Control of interconnected trolleys

摘要

A hoist trolley assembly includes first and second hoist trolleys, electric motors to drive the trolleys and a control system. The control system receives a preliminary speed reference for the trolleys and forms a final speed reference for the first hoist trolley by using initial data including the preliminary speed reference. The control system is adapted to use a hoist trolley coefficient Krb that is calculated by;krb=TA_nomTB_nom·vB_nomvA_nom·mTB+mLBmTA+mLA,
wherein TA—nom=the rated torque of the electric motor of the first hoist trolley, TB—nom=the rated torque of the electric motor of the second hoist trolley, vA—nom=nominal speed of the first hoist trolley, vB—nom=nominal speed of the second hoist trolley, mTA=dead weight of the first hoist trolley, mTB=dead weight of the second hoist trolley mLA=load of the first hoist trolley, and mLB=load of the second hoist trolley.

主权项

1. A hoist trolley assembly that comprises a first hoist trolley, drive equipment for the first hoist trolley, a second hoist trolley, drive equipment for the second hoist trolley, and a control system, the first hoist trolley being connected to the second hoist trolley in such a manner that the first hoist trolley and the second hoist trolley are arranged to move at the same speed, both the drive equipment of the first hoist trolley and the drive equipment of the second hoist trolley comprising an electric motor, the control system being adapted to receive a preliminary speed reference for the interconnected first hoist trolley and second hoist trolley and to form a final speed reference for the first hoist trolley by using initial data that comprise the preliminary speed reference, wherein the control system is adapted to use in forming the final speed reference for the first hoist trolley a hoist trolley coefficient krb that is calculated bykrb=TA_nomTB_nom·vB_nomvA_nom·mTB+mLBmTA+mLA,wherein TA—nom=the rated torque of the electric motor of the first hoist trolley TB—nom=the rated torque of the electric motor of the second hoist trolley vA—nom=nominal speed of the first hoist trolley vB—nom=nominal speed of the second hoist trolley mTA=dead weight of the first hoist trolley mTB=dead weight of the second hoist trolley mLA=load of the first hoist trolley mLB=load of the second hoist trolley.