WO2018092322A1 - Dispositif de diagnostic pour frein électromagnétique - Google Patents

Dispositif de diagnostic pour frein électromagnétique Download PDF

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Publication number
WO2018092322A1
WO2018092322A1 PCT/JP2016/084867 JP2016084867W WO2018092322A1 WO 2018092322 A1 WO2018092322 A1 WO 2018092322A1 JP 2016084867 W JP2016084867 W JP 2016084867W WO 2018092322 A1 WO2018092322 A1 WO 2018092322A1
Authority
WO
WIPO (PCT)
Prior art keywords
fault
armature
section
electromagnetic brake
electromagnetic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/084867
Other languages
English (en)
Inventor
Alexandru Forrai
Takaharu Ueda
Akiyuki Toritani
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to PCT/JP2016/084867 priority Critical patent/WO2018092322A1/fr
Publication of WO2018092322A1 publication Critical patent/WO2018092322A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0037—Performance analysers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/18—Electric or magnetic
    • F16D2121/20—Electric or magnetic using electromagnets
    • F16D2121/22—Electric or magnetic using electromagnets for releasing a normally applied brake

Definitions

  • Patent Literature 1 discloses an industrial robot having a plurality of independently controlled electromagnetic brakes.
  • Patent Literature 2 is disclosing an electromagnetic actuator driving method, in particular for actuating valves in an internal combustion engine.
  • Patent Literature 3 as well Patent Literature 4 are disclosing a methods and devices for operating and diagnosing injection valves.
  • the armature position of an electromagnetic brake is usually monitored by a sensor/sensing device, such as capacitive displacement sensor, infra-red displacement sensor, acceleration sensor, switches or a micro-switch, etc., but so-called “sensorless” solutions in which mechanical variables, e.g. speed or position are not measured are also known.
  • a sensor/sensing device such as capacitive displacement sensor, infra-red displacement sensor, acceleration sensor, switches or a micro-switch, etc.
  • a switch or a micro-switch to monitor the armature position is a cost effective solution.
  • a switch contains moving mechanical part, thus the reliability of the monitoring solution depends at least on the initial setting of the switch/micro-switch and its wear in time.
  • Using a sensor/sensing device to monitor the armature movement and/or position are less cost effective due to the imposed strict technical requirements. These strict technical requirements are due to: limited range of the armature movement, operating temperature range of the electromagnetic brake and/or strong electromagnetic field generated by the electromagnetic actuator itself. However, sensor based monitoring solutions can achieve good reliability.
  • Patent Literature 6 is disclosing a failure diagnosis device for elevator electromagnetic brake, having an acceleration sensor by detecting the acceleration of the brake plunger when is operated.
  • the disclosed diagnosis device requires an acceleration sensor, which often is not a cost effective solution.
  • Patent Literature 10 is disclosing an armature position estimation method by estimating the electromagnetic inductance when a certain current pattern is injected using a hysteresis controller.
  • Patent Literature 11 describes a method for regulating the current flow through an electromagnetic actuator by means of pulse width modulation (PWM).
  • Observer-based solutions are also known - for example angular speed and angular position estimation of electric machines. These solutions are model-based, assuming in most of the cases a linear model for the electric machine - assumption, which is true as long as the electric machine is not magnetically saturated.
  • Patent Literature 14 and Patent Literature 15 are disclosing a state and parameter estimator, such as state of charge and open circuit voltage estimator, applied for electrical energy accumulators as well as electrical energy accumulators.
  • Patent Literature 16 is discloses a system, which estimates the lateral velocity of a vehicle by minimizing an error between the estimated and measured axle forces.
  • sensor-based solutions offer good diagnosis reliability but are not cost effective.
  • model-based "sensorless” solutions are desired from cost point of view but the reliability of the diagnosis depends on the accuracy of the model and the used estimation method.
  • the diagnosis device proposed in this invention is going to overcome those disadvantages.
  • the present inventions relates to "sensorless" diagnosis of electromagnetic brakes.
  • the operation of the electromagnetic brake can be divided in three regions including normal, under warning and faulty operation, is diagnosed using only the detected current through the electromagnetic brake coil and the applied input voltage. Therefore, only the electrical variables of the electromagnetic brake are sensed and no sensors or sensing devices are used to detect mechanical variables such as armature position or armature speed.
  • the proposed solution is cost effective. Furthermore, diagnosing the operation of the electromagnetic brake can be a requirement in safety related applications, where the brake is the end actuator of the safety loop.
  • the fault-isolation section of the diagnosis device displays the status including e.g. normal, warning and faulty of the electromagnetic brake as well as sends this information via a communication link to a gateway so remote diagnosis is possible.
  • FIG. 3 is an illustrative example showing armature current and position for normal operation as well as for armature locked operation according to the first embodiment of the present invention.
  • FIG. 5 is a detailed view of the piecewise linear observer according to embodiments of the present invention, which resembles the well-known Luenberger state-observer.
  • FIG. 7 is a detailed view of unknown input observer used for spring force estimation according to the second embodiment of the present invention.
  • FIG. 9 is an illustrative example showing the operating regions for a practical case during armature pull-up and release according to the second embodiment of the present invention.
  • the electrical machine 1 which is e.g. an execution element in a motion control system is connected to a brake drum/disk 2, on which the brake shoe 3 is applied, when the electromagnetic brake - comprising a moving armature 4, mechanical springs 5 and coil 6 - is released.
  • the electromagnetic brake is commanded including pulled-up and release commands or controlled via the control unit 7, which receives the command or control reference from section 8.
  • the electric current through the brake coil is sensed via a sensor or sensing device 9 and the information is sent to the control unit 7 as well as diagnosis unit 10, which also receives as input the applied voltage on the electromagnetic brake, defined by section 7.
  • the diagnosis unit 10 is connected via a communication link 11 to the gateway 12, so remote diagnosis of the electromagnetic brake is possible.
  • the command/control unit can be a simple switch or a half H-bridge and the current sensor or sensing device can be a simple resistor or a current sensor e.g. based on Hall-effect.
  • A, B, C and D are state-space matrices - reference to them will be made later
  • T is the transpose operator
  • the state-space matrices A, B are not constant, since the electromagnetic brake which is an actuator is a nonlinear system.
  • the state observer 13 which is e.g. a piecewise linear observer receives its inputs, armature current (i), applied voltage (Vin) and spring force (Fs) based on which it estimates the state vector (x).
  • armature current i
  • Vin applied voltage
  • Fs spring force
  • the above mentioned time moments can be calculated by comparing the estimated position (z) or estimated speed (v) with certain threshold values.
  • the current estimation error denoted by ei is the error between the measured current (i) and the estimated current (Q.
  • the armature starts to move when the absolute value of error derivate (
  • This time moment corresponds to the time moment denoted by (ti).
  • (TH1) is a strictly positive constant.
  • the fault-detection section 14 calculates the estimated armature displacement denoted by ( ⁇ ) and the estimated kinetic energy variation of the moving armature denoted by (AEc).
  • the fault-detection indicator/measure (Fd) is using both the estimated stroke and estimated speed - it combines them in a single metric for better fault-detection as explained below.
  • armature stroke as a fault-detection indicator/measure might be sufficient in several applications.
  • including the estimated kinetic energy can enhance the fault-detection process.
  • the armature stroke is nominal/normal, however the estimated kinetic energy which is based on the estimated speed is lower than the nominal/normal values. This is an indication of slow/slower armature pull- up/release, which can raise a warning indication and can be essential especially in safety related application, where brake pull-up/release time can be a requirement.
  • warning region can also be useful for predictive maintenance purposes as well as to increase the availability and/or to increase mean time between failures of the electromagnetic brake.
  • the fault-isolation section 15 defines three regions, corresponding to: faulty operation, operation under warning and normal operation. Based on these regions - section 15 - it clusters the fault-detection indicator/measure (Fd) and displays the status of the electromagnetic brake on the status indicator 16.
  • Fd fault-detection indicator/measure
  • fault-isolation section 15 is connected to a gateway 12 via a communication link 1 1, so remote diagnosis of the electromagnetic brake is possible.
  • the thresholds defining the operation regions including normal, warning and faulty during armature pull-up and release are not the same.
  • the electrical energy required for armature pull-up is higher than the mechanical energy released during armature release.
  • the threshold values between normal/warning/faulty operation regions are application specific and can be decided using interval halving methods. These regions are shown on FIG. 4.
  • FIG. 5 basically resembles the well-known Luenberger observer (see Non Patent Literature 1).
  • the state-space matrices A, B are not constant, since the electromagnetic brake which is an actuator is a nonlinear system.
  • the L L(i, z) is designed is such a way that the observer is stable and the dynamics fulfills the application dynamic requirements.
  • L L(i, z) such that the eigenvalues of the A(i, z)-L(i, z) ⁇ C matrix have negative real part, in this case the observer is stable, for all possible armature current and armature position combinations [1].
  • the second embodiment of the present invention is shown in FIG. 6 and in addition to the first embodiment of the present invention it contains an unknown input observer 17, which is used to estimate the spring force.
  • the unknown input observer 17 receives the measured value of the electromagnetic current (i) and the applied voltage (Vin). Based on these two values section 17 estimates the spring force (Fs) and sends it to the state observer, section 13.
  • FIG. 7 is a detailed view of the unknown input observer.
  • the subscript ( ) denotes that the matrices are related to the model with locked armature.
  • the armature release or pull-up operation is uniquely defined by the applied voltage (Vin) via section 8 and section 7 as shown in FIG. 1
  • the armature starts to move when the absolute value of error derivate calculated by section 18 exceeds a certain positive threshold denoted by ⁇ , which is specified by section 19.
  • section 18 amplifies the error derivate with a positive constant (fc ⁇ ) and also it low-pass filters.
  • the low-pass filter is having a cutoff frequency denoted by ( ⁇ ).
  • section 19 when the armature starts to move, section 19 triggers the switch defined in section 20 as well as section 21 samples and holds the estimated electromagnetic force defined by section 22.
  • the estimated spring force represents one of the inputs of the state observer 13. After the spring force is estimated the fault detection, fault isolation, status visualization and status data transmission is done according to the first embodiment of this invention.
  • FIG. 8 is an illustrative example of the armature speed (solid line) and estimated speed (dashed line) during armature pull-up and release, when the armature speed and position are estimated according to the method described in the second embodiment of this invention.
  • FIG. 9 is an illustrative example showing the operating regions for a practical case during armature pull-up and release.
  • the asterisks (*) in FIG. 9 relates to real values and the crosses (+) to estimated values.
  • the spring force as well as the armature displacement undergo variations, e.g. due to settings and manufacturing dispersion.
  • the diagnosis device for the electromagnetic brake of this invention is applicable to electromagnetic brakes in many kinds of fields.

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  • Braking Arrangements (AREA)

Abstract

La présente invention concerne un dispositif de diagnostic pour freins électromagnétiques utilisés dans des systèmes de commande de mouvement, des applications liées à la sécurité ou des systèmes critiques pour la sécurité. Le diagnostic du frein électromagnétique est réalisé en détectant uniquement la tension appliquée et le courant mesuré, de sorte qu'il s'agit d'une solution économique. En se basant sur les variables électriques détectées, la vitesse et la position de l'induit sont estimées en utilisant un observateur d'état linéaire par morceaux. Une détection de défaut et une isolation de défaut sont ensuite effectuées en utilisant la vitesse et la position estimées. Le résultat de l'isolation du défaut est présenté sur un indicateur d'état et il est également transmis à une passerelle en utilisant une liaison de communication, de sorte qu'un diagnostic à distance est possible.
PCT/JP2016/084867 2016-11-16 2016-11-16 Dispositif de diagnostic pour frein électromagnétique Ceased WO2018092322A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/084867 WO2018092322A1 (fr) 2016-11-16 2016-11-16 Dispositif de diagnostic pour frein électromagnétique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/084867 WO2018092322A1 (fr) 2016-11-16 2016-11-16 Dispositif de diagnostic pour frein électromagnétique

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WO2018092322A1 true WO2018092322A1 (fr) 2018-05-24

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110018678A (zh) * 2019-02-14 2019-07-16 电子科技大学 一种网联汽车控制系统的故障诊断方法
CN110209148A (zh) * 2019-06-18 2019-09-06 江南大学 一种基于描述系统观测器的网络化系统的故障估计方法
WO2020147718A1 (fr) * 2019-01-18 2020-07-23 西人马帝言(北京)科技有限公司 Procédé de diagnostic des panne d'ascenseur, appareil, dispositif et support de stockage informatique
CN111606165A (zh) * 2019-02-26 2020-09-01 肯德隆（菲林根）有限公司 电磁制动器或离合器
WO2021098634A1 (fr) * 2019-11-19 2021-05-27 Electrical And Mechanical Services Department, The Government Of Hong Kong Special Administrative Region Système d'analyse de données non intrusif pour surveillance intelligente et adaptative d'état d'ascenseur
US20220281716A1 (en) * 2021-03-08 2022-09-08 Otis Elevator Company Elevator brake performance detection method, detection device and elevator brake
CN115043347A (zh) * 2021-03-08 2022-09-13 奥的斯电梯公司 抱闸、判断其状态的方法、曳引机及电梯系统
US11505426B2 (en) 2018-12-10 2022-11-22 Otis Elevator Company Brake device, a test method for the brake device and an elevator system
CN117550446A (zh) * 2022-08-04 2024-02-13 三菱电机楼宇解决方案株式会社 电梯的安全装置
CN118914701A (zh) * 2024-07-18 2024-11-08 扬州工业职业技术学院 一种电磁闸的故障诊断系统

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61287684A (ja) * 1985-06-13 1986-12-18 日立エレベ−タサ−ビス株式会社 エレベ−タ−電磁ブレ−キの動作状態検出装置
JPH06107387A (ja) * 1992-09-28 1994-04-19 Hitachi Building Syst Eng & Service Co Ltd エレベーター電磁ブレーキの検査装置
JP2007084177A (ja) * 2005-09-20 2007-04-05 Toshiba Elevator Co Ltd エレベータ制御システム
JP2010084930A (ja) * 2008-10-02 2010-04-15 Gkn Driveline Japan Ltd デファレンシャル装置
US20150053507A1 (en) * 2012-05-31 2015-02-26 Kone Corporation Brake controller, elevator system and a method for performing an emergency stop with an elevator hoisting machine driven with a frequency converter

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61287684A (ja) * 1985-06-13 1986-12-18 日立エレベ−タサ−ビス株式会社 エレベ−タ−電磁ブレ−キの動作状態検出装置
JPH06107387A (ja) * 1992-09-28 1994-04-19 Hitachi Building Syst Eng & Service Co Ltd エレベーター電磁ブレーキの検査装置
JP2007084177A (ja) * 2005-09-20 2007-04-05 Toshiba Elevator Co Ltd エレベータ制御システム
JP2010084930A (ja) * 2008-10-02 2010-04-15 Gkn Driveline Japan Ltd デファレンシャル装置
US20150053507A1 (en) * 2012-05-31 2015-02-26 Kone Corporation Brake controller, elevator system and a method for performing an emergency stop with an elevator hoisting machine driven with a frequency converter

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11505426B2 (en) 2018-12-10 2022-11-22 Otis Elevator Company Brake device, a test method for the brake device and an elevator system
WO2020147718A1 (fr) * 2019-01-18 2020-07-23 西人马帝言(北京)科技有限公司 Procédé de diagnostic des panne d'ascenseur, appareil, dispositif et support de stockage informatique
CN110018678B (zh) * 2019-02-14 2021-05-14 电子科技大学 一种网联汽车控制系统的故障诊断方法
CN110018678A (zh) * 2019-02-14 2019-07-16 电子科技大学 一种网联汽车控制系统的故障诊断方法
CN111606165A (zh) * 2019-02-26 2020-09-01 肯德隆（菲林根）有限公司 电磁制动器或离合器
CN111606165B (zh) * 2019-02-26 2022-07-08 肯德隆（菲林根）有限公司 电磁制动器或离合器
CN111606165B9 (zh) * 2019-02-26 2022-08-05 肯德隆（菲林根）有限公司 电磁制动器或离合器
CN110209148A (zh) * 2019-06-18 2019-09-06 江南大学 一种基于描述系统观测器的网络化系统的故障估计方法
WO2021098634A1 (fr) * 2019-11-19 2021-05-27 Electrical And Mechanical Services Department, The Government Of Hong Kong Special Administrative Region Système d'analyse de données non intrusif pour surveillance intelligente et adaptative d'état d'ascenseur
US20220281716A1 (en) * 2021-03-08 2022-09-08 Otis Elevator Company Elevator brake performance detection method, detection device and elevator brake
CN115043282A (zh) * 2021-03-08 2022-09-13 奥的斯电梯公司 电梯制动器性能检测方法和检测装置以及电梯制动器
EP4056509A1 (fr) * 2021-03-08 2022-09-14 Otis Elevator Company Procédé de détection de la performance d'un frein d'ascenseur, dispositif de détection et frein d'ascenseur
EP4056520A1 (fr) * 2021-03-08 2022-09-14 Otis Elevator Company Frein, procédé de détermination de son état, machine de traction et système d'ascenseur
CN115043347A (zh) * 2021-03-08 2022-09-13 奥的斯电梯公司 抱闸、判断其状态的方法、曳引机及电梯系统
CN117550446A (zh) * 2022-08-04 2024-02-13 三菱电机楼宇解决方案株式会社 电梯的安全装置
CN118914701A (zh) * 2024-07-18 2024-11-08 扬州工业职业技术学院 一种电磁闸的故障诊断系统

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