公开(公告)号：US4887695A

公开(公告)日：1989-12-19

申请号：US275005

申请日：1988-11-22

Applicant: Gerhard Kindler

Inventor： Gerhard Kindler

IPC: B66B1/28 ,  B66B1/30

CPC classification number: B66B1/30 ,  B66B1/285

Abstract: 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.

Abstract translation: 用于改善距离控制定位驱动器的指令性能的方法和装置以及目的地区域中的定位性能响应于不同的干扰，例如改变载荷和摩擦条件，这些干扰作用于行驶到 定位驱动。 定期对距离控制进行优化，以达到一组常规的标准化运行参数，并且在每个行程中消除了由干扰引起的位置误差。 该控制是一个级联控制，通过直接偏置所产生的急动值，加速度和速度的所需值，进行四次正向校正。 区分可预测的确定性干扰和不可预测的随机干扰。 通过在测量装置中的冲击的第一阶段期间的启动测试来定量地检测确定性干扰。 补偿信号在函数发生器中，完全补偿相应的位置误差，直到行程结束。 随机位置误差在积分放大器中相等，直到行程结束。 对于一系列目的地，在距离控制误差乘数的短时间内剩余剩余距离控制误差增加。

公开(公告)号：US4598354A

公开(公告)日：1986-07-01

申请号：US561217

申请日：1983-12-14

Applicant: Gerhard Kindler ,  Ray Stanyard

Inventor： Gerhard Kindler ,  Ray Stanyard

IPC: B66B1/28 ,  G05B15/02 ,  H02P23/00 ,  H02P27/02 ,  H03K5/1536 ,  H02P7/00

CPC classification number: B66B1/28 ,  H02P23/0077 ,  H02P27/026 ,  H03K5/1536

Abstract: 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.

Abstract translation: 电梯驱动调节器的数据输入/输出装置接收与相关数字转速计连接的相关计数器的电梯轿厢的速度和位移的实际值。 数据通过接口进行评估并传输到驱动器调节器的数字计算机。 数字计算机将数据与存储的参考值进行比较，并计算驱动调节相关调整构件的输入值。 计算出的输入值通过接口发送到并存储在数据输入/输出装置的可编程多计数器中。 可编程多计数器包含三个计数器，每个计数器通过驱动级连接到与三相交流电梯驱动器的一相相关联的晶闸管。 同步装置确保所有晶闸管总是在与调整幅度对应的相同相位角处的任何一个时刻被点燃。 可编程多计数器的另一个计数器连接到驱动级，该驱动级在驱动调节中控制涡流制动器时起作用。

公开(公告)号：US4337848A

公开(公告)日：1982-07-06

申请号：US252877

申请日：1981-04-10

Applicant: Gerhard Kindler

Inventor： Gerhard Kindler

IPC: B66B1/06 ,  B66B1/28 ,  B66B1/32

CPC classification number: B66B1/304 ,  B66B1/32

Abstract: 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.

Abstract translation: 利用该启动控制装置，旨在减少由于叠加电动机启动力矩和负载力矩导致的电梯起动冲击，并提高电梯乘客的起动舒适度。 电梯的机电保持制动器的制动磁体为此用于调节装置，由此可以线性地减小电梯起动期间的制动力，从而可以获得线性上升 启动时刻的驱动。 制动力的线性下降首先出现在驱动电机的切入力矩峰值衰减之后。 这可以通过调节装置的基准值发送器的启动时间点与驱动电动机的最佳相关性以及基准值发送器的比例部分（P部分）获得，其传递函数近似对应于 PI调节器的时间行为。 切割力矩峰值只能具有不可预料的效果，因为制动弹簧的尺寸使得机械制动力矩达到电机额定力矩或扭矩的3倍至3.5倍。

公开(公告)号：US4493398A

公开(公告)日：1985-01-15

申请号：US490779

申请日：1983-05-02

Applicant: Gerhard Kindler

Inventor： Gerhard Kindler

IPC: H02P3/04 ,  B66B1/28 ,  B66B1/30 ,  H02P27/02 ,  B66B1/24

CPC classification number: B66B1/28 ,  H02P27/026

Abstract: 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.

Abstract translation: 在该驱动控制中，用于驱动电动机和涡流制动器的转速的调节电路在其静态和动态特性中匹配，使得可以将两个调节电路用于公共调节器。 通过设置用于将涡流制动器的励磁电流调节到转速调​​节电路的电流调节电路来实现匹配。 公共调节器的输出通过线性化构件作为参考值供给到减速阶段期间电流调节电路中的调节器。 在加速阶段期间，公共调节器的输出被提供给匹配元件，该匹配元件将扭矩变化与减速阶段相对于时间的扭矩变化相匹配。 匹配元件的输出通过线性元件连接到驱动马达的控制元件。 通过线性化构件，直流并联电机的特性近似可实现。 距离调节电路叠加在转速调节电路上。 距离基准值是在加速阶段以及减速阶段从加加速度和加速度量度得出的，从而可以实现最佳行驶曲线。