Method for controlling line oscillations of a cable vehicle transport installation and device configured to implement the method.

Abstract

Title: Method for controlling line oscillations of a cable vehicle transport installation and device configured to implement the method.Method (300) for controlling line oscillations of a cable vehicle transport installation, the method comprising a step of generating a reference setpoint (33) from real-time measurements taken 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. (Figure 5).

Description

Title of the invention: Method for controlling line oscillations of a cable vehicle transport installation and device configured to implement the method.

[0001] The present invention relates to the field of cable transport systems. More particularly, the invention relates to transport systems comprising at least one haul rope to which vehicles are coupled for towing.

[0002] Various types of cable transport systems exist. Some of these systems use one or more aerial traction cables, such as gondola lifts, funitels and DMCs, 3S lifts, chairlifts, or cable cars with seats and cabins. Other systems use one or more traction cables attached to vehicles running on a railway, either overhead or laid on the ground, such as funiculars. These transport systems allow the movement of one or more vehicles. These vehicles make it possible to transport passengers and / or equipment between several locations. These vehicles are also called cabins, gondolas, or seats.

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

[0004] Pumping is a phenomenon detrimental to the proper functioning of cable transport installations: - The oscillations of the cable generate load cycles which lead to increased fatigue of the mechanical components in contact with the cable; - The oscillations alter 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, distinct from leisure activities, such as public transport in urban areas.

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

[0006] Experience shows that the triggering of the pumping is sensitive to variations in the load of the vehicles, the distance between two successive vehicles present along the cable or cables, the speed of movement of the mobile cable or cables, and the value of the mechanical tension imposed on the cables.

[0007] Anticipating the onset of pumping is a complex problem given the diversity of coupled mechanisms that cause it, requiring dedicated models and simulation tools. Furthermore, the triggering and amplitude of cable line pumping oscillations depend on parameters that vary during the installation's operation, such as outside temperature, passenger traffic levels, and the presence of external disturbances like wind and mechanical wear. Therefore, a robust prediction of pumping with respect to changes in system properties requires precise knowledge of how the installation's state parameters evolve during operation.

[0008] Predictively, determining the design parameters of a cable transport line that prevent pumping can be viewed as the result of a constrained optimization problem arising from the formulation of a dynamic mechanical model of the complete system. The complexity of such a model requires the implementation of specific solution methods, the development of which remains an open area of ​​investigation. The difficulty of systematically optimizing the system's state parameters a priori to avoid operating points likely to lead to pumping during the cable transport installation design process leads to the consideration of alternative and complementary solutions. Among these solutions, a strategy of active oscillation control and damping is a possible response to the pumping problem.

[0009] French patent document FR 3108185 proposes a method for controlling a vehicle transport system using a continuously moving cable, based on a device that adapts the speed, tension, and distance parameters between vehicles to avoid system operating points that could trigger pumping. The described method can be considered active in the sense that real-time measurements are taken on the system to detect the onset of oscillation on the cable, and that the operating parameters are automatically modified according to a learning device. However, the device does not act directly and specifically targets the oscillation, which occurs locally on the cable loop, but globally through the drive system and the associated control system.

[0010] Pumping is manifested primarily by a vertical oscillation, coupled with a longitudinal oscillation of the moving cable, localized at one or more spans separated by adjacent intermediate supports. Pumping causes oscillations in the longitudinal speed of the cable's movement over the supports relative 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, small-diameter pulleys less than one meter in diameter, independent, uncontrolled, 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 present invention aims to overcome at least one of the aforementioned disadvantages and to lead to other advantages by proposing a new type of method for controlling line oscillations of a cable transport installation.

[0012] Another object of the invention is to improve passenger comfort and safety during their journey by installing vehicle transport by at least one mobile cable.

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

[0014] The invention thus allows direct control of the rotational speed of one or more support rollers, forming part of an assembly designated as a rocker arm or shoe, in contact with the moving cable and positioned on the intermediate supports of the line, also designated as pylons. By controlling the rotational speed of the support rollers of the intermediate supports of the line, located on either side of the moving cable spans susceptible to the pumping phenomenon, the invention constitutes an active damper of cable oscillations by acting directly on the longitudinal dynamic movement of the cable at the level of the intermediate support bearings.

[0015] According to one embodiment, the signal giving an image of the translation speed of the mobile cable on the line of the installation is generated by a rotation speed sensor, of the tachometric type, connected to the axis of rotation 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 linked to the axis of rotation 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 performed by considering the absolute value of the difference between the signal values. Filtering can be applied to the signal thus obtained in order to reduce, increase, or suppress 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 cable scroll speed at the intermediate support roller, via 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 process is composed of: - Of a motor drive mechanism for a rotating element; - A braking mechanism for a rotating element; - A mechanism for engaging and disengaging a rotating element relative to the motor drive mechanism; - Of a clutch and disengagement mechanism of 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 servo loop regulated by a proportional, derivative, integral action by a PID type controller acting on the quantity 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, which is thus capable of autonomously generating 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 fast, stable, precise and robust manner.

[0021] According to one embodiment, the control method is alternatively based on measuring the mechanical tension in the cable at the level 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 the level of an intermediate 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 point; - A comparison step between the two signals; - A correction step involving accelerating or braking the rotation of the roller intermediate support support by clutching a motor or braking device on its axis, if the absolute oscillation of mechanical tension relative 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 controller using the comparison of the signals from the previous step; - A disengagement step of the motor device or braking of 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 rocker arm 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 is equipped with at least one roller to which the control process 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 computing system configured to implement the control method according to the invention.

[0025] In one embodiment, the computing system comprises at least one processor. It is therefore understood that the computing system can be a central processing unit or a remote computer server. The control device can 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 the level of an intermediate support support includes a user interface coupled to a processor and configured to allow a user to set the threshold (VS) of the comparison step from which the active correction is triggered by the control device and its servo system.

[0028] According to one embodiment, the invention provides a computer program comprising portions of program code for the execution of the method for controlling the oscillations of a cable transmission 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, enable the implementation of the method of controlling a vehicle transport installation by cable according to the invention.

[0030] Other features and advantages of the invention will become apparent from the following description on the one hand, and from several illustrative and non-limiting examples of embodiments given with reference to the accompanying schematic drawings on the other. Brief description of the drawings

[0031] [Fig-1] Fig. 1 is a schematic illustration of a transport installation using at least one mobile cable and using the control method of the invention.

[0032] [Fig.2] Fig.2 is a schematic illustration of an intermediate support with a support behavior at least one roller equipped with the control device acting according to the control method of the invention.

[0033] [Fig.3] Fig.3 is a schematic illustration of one 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 moving cable.

[0034] [Fig.4] Fig.4 is a schematic illustration of one 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.

[0035] [Fig. 5] Fig. 5 is a schematic illustration of one embodiment of the control method according to the invention and for which the control device is integrated into a servo loop.

[0036] [Fig.6] Fig.6 is a schematic illustration of a cable span for which the cable's speed at the supports of the two intermediate supports is identical.

[0037] [Fig.7] The [Fig.7] is a schematic illustration of a cable span for which the cable travel speed at the input support of the span is greater than that at the output support.

[0038] [Fig.8] Fig.8 is a schematic illustration of a cable span for which the cable travel speed at the input support of the span is lower than at the output support. Description of the implementation methods

[0039] It should first be noted that while the figures illustrate the invention in detail for its implementation, they can of course also be used to further define the invention where appropriate. It should also be noted that, throughout the figures, similar elements and / or elements performing the same function are indicated by the same numbering.

[0040] Figure 1 shows a transport system 100 using the control method 300 according to the invention. The transport system 100 comprises a movable, guided cable 1 supported by a plurality of intermediate supports 3, also referred to as pylons. The intermediate supports 3 each have a bearing 4 which constitutes the contact interface with the cable 1. The bearings 4 are referred to by those skilled in the art as a rocker arm, shoe, or deflection bracket, depending on the type of bearing and whether the cable is fixed or movable. In an embodiment not shown, the transport system 100 comprises a plurality of cables 1 which may be fixed or movable.

[0041] Cable 1 is a traction and support cable, meaning that cable 1 provides both traction and support for the vehicles 2 attached to cable 1. Cable 1 is a continuous, closed-loop cable. Cable 1 is a metallic cable comprising a plurality of strands of metallic wire twisted into a helix. The cable is composed mainly of steel.

[0042] The transport system 100 also includes vehicles 2. The vehicles 2 can be used to transport people and / or equipment. The vehicles 2 are configured to be coupled to the cable 1 and pulled by it. More specifically, the transport system 100 can be a gondola lift, in which case the vehicles 2 are enclosed, or a chairlift where the vehicles 2 are open. In an embodiment not shown, the transport system 100 may include other haul ropes and / or carrying ropes, particularly when the vehicles 2 have a large carrying capacity and are heavy. These other ropes can be haul ropes or carrying ropes.

[0043] The transport installation 100 also includes 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 [Fig. 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.

[0044] In an embodiment not shown, the transport facility may include at least one intermediate station located along the cable. It is also intended for the embarkation and / or disembarkation of passengers and / or the transshipment of equipment depending on the type of use of the transport facility 100.

[0045] The translation of the cable 1 is ensured by a drive pulley 6, itself driven by a main drive unit 9 comprising a geared motor assembly in the end station 60, also called the drive station. The end station 50, for its part, includes a non-motorized idler pulley 5 coupled to a cable 1 tensioning system. The idler pulley 5 is therefore not driven by the main drive unit 9 or any other drive unit. The idler pulley 5 is free to rotate. The idler pulley is also called a free-running pulley.

[0046] In another embodiment not shown, the tensioning system is located in the drive station 60. The tensioning system includes a mobile cable tensioning trolley 1, the trolley supporting the drive pulley 6. The drive pulley 6 then plays a combined role, both tensioning and driving.

[0047] As shown in [Fig. 1], the transport installation 100 also includes a control loop 8 based on the speed of the drive motor of the drive device 9. A speed setpoint 7 is provided by the user via an interface coupled to a processor, allowing the user to input the setpoint. An internal feedback loop within the control loop 8 retrieves a measurement 10 of the cable speed at the drive pulley 6. This measurement 10 is also sent to a computing system, not shown, configured to implement the process described later.

[0048] Figure 2 shows 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 that provides the connection with the ground. A main gantry 12 rests on the shaft 11 at the top of the pylon and supports the cable 1. The support consists of a rocker arm 130, composed of a main arm 13 rotating about an axis 14. The axis 14 provides the connection between the arm 13 and the gantry 12. The axis of rotation 14 rests on an intermediate piece 15 connected to the gantry 12 via a force sensor 16, of the dynamometer shaft type. The force sensor 16 returns an image signal of the force transmitted by the entire rocker arm 130 in contact with the cable 1. The main arm 13 is connected to secondary arms 18 of the rocker arm 130, in pivot connection along an axis 20a.The secondary arms 18 are connected to arms 19 of the rocker arm 130, in pivot joint along an axis 20b, which support two rollers 21. The cable 1 is in point contact with the rolling surface of the rollers 21.

[0049] A tilt sensor 17a is attached to the arm 19 at the input of the rocker 130 and returns a signal representing the tilt of the cable at the input of the rocker 130. A tilt sensor 17b is attached to the arm 19 at the output of the rocker 130 and returns a signal representing the tilt of the cable at the output of the rocker 130 to a computing system, not shown, configured to implement the method which is described later in the description.

[0050] As shown in [Fig.2], the balance wheel 130 includes at least one control device 22, consisting of a motor, brake and clutch assembly, which acts in direct interaction with the axis of rotation 29 of at least one roller 21 in adherent contact with the cable 1. The control device 22 is connected to a computing system, not shown, configured to implement the process which is described later in the description.

[0051] 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 through a communication network, such as the internet. The connection to the communication network may be secure.

[0052] Fig. 3 shows the assembly 23 formed by the roller 21, its axis of rotation 29 in connection with the rocker arm 19, the cable 1 in adherent contact with the roller 21, and the control device 22.

[0053] In an embodiment illustrated by [Fig.3], the control device 22 is composed on the one hand of a motor block 24 dedicated to supplying rotational energy to the roller 21 to accelerate its rotational speed, connected to a clutch mechanism 26 to temporarily couple the motor block 24 to the rotation receiving shaft 29. In one embodiment, the motor block 24 is electric. In another embodiment, the motor block 24 and the clutch block 26 are fixed to the rocker arm 19. The control device also comprises a brake block 25, designed to dissipate the rotational energy of the roller 21 to slow its rotation, connected to a clutch mechanism 27 to temporarily couple the shaft 29 to the receiving shaft of the brake block 25. In one embodiment, the brake block is electromagnetic. In another embodiment, the brake block operates mechanically with direct frictional contact with the part to be slowed down. In one embodiment, the brake block 25 and the clutch block 27 are fixed to the rocker arm 19. The shaft 29 is fixed to the roller 21 by a fixed joint 30. A rotating joint 31 ensures the sealing of the assembly during rotation.A bearing 32 guides the assembly in rotation, allowing the shaft 29 to rotate relative to the rocker arm 19. A tachometer-type rotation speed sensor 28 is positioned at the end of the shaft 29 and sends a signal to the computing system configured to implement the control method 300 described later in the description.

[0054] In an alternative embodiment illustrated in [Fig. 4], the control device 22 consists solely of an electric motor block 24, dedicated to supplying rotational energy to the roller 21 to accelerate its rotational speed and dissipating the energy through reversible operation according to the principle of induction. The motor block 24 is connected to a clutch mechanism 26 to achieve a temporary coupling of the motor block 24 with the shaft 29, which receives the rotation. In one embodiment, the motor block 24 and the clutch block 26 are fixed to the rocker arm 19. The shaft 29 is fixed to the roller 21 by a fixed joint 30. A rotating seal 31 ensures the assembly is sealed during rotation. A bearing 32 guides the assembly during rotation, allowing the shaft 29 to rotate relative to the rocker arm 19.A tachometer-type rotation speed sensor 28 is positioned at the end of the shaft 29 and sends a signal to the computing system configured to implement the control method 300 described later in the description.

[0055] The method for controlling line oscillations 300 of a cable transport installation 100 will now be described. A schematic representation of the control method 300 is shown in [Fig. 5].

[0056] The control method 300 includes 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, tilt sensors 17a, 17b, tachometer sensors 28 arranged on the rocker arm 130 of any intermediate support 200 of the transport installation 100.

[0057] The control method 300 includes a step of acquiring a setpoint signal 33. In one embodiment, the setpoint 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, if necessary, be filtered in order to select a suitable frequency content for its use in the control method 300.

[0058] In an alternative embodiment, the setpoint 33 is the average local voltage<T(t) > cable 1 estimated from measurements of force sensors 16 and inclination sensors 17a, 17b at the level of the pendulum 130 of any intermediate support 200 of the transport installation 100.

[0059] In an alternative embodiment, the setpoint signal 33 is generated by the indirect measurement of the local tension of the cable 1 at the level of the rocker arm 130. The tension T of the cable 1 is estimated by combining the information from the signal from the dynamometer axis 16, which gives an image of the resulting force R applied to the axis of rotation 14 and corrected for the weight of the rocker arm 130, and the signals from the inclinometers 17a, 17b, which give an image of the angular deflection Aa of the cable 1 at the rocker arm support 130 of the intermediate support 200, according to the relation

[0060] R=2T sin(^al 2).

[0061] The setpoint 33 is then constructed from the time average of the signal representing the voltage T(t) over a given time period τ. The choice of period is, for example, determined by the periodicity of vehicle movement on the installation, with the evaluation of the average of T(t) over an integer number of periods adapted to reflect the operating state of the installation 100. The final signal, resulting from the evaluation of the average voltage, can be filtered if necessary in order to se select a suitable frequency content for its use in the control process 300.

[0062] The control method 300 includes a measurement step of a quantity of interest 39, carried out in real time by a set of force sensors 16, tilt sensors 17a, 17b, tachometer sensors 28 arranged on the rocker arm 130 of any intermediate support 200 of the transport installation 100.

[0063] In one embodiment, the quantity of interest 39 is the rotation speed of at least one roller 21 of the rocker arm 130, measured by a tachometer sensor 28 disposed on the axis of rotation 29.

[0064] In an alternative embodiment, the quantity of interest 39 is the instantaneous local tension T(t) of the cable 1, estimated from the measurements of the force sensors 16 and inclination sensors 17a 17b at the level of the pendulum 130 of any intermediate support 200 of the transport installation 100.

[0065] The control method 300 includes a comparison step, using a comparator 34, of a setpoint quantity 33 and of the quantity of interest 39, which returns the deviation 35.

[0066] The control method 300 includes a step of comparison between the setpoint signal 33 and the measurement signal 39 by a comparator 34 which calculates the absolute deviation between the two signals.

[0067] 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 rocker 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 evaluating the difference between the speed of the cable 1 commanded at the drive pulley 6 and that effective on the line at the level of the intermediate support 200 adjacent to the span 400 which may exhibit a pumping phenomenon.

[0068] 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 pendulum 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 tension at the intermediate support 200 adjacent to the span 400 which is likely to exhibit a pumping phenomenon.

[0069] The signal 35 comes from the comparator 34 and gives an image of the difference between the setpoint quantity 33 and the measurement 39 made at the output of the control device 22.

[0070] The control method 300 includes a correction step by a regulator 36 which delivers a corrected setpoint 37 from the deviation 35.

[0071] The control method 300 includes a correction step that delivers a corrected setpoint 37, which is then fed into the control device 22 by a proportional, integral, and derivative (PID) controller 36, a mechanism well known to those skilled in the art. Adjusting the gains of the controller 36 allows for meeting the various criteria of speed, stability, accuracy, and robustness in the control of the target variable of the setpoint 33.

[0072] In one embodiment, the control device 22, which receives the corrected speed setpoint 37 from the regulator 36, is composed of at least one electric motor block 24 in temporary connection by a coupling mechanism 26 with the rotation axis 29 of at least one roller 21 of the rocker arm 130 of any intermediate support 200 of the transport installation 100.

[0073] The control method 300 includes a step of applying the corrected setpoint 37 to the control device 22, of at least one roller 21 of the rocker arm 130, carried out as long as the deviation 35 from the comparator 34 is greater than a threshold value (VS); otherwise the corrected setpoint 37 is not applied to the input of the control device 22.

[0074] The control method 300 includes a step in which the corrected setpoint 37 is not applied to the control device 22 of at least one roller 21 of the balance wheel 130, a temporary coupling mechanism 26, 27 disengaging the motor block 24 or brake 25 of the rotation axis 29 of the roller 21 of the balance wheel 130, so that the roller 21 is free to rotate in adherent contact with the movable cable 1.

[0075] The control method 300 includes a step in which the corrected setpoint 37 is applied to the control device 22 of at least one roller 21 of the rocker arm 130, a temporary coupling mechanism 26, 27 engaging the motor block 24 or brake 25 to the axis of rotation 29 of the roller 21 of the rocker arm 130, so that the roller 21 is controlled in rotation and locally modifies the speed of the movable cable 1 with which it is in adherent contact.

[0076] In one embodiment, the controller 36 has a threshold (VS) at the minimum value of the signal 35, below which the feedback loop of the control process 300 is not activated. In this configuration, the mechanisms 26, 27 of the control device 22 disengage the motor block 24 and the 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 feedback loop of the control process 300 is activated. In this configuration, the mechanisms 26, 27 of the control device 22 engage the motor block 24 or the brake 25 on the rotation axis 29 of the roller 21.

[0077] The objective of the disengagement is to reduce the dissipation of electromagnetic and mechanical energy that would be caused by the rotation of the axis of the motor and / or brake blocks, in continuity with the axis 29, when no command order is given to the motor block 24 or brake block 25.

[0078] The control method 300 includes 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 rocker arm 130 in contact with the movable cable 1.

[0079] The corrected setpoint 37 is given to the control device 22 in the form of a rotational speed. Depending on the instantaneous state of the control process 300, a setpoint 37 corresponding to an increase or decrease in the rotational speed of the roller 21 is given to the control device 22.

[0080] The control method 300 includes a step of modifying the rotation speed of at least one roller 21 of the rocker 130, by temporarily coupling a motor block 24 or a brake block 25, aimed at reducing the oscillation of the mobile cable 1 by limiting its variations in speed or tension in line.

[0081] According to the state of the setpoint 37, the control method 300 includes a step of accelerating the rotational movement of the roller 21 by engaging the motor block 24, via the mechanism 26, on the axis of rotation 29. The motor block 24 then provides mechanical energy to the rotational movement of the roller 21 in contact with the cable 1. The brake block 25 then remains disengaged from the axis of rotation 29, via the mechanism 27.

[0082] According to the state of the setpoint 37, the control method 300 includes a step of decelerating the rotational movement of the roller 21 by engaging the brake block 25 on the rotation axis 29, via the mechanism 27. The brake block 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 block 24 then remains disengaged from the rotation axis 29, via the mechanism 26.

[0083] In an alternative embodiment, the motor block 24 also performs the function of a brake block 25 according to a reversible operating mode, between motor and alternator, illustrated by [Fig. 4]. According to this embodiment, recovery of electrical energy from alternator operation is possible, with temporary storage and subsequent use during the motor operating phases of the control device 22.

[0084] Figure 6 illustrates a span 400 of the line of the transport installation 100 delimited by an intermediate support 201 at the entrance of the span 400 and an intermediate support 202 at the exit of the span 400. The configuration illustrated corresponds to an operating mode without oscillations of the cable 1, which occupies its nominal position when the translational speed of the cable VA at the support 201 is equal to that V# at the support 202, and equal to the speed of the cable Vo setpoint at the drive pulley 6. In this configuration, the control method 300 does not act on the rotational speed of the rollers 21, in contact with the cable 1, via the control device 22. The rollers 21 of the rockers 130 remain free to rotate.

[0085] Figure 7 illustrates a span 400 of the line of the transport installation 100 delimited by an intermediate support 201 at the entrance of the span 400 and an intermediate support 202 at the exit of the 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 translational speed of the cable at the support 201 is greater than that VB at the support 202, VB being equal to the speed of the cable Vo setpoint at the drive pulley 6. In this configuration, the control method 300 acts by reducing the rotational speed of at least one roller 21 of the rocker arm 130 of the support 201, in contact with the cable 1, via the brake block of the control device 22.

[0086] Figure 8 illustrates a span 400 of the transmission line 100 delimited by an intermediate support 201 at the start of the span 400 and an inter median 202 at the output of the range 400. The illustrated configuration corresponds to an operating mode with a high oscillation of the cable 1, which occupies its high position when the translation speed of the cable VA at the support 201 is less than that at the support 202, Vs being equal to the speed of the cable Vq setpoint at 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 rocker arm 130 of the support 201, in contact with the cable 1, via the motor block of the control device 22.

[0087] The description of the control method 300 and the device configured to implement it is developed for a mobile cable transport system equipped with several vehicles distributed along a single cable loop to which they are attached. The principle detailed in this description nevertheless remains valid for reciprocating and continuous-motion systems equipped with one or more vehicles on each track, and one or more mobile and / or fixed cables.

[0088] Of course, the invention is not limited to the examples just described and many modifications can be made to these examples without departing from the scope of the invention.

Claims

Claims

1. Method for controlling (300) the line oscillations of a transport installation (100) of 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 setpoint (33) is a translation speed value of the cable (1) movable at 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 tension 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 setpoint (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 setpoint (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 mobile cable (1).

9. Control method (300) according to claim 7, during which when the corrected setpoint (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 moving cable (1) with which it is in adherent contact.

10. Control method (300) for a mobile cable vehicle transport installation (100) comprising at least one computing system configured to implement the steps of the method according to one of claims 1 to 9.

11. Vehicle transport installation by mobile cable (100) 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 mobile cable vehicle transport installation (100) according to one of claims 1 to 9, when said program is executed on a computer.

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