Inventio Ag

Iventio Ag

Gerhard Kindler

Ray Stanyard

A method and an apparatus for improving the command performance of distance controlled positioning drives, as well as the positioning performance in the region of the destination, responds to different interferences, such as changing load and friction conditions, which act from travel to travel on the positioning drive. A distance control is periodically optimized to a constant set of standardized operating parameters and the position errors caused by interferences are eliminated during every travel. The control is a cascade control with fourfold forward correction by direct bias of the generated desired values of the jerk, the acceleration, and the velocity. A distinction is made between predictable deterministic interferences and not predictable stochastic interferences. Deterministic interferences are detected quantitatively by a start up test during the first phase of jerk in a measuring means. A compensation signal is in a function generator which completely compensates the corresponding position error until the end of the travel. Stochastic position errors are equalized in an integrating amplifier until the end of the travel. For a range of destinations, the remaining residual distance control error is increased for a short time in a distance control error multiplier.

Position control method and apparatus for an elevator drive

The data input/output device of an elevator drive regulation receives actual values of the speed and of the displacement of an elevator cabin at related counters which are connected to related digital tachometers. The data are evaluated and transmitted via an interface to a digital computer of the drive regulation. The digital computer compares the data with stored reference values and computes input values for related adjusting members of the drive regulation. The computed input values are transmitted via the interface to and stored in a programmable multiple counter of the data input/output device. The programmable multiple counter contains three counters each of which is connected through a driver stage with a thyristor associated with one phase of a three-phase a.c.-elevator drive. A synchronizing device ensures that all thyristors are always ignited at any one time at the same phase angle which corresponds to the adjusting magnitude. A further counter of the programmable multiple counter is connected to a driver stage which acts upon the control of an eddy-current brake in the drive regulation.

Data input and output device for a drive regulation apparatus operated

In this drive control the regulating circuits for the rotational speed of a drive motor and of an eddy current brake are matched in their static and in their dynamic behavior so that a common regulator may be used for both regulating circuits. The matching is achieved by interposing a current regulation circuit for regulating the excitation current of the eddy current brake to the rotational speed regulating circuit. The output of the common regulator is supplied via a linearization member as a reference value to a regulator in the current regulation circuit during the deceleration phase. During the acceleration phase the output of the common regulator is supplied to a matching element matching the variation of the torque to the variation of the torque during the deceleration phase with respect to time. The output of the matching element is connected to the control member of the drive motor via a linearization member. By means of the linearization members the characteristics of a d.c.-shunt motor are approximately achievable. A distance regulating circuit is superposed on the rotational speed regulating circuit. The distance reference value is derived from jerk and acceleration magnitudes during the acceleration phase as well as during the deceleration phase, so that an optimum travel curve is achievable.

Drive control for a transportation system, especially an elevator

With this start-up control apparatus it is intended to reduce the starting jerk at elevators resulting from superimposing the motor cut-on moment and load moment and to improve the starting comfort of the elevator passengers. The brake magnet of the electromechanical holding brake of the elevator is connected for this purpose with a regulation device, by means of which there can be linearly decreasingly controlled the braking force during the elevator's start-up, so that there can be obtained a linearly ascending start-up moment of the drive. The linear decrease of the braking force first appears following decay of the cut-on moment peak of the drive motor. This can be obtained by optimum correlation of the start-up time point of a reference value transmitter of the regulation device and the drive motor as well as the proportional part (P-part) of the reference value transmitter, whose transfer function approximately corresponds to the time behavior of a PI-regulator. The cut-on moment peak can only have an inappreciable effect, since the brake spring is dimensioned such that the mechanical brake moment amounts to 3-fold to 3.5-fold of the motor rated moment or torque.

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Meggen, Switzerland

Gerhard Kindler