Method for controlling a system, and system for carrying out such a method

Abstract

The invention relates to a method for controlling a system and to a system for carrying out such a method, wherein the system has mobile parts which can be moved along a track, in particular a rail, wherein the actual position of the respective mobile part is adjusted to the actual position of the predecessor if the predecessor is located between the actual position of the respective mobile part and the target position of the respective mobile part, and otherwise the actual position of the respective mobile part is adjusted to the target position of the respective mobile part.

Description

[0001] Procedure for controlling a plant and plant for carrying out such a procedure

[0002] Description:

[0003] The invention relates to a method for controlling a plant and a plant for carrying out such a method.

[0004] It is generally known that a railway system has movable mobile components.

[0005] The invention is therefore based on the objective of further developing a control method that is as robust as possible.

[0006] 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.

[0007] Key features of the invention in the method for controlling a system, in particular a rail system, are that the system has movable mobile units along a track, in particular a rail, each of which has an inverter-fed electric motor, in particular as a traction drive, wherein the actual position of each mobile unit is repeatedly recorded and the actual speed of each mobile unit is recorded, wherein each mobile unit is assigned a respective motion control unit, wherein each mobile unit is assigned a respective target position, in particular as a stopping position, wherein the mobile unit immediately preceding the respective mobile unit acts as the predecessor and wherein the mobile unit immediately following the respective mobile unit acts as the successor.

[0008] ISI \ EIDOPAT 04.11 .2025 wherein 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.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] In an advantageous embodiment, the control deviation 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; otherwise, the control deviation 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 robustly implementable. In an advantageous embodiment, the control deviation is fed to a position controller, which determines a target speed for the handset. This target speed, together with the actual speed, is fed to a speed controller, which determines a target acceleration as its manipulated variable such that the difference between the actual speed and the target speed is reduced to zero.The advantage here is that quick and efficient rule implementation is possible.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] Further advantages arise from the dependent claims. The invention is not limited to the combination of features in 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, particularly from the problem statement and / or the problem arising from a comparison with the prior art. The invention will now be explained in more detail with reference to the figures:

[0018] Figure 1 shows a schematic sketch of a rail system according to the invention.

[0019] Figure 2 schematically illustrates the control procedure with the hierarchically arranged motion controls.

[0020] Figure 3 shows a schematic representation of a single motion control system.

[0021] 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.

[0022] Each of the mobile units 1 has a drive and is preferably rail-guided.

[0023] The track positions of all mobile units 1 are recorded and transmitted to a central control system.

[0024] 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.

[0025] 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).

[0026] 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.

[0027] This minimum distance is not constant but is adjusted by the central control unit. In particular, the minimum distance is increased when negotiating a curve to prevent the housings of the preceding vehicle, the following vehicle, and their respective handsets 1 from colliding. The speeds of the handsets 1 and the predefined braking and acceleration ramps are also taken into account during this control process.

[0028] Figures 2 and 3 show the control procedure schematically:

[0029] 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.

[0030] 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.

[0031] This avoids collisions for each handset 1 separately.

[0032] 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 transversely 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 numeral list

[0033] 1 Handset 2 Station, especially target position

[0034] 20 Motion control of the respective handset 1

[0035] 21 Current position of the predecessor

[0036] 22 Actual position of the respective handset 1

[0037] 23 Actual position of the successor 24 Controller, in particular position controller

[0038] 25 Target speed

[0039] 26 speed controllers

[0040] 27 Actual speed

[0041] 28 Actual position 29 Target acceleration

[0042] 30 inverters

Claims

- 7 - Patent claims:

1. A method for controlling a system, in particular a rail system, wherein the system has movable mobile units along a track, in particular a rail, each of which has an inverter-fed electric motor, in particular as a traction drive, wherein the actual position of each mobile unit is recorded and the actual speed of each mobile unit is recorded at regular intervals, wherein each mobile unit is assigned a respective motion control, wherein each mobile unit is assigned a respective target position, in particular as a stopping position, wherein the mobile unit immediately preceding the respective mobile unit acts as the predecessor and wherein the mobile unit immediately following the respective mobile unit acts as the successor, characterized in that the actual position of the respective mobile unit is controlled towards the actual position of the predecessor.if the predecessor is located between the current position of the respective handset and the target position of the respective handset, and otherwise the current position of the respective handset is adjusted to the target position of the respective handset. - 8 - 2. Method according to claim 1, characterized in that a minimum distance to the respective handset in the actual position of the predecessor and in the actual position of the successor is taken into account, in particular is added together.

3. Method according to at least one of the preceding claims, characterized in 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 in that the minimum distance within a curve is greater than the minimum distance within a straight track section.

5. Method according to at least one of the preceding claims, characterized in that the minimum distance, in particular 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 in that the difference between the actual position of the respective handset and the actual position of the predecessor is used as the control difference if the predecessor is located between the actual position of the respective handset and the target position of the respective handset, and otherwise the difference between the actual position of the respective handset and the target position of the respective handset is used as the control difference. - 9 - 7. Method according to at least one of the preceding claims, characterized in that the control deviation 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 as a control variable a target acceleration 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 in that the target acceleration is specified to an inverter which supplies the electric motor.

9. Method according to at least one of the preceding claims, characterized in that the actual position of a respective mobile unit is supplied to the motion control of the predecessor as the actual position of its successor and the actual position of the respective mobile unit is supplied to the motion control of the successor as the actual position of its predecessor.

10. Installation, in particular a rail system, for carrying out a method according to at least one of the preceding claims.

Images