Method for controlling line oscillations of a cable car transport installation and device configured to carry out the method

Abstract

Method of controlling (300) the line oscillations of a cable vehicle transport installation, the method comprising a step of generating a reference setpoint (33) from real-time measurements on the drive pulley and the supports of the intermediate supports, a closed-loop comparison step between the setpoint (33) and a measurement (39) of the control variable on which the control device (22) acts directly or indirectly, a step of correcting the setpoint (33) by a controller (36), and a step of modifying the rotational speed of at least one roller (21) in adherent contact with the cable (1), according to a control (37) combined with a threshold (VS) and by temporary coupling of a motor or brake block, in order to reduce speed and voltage disturbances and thus control the oscillations of the cable line.

Description

[0001] The present invention relates to the field of cable transport installations. The invention relates, more particularly, to transport installations comprising at least one towing cable to which the vehicles are coupled to be towed.

[0002] There are different types of cable transport installations. Some of these installations use one or more overhead hauling cables, such as cable cars, funitels and DMC, 3 S, chairlifts, or even cable cars with seats and cabins. Other installations use one or more hauling cables attached to vehicles running on a railway, either overhead or on the ground, such as funiculars. These transport installations allow the movement of one or more vehicles. These vehicles make it possible to transport passengers and / or materials between several locations. These vehicles are also called cabins, skips, or seats.

[0003] When the cable line of the installation moves in steady state, oscillations of the cable, which take the form of a predominantly vertical movement coupled with longitudinal oscillations, are likely to be triggered locally between two intermediate pylons. The oscillations of the cable can be coupled with the pendulum movement of the vehicles attached to it. The person skilled in the art refers to this phenomenon as pumping.

[0004] Pumping is a phenomenon that is harmful to the proper functioning of cable transport installations: Cable oscillations generate loading cycles that lead to increased fatigue of the mechanical components in contact with the cable; Oscillations modify the clearance of vehicles along the installation line and can lead, in extreme cases, to collisions of vehicles with external elements; Low-frequency oscillations are a source of discomfort for passengers, causing motion sickness. This phenomenon also affects the acceptability of cable transport for new uses, other than leisure use, such as public transport in urban areas.

[0005] The person skilled in the art therefore seeks to avoid triggering the pumping phenomenon on cable transmission lines by applying empirical criteria in force in the profession, both in an anticipatory manner during the design of the installations, and in a corrective manner when the phenomenon appears on an installation already in operation. State of the prior art

[0006] Experience shows that the triggering of pumping is sensitive to variations in vehicle loading, the distance between two successive vehicles present along the cable(s), the running speed of the mobile cable(s), and the value of the mechanical tension imposed on the cables.

[0007] Anticipating the occurrence of surge is a complex problem given the diversity of coupled mechanisms that cause it, which requires dedicated models and simulation tools. In addition, the triggering and amplitude of surge oscillations of cable lines depend on parameters that vary during the use of the facility, such as the outside temperature, the level of passenger traffic, the presence of external disturbances such as wind, mechanical wear. A robust prediction of surge with respect to changes in system properties therefore requires precise knowledge of the evolution of the state parameters of the facility during its operation.

[0008] Predictively, the determination of the design parameters of a cable transmission line that allow pumping to be avoided can be seen as the result of a constrained optimization problem, resulting from the formulation of a mechanical model of the complete system in dynamics. The complexity of such a model requires the implementation of specific resolution methods, the development of which are still open subjects of investigation. The difficulty of optimizing a priori the system state parameters in order to avoid operating points likely to lead to pumping, systematically during the design process of cable transport installations, leads to considering alternative and complementary responses. Among these solutions, an active oscillation control and damping strategy is a possible response to the pumping problem.

[0009] Patent document FR 3108185 proposes a method for controlling a vehicle transport installation by a continuously moving cable based on a device that adapts the speed, tension and distance parameters between vehicles to avoid operating points of the system likely to trigger pumping. The method described can be considered active in the sense that measurements are carried out in real time on the installation, to detect the triggering of an oscillation on the cable, and that the operating parameters are modified automatically according to a learning device. On the other hand, the device does not act in a direct and targeted manner on the oscillation, which occurs locally on the cable loop, but globally via the drive system and the associated control-command system.

[0010] Pumping is mainly manifested by a vertical oscillation, coupled with a longitudinal oscillation of the moving cable, in a localized manner at one or more spans separated by adjacent intermediate supports. Pumping causes oscillations in the longitudinal speed of travel of the cable on the supports compared to the nominal drive speed imposed by the drive pulley. On the intermediate supports, the moving cable rests on supports consisting of a set of rollers, pulleys with a small diameter of less than one meter, independent, non-controlled and free to rotate. In particular, the rotational movement of the rollers is imposed by the dynamic longitudinal movement of the moving cable. Summary of the invention

[0011] The object of the present invention is to overcome at least one of the aforementioned drawbacks and to further lead to other advantages by proposing a new type of method for controlling line oscillations of a cable transport installation.

[0012] Another aim of the invention is to improve the comfort of passengers as well as their safety during their travel by the installation of transporting vehicles by at least one mobile cable.

[0013] According to one embodiment, the invention provides a method for controlling a vehicle transport installation by at least one mobile cable, the method comprising: A step of generating a signal giving an image of the translation speed of the mobile cable at an intermediate support of the line of the installation, by measuring the free rotation speed of a support roller with which the cable is in adherent contact; A step of generating a signal giving an image of the translation speed of the mobile cable in the driving station of the installation, by measuring the controlled rotation speed of the driving pulley, connected to the drive kinematic chain and with which the cable is in adherent contact; A step of comparing the signal measuring the translation speed of the cable in contact with the support roller of the intermediate line support and the signal measuring the translation speed of the cable in contact with the driving pulley;A correction step, with the acceleration or braking in rotation of the support roller of the intermediate support by clutching a motor or braking device on its axis, if the absolute difference in translation speed of the cable at the support roller of the intermediate support and at the driving pulley is greater than a threshold (VS), according to an instruction generated by a corrector using the comparison of the signals from the previous step; A step of disengaging the motor device or braking the axis of rotation of the support roller if the value of the absolute difference between the signals at the comparison step is less than a threshold (VS). ;

[0014] The invention thus allows direct control of the rotation speed of one or more support rollers, forming part of an assembly designated by balance or shoe, in contact with the mobile cable and positioned on the intermediate supports of the line, also designated by pylons. By controlling the rotation speed of the support rollers of the intermediate supports of the line, located on either side of the mobile cable spans likely to be subject to the pumping phenomenon, the invention consists of an active damper of the oscillations of the cable by acting directly on the longitudinal dynamic movement of the cable at the level of the supports of the intermediate supports.

[0015] According to one embodiment, the signal giving an image of the translation speed of the mobile cable on the installation line is generated by a rotation speed sensor, of the tachometric type, connected to the rotation axis of the roller which is free.

[0016] According to one embodiment, the signal giving an image of the translation speed of the mobile cable to the drive pulley is generated by a measuring roller, in contact with the drive pulley and connected to a tachometric sensor in connection with the rotation axis of the measuring roller.

[0017] According to one embodiment, the comparison between the speed signals from the support roller of the intermediate support and the drive pulley is carried out by considering the absolute value of the difference between the values ​​of the signals. Filtering can be applied to the signal thus obtained in order to reduce, increase or eliminate certain parts of the spectral content for the proper functioning of the control method.

[0018] According to one embodiment, the correction step consists of a PID type regulator whose output signal acts on the running speed of the cable at the intermediate support roller, by means of the control of the rotation speed of the support roller by a dedicated control device.

[0019] According to one embodiment, the control device configured to implement the method is composed of: Of a motor drive mechanism for a rotating element; Of a braking mechanism for a rotating element; Of a clutch and disengagement mechanism for a rotating element relative to the motor drive mechanism; Of a clutch and disengagement mechanism for a rotating element relative to the braking mechanism.

[0020] According to one embodiment, the control device used during the correction step is integrated into a control loop regulated by a proportional, derivative, integral action by a PID type corrector acting on the quantity resulting from the comparison step between a setpoint signal, provided by the measurement of the speed of the cable at the drive pulley, and a measurement at the output of the control device of the rotation of the support roller, provided by the measurement of the speed of the cable at the support roller.The comparison step between the setpoint signal and the measurement then constitutes the feedback of the closed-loop control system and thus capable of autonomously developing the control quantity sent to the control device so that the controlled quantity, the speed of translation of the cable to the support roller, can reach the setpoint value, the speed of translation of the cable to the drive pulley, in a rapid, stable, precise and robust manner.

[0021] According to one embodiment, the control method is alternatively based on the measurement of the mechanical tension in the cable at the level of the support of the intermediate support, the method comprising: A step of generating an image signal of the average value of the mechanical tension of the cable at an intermediate support support over a fixed time period; A step of generating an image signal of the instantaneous value of the mechanical tension of the cable at the same intermediate support support; A step of comparing the two signals between the two signals; A step of correcting with the acceleration or braking in rotation of the support roller of the intermediate support by clutching a motor or braking device on its axis, if the absolute oscillation of mechanical tension with respect to the average value of the cable at the support roller of the intermediate support is greater than a threshold (VS), according to a setpoint generated by a corrector using the comparison of the signals of the previous step;A step of disengaging the motor device or braking the rotation axis of the support roller if the value of the absolute difference between the signals at the comparison step is less than a threshold (VS).;

[0022] According to one embodiment, the method for controlling a roller and the device configured to implement it is applied to one or more rollers of a balancer or a shoe of at least one intermediate support of the line of the mobile cable transport installation.

[0023] According to one embodiment, one or more intermediate support supports of the installation are equipped with at least one roller to which the control method and the device configured to implement it are applied.

[0024] According to one embodiment, the invention further provides a control device for a cable vehicle transport installation comprising at least one calculation system configured to implement the control method according to the invention.

[0025] According to one embodiment, the computing system comprises at least one processor. It is therefore understood that the computing system may be a central processing unit or a remote computer server. The control device may access the remote computer server via a wired or wireless connection to the Internet communication network.

[0026] According to one embodiment, the invention further provides a cable vehicle transport installation comprising at least one control device according to the invention.

[0027] According to one embodiment, the control device configured to act on the translation speed of the cable at an intermediate support support comprises a user interface coupled to a processor and configured to allow a user to adjust the threshold (VS) of the comparison step from which the active correction is triggered by the control device and its servocontrol.

[0028] According to one embodiment, the invention provides a computer program comprising portions of program codes for executing the method for controlling the oscillations of a cable transport installation line according to the invention, when said program is executed on a computer.

[0029] According to one embodiment, the invention finally provides a computer program comprising a set of instructions which, once loaded onto a computer, allow the implementation of the method for controlling a vehicle transport installation by cable according to the invention.

[0030] Other characteristics and advantages of the invention will become apparent from the following description on the one hand, and from several examples of embodiment given for informational and non-limiting purposes with reference to the attached schematic drawings on the other hand. Brief description of the drawings

[0031] [ Fig. 1 ] There figure 1 is a schematic illustration of a transport installation using at least one mobile cable and using the control method of the invention. Fig. 2 ] There figure 2is a schematic illustration of an intermediate support with a bearing comprising at least one roller provided with the control device acting according to the control method of the invention. Fig. 3 ] There figure 3 is a schematic illustration of an embodiment of the control device, comprising two separate motorization and braking mechanisms, acting according to the control method of the invention on a support roller in contact with the mobile cable. Fig. 4 ] There figure 4 is a schematic illustration of an embodiment of the control device, comprising a combined motorization and braking mechanism, acting according to the control method of the invention on a support roller in contact with the moving cable. Fig. 5 ] There Figure 5 is a schematic illustration of an embodiment of the control method according to the invention and for which the control device is integrated into a control loop. Fig. 6 ] There figure 6 is a schematic illustration of a cable span for which the cable travel speed at the supports of the two intermediate supports is identical. Fig. 7 ] There figure 7 is a schematic illustration of a cable span for which the cable travel speed at the entry support of the span is greater than that at the exit support. Fig. 8 ] There figure 8 is a schematic illustration of a cable span for which the cable running speed at the entry support of the span is lower than that at the exit support. Description of the embodiments

[0032] It should first be noted that while the figures set out the invention in detail for its implementation, they can of course be used to better define the invention where appropriate. It should also be noted that, throughout the figures, elements that are similar and / or fulfill the same function are indicated by the same numbering.

[0033] There figure 1shows a transport installation 100 using the control method 300 according to the invention. The transport installation 100 comprises a mobile cable 1 guided and supported by a plurality of intermediate supports 3, also designated by pylons. The intermediate supports 3 individually have a support 4 which constitutes the contact interface with the cable 1. The supports 4 are designated by those skilled in the art by balance, shoe, deflection banana, depending on the type of support and whether the cable is fixed or mobile. In an embodiment not shown, the transport installation 100 comprises a plurality of cables 1 which can be fixed or mobile.

[0034] Cable 1 is a hauling and carrying cable, i.e. cable 1 provides both a hauling and support function for the vehicles 2 attached to cable 1. Cable 1 is continuous in a closed loop. Cable 1 is a metal cable comprising a plurality of strands of metal wire which are twisted into a helix. The cable is composed mainly of steel.

[0035] The transport installation 100 further comprises vehicles 2. The vehicles 2 can be used for transporting people and / or materials. The vehicles 2 are configured to be coupled to the cable 1 and towed by the latter. More particularly, the transport installation 100 can be a cable car, and in this case the vehicles 2 are closed, or a chairlift where the vehicles 2 are open. In an embodiment not shown, the transport installation 100 can comprise other hauling and / or carrying cables, in particular when the vehicles 2 have a large carrying capacity and are heavy. These other cables can be hauling or carrying cables.

[0036] The transport facility 100 also comprises two end stations 50, 60 for loading and / or unloading people and / or equipment into the vehicles 2. The stations 50, 60 are also called stations. Thus, as illustrated in figure 1, the cable 1 allows the vehicles 2 to be moved by traction from the first station 50 to the second station 60, and vice versa.

[0037] In an embodiment not shown, the transport installation may comprise at least one intermediate station located along the cable. It is also intended for the embarkation and / or disembarkation of passengers and / or the transhipment of material depending on the type of use of the transport installation 100.

[0038] The translation of the cable 1 is ensured by a driving pulley 6, itself driven by a main drive device 9 composed of a motor-reducer assembly of the end station 60, also called the driving station. The end station 50 comprises, for its part, a non-motorized return pulley 5 coupled to a cable tensioning system 1. The return pulley 5 is therefore not controlled by the main drive device 9 or another drive device. The return pulley 5 is free to rotate. The return pulley is also called an idler pulley.

[0039] In another embodiment not shown, the tensioning system is located in the drive station 60. The tensioning system comprises a mobile carriage for tensioning the cable 1, the carriage supporting the drive pulley 6. The drive pulley 6 then plays a combined role, both tensioning and driving.

[0040] As shown in the figure 1, the transport installation 100 further comprises a control loop 8 carried out on the speed of the drive motor of the drive device 9. A speed instruction 7 is given by the user, by an interface coupled to a processor to allow the user to enter the instruction. A feedback loop internal to the control 8 recovers a measurement 10 of the running speed of the cable 1 at the drive pulley 6. The measurement 10 is also sent to a calculation system, not shown, configured to implement the method which is described later in the description.

[0041] There figure 2shows an intermediate support 200 of the cable transport line 100 using the control method 300 according to the invention. The support 200 has a pylon-type structure and is equipped with a shaft 11 which provides the connection with the ground. A main jib 12 rests on the shaft 11 at the top of the pylon and allows the support of the cable 1 to be supported. The support is constituted by a balance 130, composed of a main arm 13 rotating around an axis 14. The axis 14 provides the connection between the arm 13 and the jib 12. The rotation axis 14 rests on an intermediate part 15 connected to the jib 12 via a force sensor 16, of the dynanometric axis type. The force sensor 16 returns an image signal of the force transmitted by the entire balance 130 in contact with the cable 1. The main arm 13 is connected to secondary arms 18 of the balance 130, in pivot connection along an axis 20a.The secondary arms 18 are connected to arms 19 of the balance 130, in pivot connection along an axis 20b, which support two rollers 21. The cable 1 is in point contact with the rolling tire of the rollers 21.

[0042] An inclination sensor 17a is integral with the arm 19 at the input of the balance 130 and returns an image signal of the inclination of the cable to the input of the balance 130. An inclination sensor 17b is integral with the arm 19 at the output of the balance 130 and returns an image signal of the inclination of the cable to the output of the balance 130 to a calculation system, not shown, configured to implement the method which is described later in the description.

[0043] As shown in the figure 2, the balance 130 comprises at least one control device 22, consisting of a motor, brake and clutch assembly, which acts in direct interaction with the rotation axis 29 of at least one roller 21 in adherent contact with the cable 1. The control device 22 is connected to a calculation system, not shown, configured to implement the method which is described later in the description.

[0044] The computing system may be a central processing unit comprising at least one single-core or multi-core processor. In another embodiment, the computing system is a remote computer server to which the control device 22 has access via a wired connection or via a wireless connection via a communication network, such as the Internet. The connection to the communication network may be secure.

[0045] There figure 3shows the assembly 23 formed by the roller 21, its rotation axis 29 in connection with the rocker arm 19, the cable 1 in adherent contact with the roller 21, and the control device 22. In an embodiment illustrated by the figure 3, the control device 22 is composed on the one hand by a motor unit 24 dedicated to providing rotational energy to the roller 21 to accelerate its rotation speed, connected to a clutch mechanism 26 to temporarily couple the motor unit 24 to the rotation receiving axis 29. In one embodiment, the motor unit 24 is of the electric type. In one embodiment, the motor unit 24 and the clutch unit 26 are integral with the balance arm 19. The control device is composed on the other hand by a brake unit 25, dedicated to dissipating the rotational energy of the roller 21 to slow down its rotation, connected to a clutch mechanism 27 to temporarily couple the axis 29 to the receiving axis of the brake unit 25. In one embodiment, the brake unit is of the electromagnetic type. In another embodiment, the brake block is based on mechanical operation with direct frictional contact of the part to be slowed down.In one embodiment, the brake block 25 and the clutch block 27 are integral with the balance arm 19. The axle 29 is integral with the roller 21 by a recessed connection 30. A rotating joint 31 ensures the sealing of the assembly in rotation. A bearing 32 guides the assembly in rotation, to allow the axle 29 to rotate relative to the balance arm 19. A rotation speed sensor 28, of the tachometric type, is positioned at the end of the axle 29 and returns a signal to the calculation system configured to implement the control method 300 described later in the description.

[0046] In an alternative embodiment illustrated by the figure 4, the control device 22 is solely composed of a motor unit 24, of the electric type, dedicated to providing rotational energy to the roller 21 to accelerate its rotational speed and to dissipating the energy by reversible operation according to the principle of induction. The motor unit 24 is connected to a clutch mechanism 26 to provide temporary coupling of the motor unit 24 with the rotation-receiving shaft 29. In one embodiment, the motor unit 24 and the clutch unit 26 are integral with the balance arm 19. The shaft 29 is integral with the roller 21 by a recessed connection 30. A rotating joint 31 ensures the sealing of the rotational assembly. A bearing 32 guides the assembly in rotation, to allow the shaft 29 to rotate relative to the balance arm 19.A rotation speed sensor 28, of the tachometric type, is positioned at the end of the axis 29 and returns a signal to the calculation system configured to implement the control method 300 described later in the description.

[0047] The method 300 for controlling line oscillations of a cable transport installation 100 will now be described. A schematic representation of the control method 300 is illustrated in the Figure 5 .

[0048] The control method 300 comprises a step of generating a setpoint 33 from a measurement 10, carried out in real time in a drive station 60 or by a set of force sensors 16, inclination sensors 17a, 17b, tachometer sensors 28 arranged on the balance 130 of any intermediate support 200 of the transport installation 100.

[0049] The control method 300 comprises a step of acquiring a reference signal 33. In one embodiment, the reference signal is generated by the measurement 10 of the instantaneous speed of the cable 1 at the drive pulley 6. The signal from the measurement 10 can be filtered if necessary in order to select a frequency content suitable for its use in the control method 300.

[0050] In an alternative embodiment, the setpoint 33 is the average local voltage < T(t) > of the cable 1 estimated from the measurements of the force sensors 16 and inclinations 17a, 17b at the level of the balance 130 of any intermediate support 200 of the transport installation 100.

[0051] In an alternative embodiment, the setpoint signal 33 is generated by indirect measurement of the local tension of the cable 1 at the level of the balance 130. The tension T of the cable 1 is estimated by combining the information from the signal coming from the dynamometric axis 16, which gives an image of the resulting force R applied to the rotation axis 14 and corrected by the weight of the balance 130, and the signals from the inclinometers 17a, 17b which give an image of the angular deviation Δ α from cable 1 to the balance support 130 of the intermediate support 200, according to the relationship R = 2 T sin Δ α / 2 .

[0052] Setpoint 33 is then constructed from the time average of the voltage image signal T ( t ) over a time period δ t given. The choice of the period is for example fixed by the frequency of passing of vehicles on the installation, with the evaluation of the average of T ( t) over an integer number of periods suitable to reflect the operating status of the installation 100. The final signal, resulting from the evaluation of the average voltage < T ( t ) >, can be filtered if necessary in order to select a frequency content suitable for its use in the control method 300.

[0053] The control method 300 comprises a step of measuring a quantity of interest 39, carried out in real time by a set of force sensors 16, inclination sensors 17a, 17b, tachometer sensors 28 arranged on the balance 130 of any intermediate support 200 of the transport installation 100.

[0054] In one embodiment, the quantity of interest 39 is the rotation speed of at least one roller 21 of the balance 130, measured by a tachometric sensor 28 arranged on the rotation axis 29.

[0055] In an alternative embodiment, the quantity of interest 39 is the instantaneous local voltage T ( t ) of the cable 1, estimated from the measurements of the force sensors 16 and inclinations 17a 17b at the level of the balance 130 of any intermediate support 200 of the transport installation 100.

[0056] The control method 300 comprises a step of comparison, by a comparator 34, of a setpoint quantity 33 and the quantity of interest 39, which returns the difference 35.

[0057] The control method 300 comprises a step of comparison between the setpoint signal 33 and the measurement signal 39 by a comparator 34 which calculates the absolute difference between the two signals.

[0058] In an embodiment where the control method 300 is based on the translation speed of the cable 1, the signal 33 is established by the measurement 10 of the translation speed of the cable 1 at the drive pulley 6. The objective of the comparison step is to detect when an oscillation of the cable, located at the span 400 adjacent to the intermediate support 200 and equipped with the balance 130 where the roller 21 is located on which the measurement 39 of the instantaneous translation speed of the cable 1 is carried out by the sensor 28, is triggered by evaluation of the difference between the speed of the cable 1 commanded at the drive pulley 6 and that effective on the line at the intermediate support 200 adjacent to the span 400 likely to present a pumping phenomenon.

[0059] In an alternative embodiment, where the control method 300 is based on the tension of the cable 1, the signal 33 is established by estimating the average < T(t)>. The objective of the comparison step is then to detect when an oscillation of the cable, located at the cable span 400 adjacent to the intermediate support 200 and equipped with the balance 130 where the roller 21 is located on which the indirect measurement 39 of the local tension of the cable 1 is carried out, is triggered by evaluating the difference between the average tension < T(t) > and the instantaneous one at the level of the intermediate support 200 adjacent to the range 400 likely to present a pumping phenomenon.

[0060] Signal 35 comes from comparator 34 and gives an image of the difference between the setpoint quantity 33 and the measurement 39 taken at the output of the control device 22.

[0061] The control method 300 comprises a correction step by a regulator 36 which delivers a corrected setpoint 37 based on the deviation 35.

[0062] The control method 300 comprises a correction step which delivers a corrected setpoint 37 then given at the input of the control device 22 by a proportional, integral and derivative (PID) regulator 36, well known to those skilled in the art. The adjustment of the gains of the regulator 36 makes it possible to satisfy the various criteria of speed, stability, precision and robustness on the control of the target quantity of the setpoint 33.

[0063] In one embodiment, the control device 22, which receives the corrected speed instruction 37 from the regulator 36, is composed of at least one electric type motor unit 24 temporarily connected by a coupling mechanism 26 to the rotation axis 29 of at least one roller 21 of the balance 130 of any intermediate support 200 of the transport installation 100.

[0064] The control method 300 comprises a step of applying the corrected instruction 37 to the control device 22, of at least one roller 21 of the balance 130, carried out as long as the difference 35 from the comparator 34 is greater than a threshold value (VS); otherwise the corrected instruction 37 is not applied to the input of the control device 22.

[0065] The control method 300 comprises a step during which the corrected instruction 37 is not applied to the control device 22 of at least one roller 21 of the balance 130, a temporary coupling mechanism 26, 27 disengaging the motor unit 24 or brake 25 from the rotation axis 29 of the roller 21 of the balance 130, such that the roller 21 is free to rotate in adherent contact with the mobile cable 1.

[0066] The control method 300 comprises a step during which the corrected instruction 37 is applied to the control device 22 of at least one roller 21 of the balance 130, a temporary coupling mechanism 26, 27 engaging the motor unit 24 or brake 25 to the rotation axis 29 of the roller 21 of the balance 130, such that the roller 21 is controlled in rotation and locally modifies the speed of the mobile cable 1 with which it is in adherent contact.

[0067] In one embodiment, the regulator 36 has a threshold (VS) on the minimum value of the signal 35, below which the control loop of the control method 300 is not activated. In this configuration, the mechanisms 26, 27 of the control device 22 ensure the disengagement of the motor unit 24 and brake 25 from the rotation axis 29 of the roller 21. As soon as the threshold value (VS) of the signal 35 is reached, the control loop of the control method 300 is activated. In this configuration, the mechanisms 26, 27 of the control device 22 ensure the engagement of the motor unit 24 or brake 25 on the rotation axis 29 of the roller 21.

[0068] The objective of the clutch is to reduce the dissipation of electromagnetic and mechanical energy which would be caused by the rotation of the axis of the motor and / or brake units, in the continuity of the axis 29, when no control order is given to the motor 24 or brake 25 unit.

[0069] The control method 300 comprises a step of applying the corrected setpoint 37 to the input of a control device 22 which acts on the rotation of at least one roller 21 of the balance 130 in adhesion with the mobile cable 1.

[0070] The corrected setpoint 37 is given to the control device 22 in the form of a rotation speed. Depending on the instantaneous state of the control method 300, a setpoint 37 corresponding to an increase or a reduction in the rotation speed of the roller 21 is given to the control device 22.

[0071] The control method 300 comprises a step of modifying the rotation speed of at least one roller 21 of the balance 130, by temporarily coupling a motor unit 24 or a brake unit 25, aimed at reducing the oscillation of the mobile cable 1 by limiting its variations in speed or tension in line.

[0072] Depending on the state of the instruction 37, the control method 300 comprises a step of accelerating the rotational movement of the roller 21 by engaging the motor unit 24, via the mechanism 26, on the rotation axis 29. The motor unit 24 then provides a supply of mechanical energy to the rotational movement of the roller 21 in contact with the cable 1. The brake unit 25 then remains disengaged from the rotation axis 29, via the mechanism 27.

[0073] Depending on the state of the instruction 37, the control method 300 comprises a step of decelerating the rotational movement of the roller 21 by engaging the brake unit 25 on the rotation axis 29, via the mechanism 27. The brake unit 25 then dissipates the mechanical energy from the point of view of the rotation of the roller 21 in contact with the cable 1. The motor unit 24 then remains disengaged from the rotation axis 29, via the mechanism 26.

[0074] In an alternative embodiment, the engine block 24 also performs the function of brake block 25 according to a reversible operating mode, between engine and alternator, illustrated by the figure 4 According to this embodiment, recovery of electrical energy from alternator operation is possible, with temporary storage, and subsequent use during the engine operating phases of the control device 22.

[0075] There figure 6 illustrates a span 400 of the line of the transport installation 100 delimited by an intermediate support 201 at the entrance to span 400 and an intermediate support 202 at the exit of span 400. The configuration illustrated corresponds to an operating mode without oscillations of the cable 1, which occupies its nominal position 1a when the translation speed of the cable GO in support 201 is equal to that VB at support 202, and equal to the cable speed V0 setpoint to the drive pulley 6. In this configuration, the control method 300 does not act on the rotation speed of the rollers 21, in contact with the cable 1, via the control device 22. The rollers 21 of the balancers 130 remain free to rotate.

[0076] There figure 7 illustrates a span 400 of the line of the transport installation 100 delimited by an intermediate support 201 at the entrance to span 400 and an intermediate support 202 at the exit of span 400. The configuration illustrated corresponds to an operating mode with a low oscillation of the cable 1, which occupies its low position 1b when the translation speed of the cable GO in support 201 is greater than that VB in support 202, VB being equal to the cable speed V0 setpoint to the drive pulley 6. In this configuration, the control method 300 acts by reducing the rotation speed of at least one roller 21 of the balance 130 of the support 201, in contact with the cable 1, via the brake block of the control device 22.

[0077] There figure 8 illustrates a span 400 of the line of the transport installation 100 delimited by an intermediate support 201 at the entrance of span 400 and an intermediate support 202 at the exit of span 400. The illustrated configuration corresponds to an operating mode with a high oscillation of the cable 1, which occupies its high position 1c when the translation speed of the cable GO in support 201 is less than that VB in support 202, VB being equal to the cable speed V0 setpoint to the drive pulley 6. In this configuration, the control method 300 acts by increasing the rotation speed of at least one roller 21 of the balance 130 of the support 201, in contact with the cable 1, via the motor unit of the control device 22.

[0078] The description of the control method 300 and of the device configured to implement it is developed for a mobile cable transport system equipped with several vehicles distributed along a single cable loop and to which they are attached. The principle detailed in this description nevertheless remains valid for back-and-forth and continuous movement devices, equipped with a single or several vehicles on each track, with one or several mobile and / or fixed cables.

[0079] Of course, the invention is not limited to the examples which have just been described and numerous adjustments can be made to these examples without departing from the scope of the invention.

Claims

1. Method for controlling (300) the line oscillations of a transport installation (100) for vehicles (2) by at least one mobile cable (1), the method comprising: - A step of generating a setpoint (33) from a measurement (10), carried out in real time in a motor station (60) or by a set of force (16), inclination (17a) (17b), tachometric (28) sensors arranged on the balance (130) of any intermediate support (200) of the transport installation (100); - A step of measuring a quantity of interest (39), carried out in real time by a set of force (16), inclination (17a) (17b), tachometric (28) sensors arranged on the balance (130) of any intermediate support (200) of the transport installation (100); - A comparison step, by a comparator (34), of a setpoint quantity (33) and the quantity of interest (39), which returns the difference (35);- A correction step by a regulator (36) which delivers a corrected setpoint (37) from the difference (35); - A step of applying the corrected setpoint (37) as input to a control device (22) which acts on the rotation of at least one roller (21) of the balance (130) in adhesion with the mobile cable (1); - A step of modifying the rotation speed of at least one roller (21) of the balance (130), by temporarily coupling a motor unit (24) or a brake unit (25), aimed at reducing the oscillation of the mobile cable (1) by limiting its variations in speed or tension in line.; 2. Control method (300) according to the preceding claim, during which the instruction (33) is a translation speed value of the cable (1) moving to a drive pulley (6) of the transport installation (100).

3. Control method (300) according to claim 1, during which the setpoint (33) is the average local voltage < T (t ) > of the cable (1) estimated from the measurements of the force sensors (16) and inclinations (17a) (17b) at the level of the balance (130) of any intermediate support (200) of the transport installation (100).

4. Control method (300) according to any one of the preceding claims, during which the quantity of interest (39) is the rotation speed of at least one roller (21) of the balance (130), measured by a tachometric sensor (28) arranged on the rotation axis (29).

5. Control method (300) according to any one of claims 1 to 3, during which the quantity of interest (39) is the instantaneous local voltage T ( t ) of the cable (1), estimated from the measurements of the force sensors (16) and inclinations (17a) (17b) at the level of the balance (130) of any intermediate support (200) of the transport installation (100).

6. Control method (300) according to claim 1, during which the control device (22), which receives the corrected speed setpoint (37) from the regulator (36), is composed of at least one electric type motor unit (24) temporarily connected by a coupling mechanism (26) to the rotation axis (29) of at least one roller (21) of the balance (130) of any intermediate support (200) of the transport installation (100).

7. Control method (300) according to any one of claims 1 or 6, during which the step of applying the corrected instruction (37) to the control device (22), of at least one roller (21) of the balance (130), is carried out as long as the difference (35) from the comparator (34) is greater than a threshold value (VS); otherwise the corrected instruction (37) is not applied to the input of the control device (22).

8. Control method (300) according to the preceding claim, during which when the corrected instruction (37) is not applied to the control device (22) of at least one roller (21) of the balance (130), a temporary coupling mechanism (26), (27) disengages the motor unit (24) or brake (25) from the rotation axis (29) of the roller (21) of the balance (130), so that the roller (21) is free to rotate in adherent contact with the moving cable (1).

9. Control method (300) according to claim 7, during which when the corrected instruction (37) is applied to the control device (22) of at least one roller (21) of the balance (130), a temporary coupling mechanism (26), (27) engages the motor unit (24) or brake unit (25) to the axis of rotation (29) of the roller (21) of the balance (130), so that the roller (21) is controlled in rotation and locally modifies the speed of the mobile cable (1) with which it is in adherent contact.

10. Vehicle transport installation by mobile cable (100) comprising at least one calculation system configured to implement the steps of the control method (300) according to one of claims 1 to 9.

11. Vehicle transport installation by mobile cable (100), comprising at least: - A set of force sensors (16), inclination sensors (17a) (17b), tachometer sensors (28) located in the drive station (60) or on the balance (130) of any intermediate support (200); - A calculation system configured to implement the steps of the method according to one of claims 1 to 9; - A control device (22) which acts on the rotation of at least one roller (21) of the balance (130) in adhesion with the mobile cable (1); - A motor unit (24) or a brake unit (25) which can be coupled to a roller (21) of the balance (130) of any intermediate support (200); implementing at least one control method (300) according to the preceding claim.

12. Computer program comprising portions of program codes for executing the steps of the method for controlling (300) the line oscillations of a vehicle transport installation by mobile cable (100), comprising at least: - A set of force sensors (16), inclination (17a) (17b), tachometric (28) located in the drive station (60) or on the balance (130) of any intermediate support (200); - A calculation system configured to implement the steps of the method according to one of claims 1 to 9; - A control device (22) which acts on the rotation of at least one roller (21) of the balance (130) in adhesion with the mobile cable (1); - A motor unit (24) or a brake unit (25) which can be coupled to a roller (21) of the balance (130) of any intermediate support (200); according to one of claims 1 to 9, when said program is executed on a computer.

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