JPH0712911B2 - Control device for hoisting / lowering machine - Google Patents

Description

The present invention relates to a hoisting / lowering machine controller.

[Conventional technology]

FIG. 4 is a circuit diagram showing a main part configuration of a conventional example of a hoisting / lowering machine control device.

At the time of starting the hoisting / lowering machine, it is important not to give a shock to the load (for example, hanging or jumping out of the gauge). Normally, as shown in the figure, the speed command generation circuit 1 of the control device
Outputs an S-curve speed command N _REF from zero speed. On the other hand, since the required starting torque varies depending on the weight of the load, the load weight is measured using a load detector (not shown) to prevent shock at the time of starting, and the load detection signal 21
Then, the required starting torque is calculated using the starting torque generator 22. Further, it is necessary to add not only the starting torque for the load but also the torque for overcoming the static friction force of the mechanical system at the time of starting. This is the fixed amount, and the starting torque for the load is added to obtain the starting torque correction input 23. . The speed controller 2 inputs the speed command N _REF , the starting torque correction input 23 is added to the output, and the torque command 24 is output to the drive circuit (not shown). After the start of operation, the speed feedback signal N _FB is fed back to enter the normal operation state.

[Problems to be Solved by the Invention]

The above-mentioned conventional hoisting / lowering machine control device requires an expensive load detector, and the static friction force of the mechanical system varies depending on the familiarity of the mechanical system and the starting direction. It is necessary to give a value, but it is difficult and the simple method of giving it as a fixed amount of the normal expected value has a drawback that the starting torque correction input 24 does not always become an appropriate value and gives a shock to the load.

[Means for Solving the Problems]

The hoisting / lowering machine controller of the present invention generates the torque compensation input initial value immediately before the hoisting / lowering operation command is input and the hoisting / lowering brake is opened, and uses this as the torque command. , The torque compensation input value is continuously increased via an integrator, and the value is held when the electric motor starts to be started, and after a predetermined holding time, the held value is made zero through a circuit including a first-order lag element. A torque compensation input generation circuit whose output terminal is reset, the output terminal of which is connected to the output side of the speed controller, a start determination circuit that detects when the hoisting / lowering motor has started to start, and a start discrimination circuit・ A speed command generation permission circuit that allows the speed command generation circuit to generate a speed command and outputs a signal to the torque compensation input generation circuit to hold the torque compensation input value when the start of the down motor is detected do it That.

[Action]

When a hoisting or hoisting operation command is given, the torque compensation input generation circuit outputs the torque compensation input initial value to the electric side immediately before opening the brake (while the motor is stopped).
By subsequently increasing its value, the load is started when the torque output exceeds the sum of the starting torque for the load and the static friction of the mechanical system. At this point, the start determination circuit detects the start of the load and, in response to this, causes the torque compensation input generation circuit to hold the torque compensation input by the signal output from the speed command generation permission circuit, and then gradually through the primary delay circuit. In order to prepare for the next start, a speed command is output from the speed command generation circuit of the control device, and the load is not driven according to the torque command output from the speed controller in response to the speed command. Continued.

In this way, the torque for overcoming the static friction force of the mechanical system while the load is still stopped and the starting torque for the load are output as the torque command, and after canceling these influences and starting, the speed command is issued. To give a torque command according to
A proper torque command can always be obtained, and a smooth starting characteristic can be obtained without applying a shock at the time of starting to the load.

〔Example〕

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a circuit diagram showing a main configuration of an embodiment of a hoisting / lowering machine controller of the present invention, FIG. 2 is a timing chart for explaining the operation of the present embodiment, and FIG. 3 (a). ) And (b) are respectively an oscillogram showing a starting characteristic when the starting torque of the hoisting / lowering machine is compensated and a starting characteristic when the starting torque is not compensated according to the present embodiment.

In this embodiment, instead of the starting torque generator 22 in the configuration of the conventional example shown in FIG. 4, a torque compensation input generating circuit 3 is used.
The start discrimination circuit 4 and the speed command generation permission circuit 5 are installed. The torque compensation input generation circuit 3 is excited by the delay devices 6 and 7 which are respectively inputted with the ascending operation command FRUN and the descending operation command RRUN and output after a predetermined time limit, and the output of the delay device 6 or 7. Also in the case, the relay circuit 8 that generates the initial value TCPF or TCPR of the initial torque compensation input 9 on the electric side and the integrator that inputs and integrates these initial values TCPF or TCPR and outputs as the torque compensation input 9
10 and when the motor starts to move (speed command generation permission signal
A holding / resetting circuit 11 that holds the value of the torque compensation input 9 at the time (when TANS is output), and lowers the holding value to 0 and resets it via a first-order lag element after a predetermined time limit.
The output of the hold / reset circuit 11 is summed with the torque command 16 output from the speed controller 2 to form the torque command 12 to the drive circuit (not shown). The start determination circuit 4 receives an absolute or positive torque command 16 of the speed controller 2 and converts the absolute value into an absolute value circuit 13, a resistance circuit 14 for setting a level for detecting the start of the electric motor, and those circuits. Of the absolute value circuit 13 and outputs a signal 17 when the output of the absolute value circuit 13 exceeds the starting level set value. The speed command generation permission circuit 5 receives the signal 17 from the start discrimination circuit 4 and is excited, and closes the contact to output the speed command generation permission signal TANS.

Next, the operation of the present embodiment will be described with reference to the timing chart in the case of the ascending operation (normal rotation).

When the operator inputs a rising operation command FRUN at time t ₀ , the brake circuit (not shown) is excited, and the brake opens after the time from time t ₀ to time t ₂ (usually 0.2 to 0.3 s). In the torque compensation input circuit 3, the relay circuit 8 operates at time t ₁ because of the delay device 6 considering this brake release delay time, and outputs the torque compensation input initial value TCPF in the forward rotation direction. This torque compensation input initial value TCPE is 20 from the input time t ₁
~30ms the time t ₂ delayed setting the delay unit 6 so that the timing at which the brake is open. The integrator 10 integrates and increases the torque compensation input initial value TCPF that is continuously input,
The output (torque compensation input 9) is the holding / resetting circuit 11
Is transmitted to the motor drive circuit as a torque command 12 via
A motor (not shown) generates torque and sequentially increases its value. Then, at time t ₃ , the torque of the motor reaches a value required to overcome the static frictional force of the mechanical system and start the load, and thereafter the motor starts rotating. Therefore, since the speed feedback signal N _FB (negative direction) of the speed control loop is input, the speed controller 2 starts outputting the torque command 16. Start discriminating circuit 4 since the torque command 16 to the time t ₄ greater than set by the resistor circuit 14 the start determination level (-a) is the signal
17, the speed command generation permission circuit 5 receives this and outputs the speed command generation permission signal TANS. Therefore, the speed command generating circuit 1 starts outputting the speed command N _REF according to the designated curve from time t _{5 with a} delay of 10 to 20 ms, and the torque command 16
Rises rapidly and therefore the motor speed N _FB rises accordingly. The torque compensation input 9 that has continued to increase is held constant at that level by the holding / resetting circuit 11 after time t ₄ when the electric motor starts to move. This is because if the torque compensation input 9 is excessively input, the torque command 12 will increase or decrease (depending on whether it is positive or negative) with respect to the torque command 16 and the difference between the speed command N _REF and the actual speed N _FB will increase. This is to keep the amount to the minimum necessary. Then, a timer (not shown) held reset at time t ₇ through the certain time by the circuit 11 releases the retention of the torque compensation input 9, the interior of the first-order lag element so as not to disturbance respect to the speed control reset the time t ₈ to reduce gradually the value through to prepare for the next start. After that, the motor follows only the torque command 16 from the speed controller 2. On the other hand, the speed command generation permitting circuit 5 is also reset by the reset circuit (not shown) at the time t ₇ using the same timer, and similarly, it prepares for the next start. Since the speed command generation circuit 1 is reset at the next stop after the output is started, it is irrelevant to the reset of the speed command generation permission signal TANS.

The oscillogram in Fig. 3 (a) shows an experimental example in which the starting torque is compensated. The torque command 12 is output after the operation command RRUN is input, and the torque command 12 reaches about 50%. Speed command generation permission signal when the motor starts moving
It is output by TANS. The motor speed N
_It can be understood that the _FB rises in line with the speed command N _REF without delay. In this embodiment, the initial value TCPR of the torque compensation input 9 is set to 0. On the other hand, Fig. 3 (b) shows the case where the starting torque compensation is not performed, and the torque command 12 is output at the same time when the operation command RRUN is input, whereas the motor speed N _FB is delayed considerably and rapidly. It shows that it does not follow the speed command N _REF .

In the above-described embodiment, the start of the motor is detected by using the torque command 16 which is the output of the speed controller 2, but instead of this, a method based on the output pulse count of the speed feedback signal N _FB or the encoder is used. You may use.

〔The invention's effect〕

As described above, the present invention outputs the torque compensation input initial value using the torque compensation input generation circuit immediately before opening the brake when a hoisting or lowering operation command is given,
Then, increase the value to start the load when the torque output exceeds the total of the starting torque against the load and the static friction force of the mechanical system, while using the start determination circuit and the speed command generation permission circuit By detecting the start-up and allowing the speed command generation of the speed command generation circuit, and then outputting the torque command according to the speed command and continuing the operation of the load, 1. An expensive load detector is not required 2 Proper starting torque command can be obtained without being affected by load and mechanical conditions 3. Smooth starting characteristics can be obtained without giving shock (hanging or jumping) at starting .

[Brief description of drawings]

FIG. 1 is a circuit diagram showing a main configuration of an embodiment of a hoisting / lowering machine controller of the present invention, FIG. 2 is a timing chart for explaining the operation of the present embodiment, and FIG. 3 (a). ) And (b) are respectively an oscillogram showing the starting characteristics when the starting torque of the hoisting / lowering machine according to the present embodiment is compensated and the starting characteristics when the starting torque is not compensated, FIG. FIG. 6 is a circuit diagram showing a configuration of a main part of a conventional example of a hoisting / lowering machine control device. 1 ... Speed command generation circuit, 2 ... Speed controller, 3 ... Torque compensation input generation circuit, 4 ... Start determination circuit, 5 ... Speed command generation permission circuit, 6, 7 ... Delay device, 8, 9 …… Relay circuit, 10 …… Integrator, 11 …… Holding / resetting circuit, 12 ……
Torque command, 13 ... Absolute value circuit, 14 ... Resistance circuit, 15 ...
… Comparator, 16 …… Torque command, 17 …… Signal, FRUN …… Up operation command, RRUN …… Down operation command, N _REF …… Speed command, N _FB …… Motor speed, TANS …… Speed command generation permission Signal, TCPF …… Torque compensation input initial value (increase), ± a ……
Torque command 16 level setting value, I _FB ...... Motor current, t ₀
~ T ₇ ... time.

Claims (1)

[Claims] 1. A hoisting / lowering machine controller for controlling a hoisting / lowering electric motor by giving a torque command to a drive circuit by a speed controller based on a speed command generated by a speed command generating circuit, Immediately before the hoisting / lowering operation command is input and the hoisting / lowering brake is opened, the torque compensation input initial value is generated and used as the torque command, and this torque compensation input value is continuously passed through the integrator. When the motor starts increasing and starts to increase, the value is held, and after a predetermined holding time, the held value is reset to zero through a circuit including a first-order lag element, and the output terminal is an output side of the speed controller. The torque compensation input generation circuit connected to, the start judgment circuit that detects when the hoisting / lowering motor has started, and the speed when the start judgment circuit detects the start of the hoisting / lowering motor. Command generation Hoisting and lower machine control apparatus characterized by having a speed command generating permission circuit which outputs a signal for holding the torque compensation input value to a torque compensation input generating circuit as well as allow the generation of the velocity command to the road.