Procedure for controlling a plant and plant for carrying out such a procedure

Abstract

Procedures for controlling a plant and plant for carrying out such a procedure, wherein the system has movable mobile components along a track, in particular a rail, where the actual position of the respective handset is adjusted to the actual position of the predecessor if the predecessor is located between the actual position of the respective handset and the target position of the respective handset, and otherwise the actual position of the respective handset is adjusted to the target position of the respective handset.

Description

[0001] The invention relates to a method for controlling a plant and a plant for carrying out such a method.

[0002] It is generally known that a railway system has movable mobile components.

[0003] The invention is therefore based on the objective of further developing a control method that is as robust as possible.

[0004] According to the invention, the problem is solved in the method according to the features specified in claim 1 and in the system according to the features specified in claim 9.

[0005] Important features of the invention in the method for controlling a system, in particular a rail system, are that the system has movable mobile parts along a track, in particular a rail, each of which has an inverter-fed electric motor, in particular as a traction drive, where the actual position and speed of each handset are recorded at regular intervals, where each handsets is assigned its own motion control system where each handset is assigned a specific target position, in particular as a stopping position, wherein the handset immediately preceding the respective handset acts as the predecessor and wherein the handset immediately following the respective handset acts as the successor, where the actual position of the respective handset is adjusted to the actual position of the predecessor if the predecessor is located between the actual position of the respective handset and the target position of the respective handset, and otherwise the actual position of the respective handset is adjusted to the target position of the respective handset.

[0006] A key advantage is the robustness of the control method, as the regulation can be executed autonomously for each handset. In addition to the handset's own physical parameters, only the actual positions of the successor and predecessor handset are required. If a fault occurs, the handsets adjust themselves, adapting as quickly and optimally as possible.

[0007] In an advantageous design, a minimum distance to each mobile device is taken into account in the actual position of the preceding and the following vehicle, and is specifically added together. The advantage here is that collisions are avoided while still allowing for very close following within the convoy.

[0008] In an advantageous design, the minimum distance is adjusted depending on the actual position of the respective handset. The advantage here is that the minimum distance can be adapted to the specific challenges.

[0009] In an advantageous design, the minimum distance within a curve is greater than the minimum distance within a straight section of track. The advantage here is that the increased space required when negotiating a curve can be taken into account.

[0010] In an advantageous embodiment, the rule difference is the difference between the actual position of the respective handset and the actual position of the predecessor, if the predecessor is located between the actual position of the respective handset and the target position of the respective handset. and otherwise, the rule difference is the difference between the actual position of the respective handset and the target position of the respective handset. An advantage of this is that the control method is robust and can be implemented.

[0011] In an advantageous embodiment, the control error is fed to a position controller, which determines a target speed for the mobile device. This target speed, together with the actual speed, is then fed to a speed controller, which uses the manipulated variable to determine a target acceleration such that the difference between the actual speed and the target speed is reduced to zero. The advantage of this approach is that fast and efficient control is possible.

[0012] In a preferred embodiment, the desired acceleration is specified to an inverter that powers the electric motor. A further advantage is that a torque-controlled drive can be used.

[0013] In a preferred embodiment, the current position of each handset is transferred to the motion control system of its predecessor as the current position of its successor, and vice versa. The advantage of this is the resulting simple control structure.

[0014] Key features of the system, particularly the rail system, include the implementation of the aforementioned procedure. A significant advantage is the ability to implement robust, fast, and simple control.

[0015] Further advantages arise from the dependent claims. The invention is not limited to the combination of features of the claims. For those skilled in the art, further meaningful combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent, in particular from the problem statement and / or the problem arising from a comparison with the prior art.

[0016] The invention will now be explained in more detail with the help of illustrations: In the Fig. Figure 1 shows a schematic sketch of a rail system according to the invention. In the Fig. Figure 2 shows a schematic representation of the control procedure with the hierarchically arranged motion controls. In the Fig. Figure 3 shows a schematic representation of a single motion control system.

[0017] As shown in the figures, mobile units 1 are guided along a track, with stations 2 arranged along the track at which each of the mobile units 1 is to stop.

[0018] Each of the mobile units 1 has a drive and is preferably rail-guided.

[0019] The track positions of all mobile units 1 are recorded and transmitted to a central control system.

[0020] The central control unit includes a separate motion control unit for each of the handsets 1, to which the respective target position of the respective handset 1 is specified by the central control unit.

[0021] In addition, the current position of the assigned handset is also transmitted to the respective motion control system, as well as the current position of the respective preceding handset 1 (predecessor) and the respective following handset 1 (successor).

[0022] The respective motion control regulates the assigned handset 1 towards the target position, whereby, however, if the predecessor is located between the target position and the assigned handset, a minimum distance to the predecessor and also to the successor is always maintained.

[0023] This minimum distance is not constant but is changed by the central control unit. In particular, the minimum distance is increased when driving through a curve so that the housings of the predecessor, successor, and their respective assigned handset 1 do not collide with each other.

[0024] The speeds of mobile unit 1 and the specified braking and acceleration ramps are also taken into account during the regulation process.

[0025] In Fig. 2 and Fig. 3 shows a schematic representation of the tax procedure: The respective motion control preferably has a linear controller to which the target position 22, the actual position 21 of the predecessor, the actual position 23 of the successor and the actual position 28 of the respective handset 1 are supplied and to which the control difference is the difference between the actual position 21 of the predecessor enlarged by the minimum distance and the actual position 28 of the respective handset 1, if the predecessor is located between the target position 22 and the handset 1, and otherwise the control difference is the difference between the target position 22 and the actual position 28 of the respective handset 1.

[0026] The controller determines a target speed 25 for the handset 1 as a function of the control error, which is fed to a speed controller, which determines a target acceleration 29 from the difference between the actual speed 27 and the target speed 25 of the handset, which is fed to and specified by the inverter 30 of the respective handset 1, which powers the electric motor to drive the handset 1.

[0027] This avoids collisions for each handset 1 separately.

[0028] In an advantageous design, the minimum distance increases, particularly from a minimum value, proportionally to the curvature of the track at the current position. Thus, a much larger minimum distance is present on tight curves than on straight track sections. In this way, the width of the mobile components 1, measured perpendicular to the track direction, can be taken into account by selecting a sufficiently large minimum distance so that even on tight curves the respective transversely projecting portions of the mobile components do not collide. Reference symbol list 1 handset 2 Stations, especially target position 20 Motion control of the respective handset 1 21 Current position of the predecessor 22 Actual position of the respective handset 1 23 Current position of the successor 24 controllers, in particular position controllers 25 Target speed 26 speed controllers 27 Actual speed 28 Actual position 29 Target acceleration 30 inverters

Claims

[1] Method for controlling a system, in particular a railway system, wherein the system has movable mobile parts along a track, in particular rail, each of which has an inverter-fed electric motor, in particular as a traction drive, where the actual position and speed of each handset are recorded at regular intervals, where each handsets is assigned its own motion control system where each handset is assigned a specific target position, in particular as a stopping position, wherein the handset immediately preceding the respective handset acts as the predecessor and wherein the handset immediately following the respective handset acts as the successor, characterized by , that The actual position of the respective handset is adjusted to the actual position of the predecessor if the predecessor is located between the actual position of the respective handset and the target position of the respective handset. and otherwise the actual position of the respective handset is adjusted to the target position of the respective handset. [2] Method according to claim 1, characterized by , that a minimum distance to the respective handset is taken into account in the actual position of the predecessor and in the actual position of the successor, in particular that it is added together. [3] Method according to at least one of the preceding claims, characterized by , that the minimum distance is changed depending on the actual position of the respective handset. [4] Method according to at least one of the preceding claims, characterized by , that the minimum distance within a curve is greater than the minimum distance within a straight section of track. [5] Method according to at least one of the preceding claims, characterized by that the minimum distance, especially from a minimum value, increases proportionally to the curvature of the path formed at the actual position. [6] Method according to at least one of the preceding claims, characterized by , that The rule difference is the difference between the actual position of the respective handset and the actual position of the predecessor, if the predecessor is located between the actual position of the respective handset and the target position of the respective handset. and otherwise, as rule difference, the difference between the actual position of the respective handset and the target position of the respective handset. [7] Method according to at least one of the preceding claims, characterized by, that the control error is fed to a position controller, which determines a target speed for the mobile unit, which together with the actual speed is fed to a speed controller, which determines a target acceleration as a manipulated variable such that the difference between the actual speed and the target speed is regulated to zero. [8] Method according to at least one of the preceding claims, characterized by , that the target acceleration is specified to an inverter that powers the electric motor. [9] Method according to at least one of the preceding claims, characterized by , that the actual position of each handset is supplied to the motion control of the predecessor as the actual position of its successor, and the actual position of each handset is supplied to the motion control of the successor as the actual position of its predecessor. [10] Installation, in particular rail installation, for carrying out a method according to at least one of the preceding claims.

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