| 摘要 |
A load such as an elevator is to be moved from a known start position to a known target position, the movement including at least an acceleration phase and a subsequent deceleration phase. The load is connected to a drive means (12 fig. 6), which is controlled by a controller (10 fig. 6) and the load has a predetermined movement profile including a nominal speed and a creep speed. A method of controlling the movement known as comfort peak curve operation comprises obtaining a first distance d1 or 70 which is the distance that, according to the predetermined movement profile, the load must travel during its acceleration phase in order to reduce its magnitude of acceleration from maximum to zero, such that the load would be travelling at its nominal speed; obtaining a second distance d2 or 74 which is the distance that, according to the predetermined movement profile, the load must travel during its deceleration phase in order to reduce its speed from its nominal speed to its creep speed; and issuing a deceleration command from the controller to the drive means during movement of the load when the distance D between the load's current position and a position at which it should be at creep speed is equal to the first distance d1 plus the second distance d2. The method is safe and comfortable, avoids steep changes in acceleration or rate of change of acceleration and avoids excessive creeping. |
