the frequency setpoint between the first contacts of the
Die Größe des Analogsignals zum Zeitpunkt der Kontaktbetätigung eines ersten Kontaktes definiert die Minimaldrehzahl, und die Größe des Analogsignals zum Zeitpunkt der Betätigung des Folgekontaktes definiert die jeweils maximal zulässige Drehzahl bzw. Frequenz. Durch das Analogsignal werden alle Drehzahl- bzw. Frequenz-Sollwerte innerhalb des zulässigen Bereiches vorgegeben. The size of the analog signal at the time a first contact is activated defines the minimum speed, and the size of the analog signal at the time of Actuation of the follow-up contact defines the maximum permissible speed or Frequency. The analog signal keeps all speed and frequency setpoints within of the permissible range.
- 11
- AsynchronmotorAsynchronous motor
- 22nd
- Getriebetransmission
- 33rd
- SeiltrommelRope drum
- 44th
- Seilrope
- 55
- Lastload
- 66
- ImpulsgeberImpulse generator
- 6a6a
- DrehzahlmesserTachometer
- 77
- ImpulseImpulses
- 88th
- erste Steuerleitungfirst control line
- 99
- DrehzahlsteuereinrichtungSpeed control device
- 1010th
- zweite Steuerleitungsecond control line
- 1111
- BremsvorrichtungBraking device
- 1212th
- Wechselstromnetz/DrehstromnetzAC network / three-phase network
- 1313
- Frequenzumrichterfrequency converter
- 13a13a
- WechselspannungsteilAC voltage part
- 13b13b
- GleichspannungsteilDC voltage part
- 13c13c
- FrequenzwandlerteilFrequency converter part
- 1414
- SteuerkabelControl cable
- 1515
- BefehlsgeberCommanders
- 15a15a
- Schalteinrichtung "Heben""Lifting" switching device
- 15b15b
- Schalteinrichtung "Senken""Lowering" switching device
- 15c15c
- Schaltungsteil Veränderung der SpannungCircuit part change in voltage
- 1616
- maximales Drehmoment des Asynchronmotors unter Lastmaximum torque of the asynchronous motor under load
- 1717th
- Haltemoment der BremsvorrichtungHolding torque of the braking device
- 1818th
- verfügbares Bremsmomentavailable braking torque
- 1919th
- ZuschlagSurcharge
- 2020th
- Elektroantriebs-TypenpunktElectric drive type point
Claims (10)
- A method for monitoring and/or controlling the speed of a lifting drive with an asynchronous motor (1) connected via a frequency converter (13) to an A.C. or three-phase network and equipped with a braking device (11) and with a command initiator (15) having at least one contact for presetting a desired frequency value,
characterised in that
the speed control means (9) which controls the frequency converter (13) and the braking device (11) and detects the actual speed and the direction of rotation of the asynchronous motor (1), when the first contact of a command initiator (15) presetting the direction and the speed of the lifting movement is actuated, triggers the asynchronous motor (1) via the frequency converter (13) with a desired frequency value of less than or equal to the nominal frequency, and that the speed control means (9), upon the subsequently actuated subsequent contact of the command initiator (15), presets the nominal frequency as desired frequency value and determines the difference in speeds from the actual speed and the nominal speed, determines a maximum permissible speed of the asynchronous motor from this difference and triggers the asynchronous motor with this maximum permissible speed. - A method according to Claim 1, characterised in that the maximum torque which the lifting drive generates for lifting a load is set lower than the holding moment of the braking device.
- A method according to one of Claims 1 or 2, characterised in that the available braking moment (18) is increased by a supplement (19) to the maximum motor torque (16) which is necessary upon a lowering movement of the maximum load with the nominal speed in order to delay the raised load (5) until stoppage occurs within a permissible time.
- A method according to one of Claims 1 to 3, characterised in that for raised loads (5) a maximum permissible frequency for exceeding the nominal speed is determined if the maximum load is not reached.
- A method according to one of Claims 1 to 4, characterised in that a speed control (9) determines the maximum permissible frequency for the suspended load (5) by comparing the actual speed with the desired frequency value output at a time when the subsequent contact of a command initiator (15) is actuated, which initiates the lifting movement by a first contact and triggers the comparison operation by the subsequent contact thereof.
- A method according to one of Claims 1 to 5, characterised in that to determine the maximum permissible frequency first of all the desired frequency value for an electric drive type point (20) is preset and the speed deviation is measured and then a correspondingly larger maximum frequency is output to the frequency converter (13) if the speed deviation falls below the nominal value.
- A method according to one of Claims 1 to 6, characterised in that the speed control means (9) during the lifting movements continuously monitors the deviation between the speed and the desired frequency to the limit value typical of the electric drive and exceeding the limit value activates the braking device (11) as an emergency stop means.
- A method according to one of Claims 1 to 7, characterised in that an additional control signal is output by the command initiator (15) for infinitely variable control of the desired frequency value between the first contacts of the command initiator (15) and the actuation of the subsequent contact.
- A method according to Claim 8, characterised in that an analog signal, such as an electrical voltage, is used as the additional control signal.
- A method according to one of Claims 1 to 9, characterised in that the magnitude of the analog signal at the time of actuating a first contact defines the minimum speed and the magnitude of the analog signal at the time of actuating the subsequent contact defines the maximum permissible speed or frequency in each case, so that all the desired speed and frequency values are preset within the permissible range by the analog signal.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4440420A DE4440420C3 (en) | 1994-11-07 | 1994-11-07 | Method and device for monitoring and / or controlling the speed of an electric drive with frequency converter for hoists |
| DE4440420 | 1994-11-07 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0710619A2 EP0710619A2 (en) | 1996-05-08 |
| EP0710619A3 EP0710619A3 (en) | 1996-05-15 |
| EP0710619B1 true EP0710619B1 (en) | 2000-04-12 |
Family
ID=6533130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP95250263A Expired - Lifetime EP0710619B1 (en) | 1994-11-07 | 1995-10-31 | Procedure and device for monitoring and/or controlling the speed of an electric drive with frequency converter for lifting gears |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US5818185A (en) |
| EP (1) | EP0710619B1 (en) |
| JP (1) | JP3803128B2 (en) |
| DE (2) | DE4440420C3 (en) |
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|---|---|---|---|---|
| DE19752003C2 (en) * | 1997-11-24 | 1999-10-14 | Fuerstlich Hohenzollernsche We | Cable winch with liquid-cooled electric motor |
| DE19905020A1 (en) * | 1999-01-28 | 2000-08-10 | Mannesmann Ag | Continuous monitoring of normal crane functioning involves comparing predefinable lifting motion demand value with actual value, activating emergency brake if deviation excessive |
| FR2799903B1 (en) * | 1999-10-18 | 2002-01-04 | Leroy Somer | VARIATOR FOR THE CONTROL OF AN ELECTRIC LIFTING MOTOR |
| FI115966B (en) * | 2000-08-29 | 2005-08-31 | Kci Kone Cranes Int Oy | Method and apparatus for controlling the opening of the lifting motor brake |
| FI20002084A0 (en) * | 2000-09-21 | 2000-09-21 | Kci Kone Cranes Int Oy | Method for monitoring the operation of the crane brake |
| FR2816744B1 (en) * | 2000-11-15 | 2005-04-29 | Ledent Machines Equipements So | LIFTING STATION WITH EDUCATIONAL PURPOSE |
| DE20212912U1 (en) * | 2002-08-22 | 2003-12-24 | Bubenzer Bremsen Gerhard Bubenzer Ing. Gmbh | Electromechanical brake component has electric drive, spindle drive converting drive rotary motion or torque to linear control motion or force, with drive developing maximum torque, hence force when at rest |
| WO2004077177A1 (en) * | 2003-02-28 | 2004-09-10 | Gottwald Port Technology Gmbh | Method and device for safely disconnecting electric drives |
| DE10309218A1 (en) * | 2003-02-28 | 2004-09-16 | Gottwald Port Technology Gmbh | Electric drive safe disconnection method in which the drive position is monitored with sensors and the resultant signals compared in a redundant manner with predefined thresholds to switch off the drive if a limit is reached |
| US6986727B2 (en) * | 2003-12-23 | 2006-01-17 | Caterpillar Inc. | Retarding control for an electric drive machine |
| US7226037B2 (en) * | 2004-08-25 | 2007-06-05 | Key Energy Services, Inc. | System for assuring engagement of a hydromatic brake on a drilling or well service rig |
| US20070284170A1 (en) * | 2006-06-13 | 2007-12-13 | Kuras Brian D | Retarding control for hydromechanical drive machine |
| DE102007062609A1 (en) * | 2007-12-22 | 2009-06-25 | Aac-Concept Gmbh | Method for operating asynchronous motor, involves calculating changing current frequency with continuously detected motor torque on basis of load dependent speed characteristic |
| FR2949627B1 (en) * | 2009-09-03 | 2011-10-07 | Manitowoc Crane Group France | METHOD FOR VERIFYING THE STATUS OF A BRAKE OF A MECHANISM CONTROLLED BY A FREQUENCY CONVERTER OR OTHER CONTROLLER |
| ES2426329T3 (en) * | 2010-12-20 | 2013-10-22 | Christopher Bauder | Winch to provide a predetermined length of unwound cable |
| CN103288000B (en) * | 2013-06-28 | 2015-10-28 | 苏州工业园区职业技术学院 | The control system of chain bucket and control method |
| CN105129643A (en) * | 2015-06-17 | 2015-12-09 | 中国石油天然气集团公司 | Direct-drive winch system of single alternating-current variable-frequency asynchronous motor of drilling machine |
| DE102015218300C5 (en) | 2015-09-23 | 2025-01-02 | Flender Gmbh | Motor-driven crane drive and method for its operation |
| CN105217455B (en) * | 2015-10-26 | 2017-06-20 | 扬中市三环电热科技有限公司 | A kind of semi-automatic powder feeding machine lifting device |
| CN105217500B (en) * | 2015-11-17 | 2017-09-08 | 徐工集团工程机械股份有限公司 | Cable rolling control system and method |
| DE202015106629U1 (en) | 2015-12-04 | 2016-01-11 | Duallift Gmbh | Cable winch |
| JP6753795B2 (en) * | 2017-02-14 | 2020-09-09 | 株式会社神戸製鋼所 | Winch controller and crane |
| CN106946177B (en) * | 2017-04-24 | 2018-11-16 | 柳州市瑞中运钢材储运有限公司 | Bridge crane cart brake device |
| CN107522117B (en) * | 2017-09-30 | 2020-11-06 | 广州地铁设计研究院股份有限公司 | Hoist for starting vertical lifting civil air defense door |
| CN111332970B (en) * | 2019-12-26 | 2021-06-08 | 武汉港迪电气传动技术有限公司 | Method for quickly and stably hoisting heavy object |
| DE102023113964A1 (en) | 2023-05-26 | 2024-11-28 | Liebherr-Werk Nenzing Gmbh | Cable excavator with an electric drive |
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| US3345550A (en) * | 1965-02-03 | 1967-10-03 | Smith Corp A O | Hoist motor control |
| DE1781123A1 (en) * | 1968-08-28 | 1971-04-22 | Hilgers Ag | Brake arrangement for the asynchronous motor of a hoist |
| JPS52118752A (en) * | 1976-03-29 | 1977-10-05 | Sumitomo Metal Ind Ltd | Stalling prevention means for crane lifting and lowering means |
| US4145645A (en) * | 1976-10-13 | 1979-03-20 | Harnischfeger Corporation | Speed control means for squirrel-cage motor |
| DE2753729A1 (en) * | 1976-12-03 | 1978-06-08 | Clarke Chapman Ltd | VERTAEU WINCH DEVICE WITH A WINDING DRUM OPERATED IN NORMAL OPERATION BY A MULTI-PHASE AC MOTOR SUPPLIED BY A MULTI-PHASE AC MAINS |
| DD135980A3 (en) * | 1977-03-11 | 1979-06-13 | Dietrich Hoffmann | CLUTCH, ESPECIALLY FOR SMALL-ELECTRIC SUPPLEMENTS |
| US4278150A (en) * | 1979-05-22 | 1981-07-14 | Westinghouse Electric Corp. | Elevator system |
| US4402387A (en) * | 1981-07-21 | 1983-09-06 | Mitsubishi Denki Kabushiki Kaisha | Elevator control system |
| US4501343A (en) * | 1982-10-12 | 1985-02-26 | Otis Elevator Company | Elevator car load and position dynamic gain compensation |
| ATE57893T1 (en) * | 1986-08-28 | 1990-11-15 | Siemens Ag | METHOD FOR SUPPLYING ENERGY TO A THREE-PHASE MOTOR OF A HOIST AND EQUIPMENT FOR CARRYING OUT THE METHOD. |
| DE3710332C1 (en) * | 1987-03-28 | 1988-07-21 | Stahl R Foerdertech Gmbh | Electric train |
| AT395273B (en) * | 1988-06-13 | 1992-11-10 | Voith Werke | DRIVE FOR LIFTS OR THE LIKE. |
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| FR2648796B1 (en) * | 1989-06-23 | 1991-10-04 | Plateformes Structures Oceaniq | CONTROL DEVICE FOR A LIFTING WINCH, PARTICULARLY FOR A DRILLING INSTALLATION |
| DE4038981C2 (en) * | 1990-12-06 | 1998-05-07 | Man Ghh Logistics | Hoist drive, especially for a tower crane |
| EP0529120A1 (en) * | 1991-08-24 | 1993-03-03 | ABUS Kransysteme GmbH & Co. KG. | Control method for the drive of a lifting device |
| DE59303462D1 (en) * | 1992-03-04 | 1996-09-26 | Inventio Ag | Method and device for saving electrical energy for driving a hydraulic elevator |
| US5361565A (en) * | 1993-01-19 | 1994-11-08 | Bayer Robert F | Elevating system |
-
1994
- 1994-11-07 DE DE4440420A patent/DE4440420C3/en not_active Expired - Fee Related
-
1995
- 1995-10-25 US US08/547,986 patent/US5818185A/en not_active Expired - Lifetime
- 1995-10-26 JP JP30201595A patent/JP3803128B2/en not_active Expired - Fee Related
- 1995-10-31 DE DE59508166T patent/DE59508166D1/en not_active Expired - Lifetime
- 1995-10-31 EP EP95250263A patent/EP0710619B1/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JP3803128B2 (en) | 2006-08-02 |
| DE4440420C2 (en) | 1997-03-20 |
| DE4440420C3 (en) | 2003-07-24 |
| EP0710619A2 (en) | 1996-05-08 |
| DE59508166D1 (en) | 2000-05-18 |
| JPH08208189A (en) | 1996-08-13 |
| EP0710619A3 (en) | 1996-05-15 |
| DE4440420A1 (en) | 1996-05-09 |
| US5818185A (en) | 1998-10-06 |
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