System and method of detecting a dragging brake in an elevator application
A system and method for detecting a brake dragging during normal operation of a motor monitors torque at zero speed and at constant speed. For an inertial system acted upon by gravity, a value of torque required to maintain zero speed is approximately the same as a value of torque required to maintain operation at a constant speed. In an exemplary, elevator system, a motor drive determines the torque required to maintain zero speed operation of an elevator cab after a holding brake opens and before it begins controlling the motor to rotate. The motor drive again determines the torque required to maintain a constant speed and compares this value to the value of torque required to maintain zero speed. If the difference between the two values of torque is greater than a predefined threshold, then the motor drive determines that the brake is dragging and sets an error message.
1. A system for detecting a dragging brake in an elevator drive, the system comprising:
an elevator brake, including:
at least one braking surface configured to engage a rotating member of the elevator drive to prevent rotation of the elevator drive,
a spring configured to apply a force to the at least one braking surface causing the at least one braking surface to engage the rotating member of the elevator drive, and
an actuator selectively activated to apply a counter force to the spring, wherein when the counter force is applied to the spring, the at least one braking surface disengages the rotating member of the elevator drive, allowing rotation of the elevator drive;
a motor operably connected to cause rotation of the elevator drive; and
a motor drive configured to control operation of the motor, wherein the motor drive further comprises:
a memory configured to store instructions, and
a processor configured to execute the instructions stored on the memory to:
determine a first value of torque when the actuator of the elevator brake initially disengages the at least one braking surface from the rotating member of the elevator drive and prior to causing rotation of the elevator drive,
determine a second value of torque when the motor is rotating at a constant speed, and
compare the first value of torque to the second value of torque to detect when the at least one braking surface of the elevator brake does not fully disengage the rotating member of the elevator drive during rotation of the elevator drive.
2. The system of claim 1 wherein the motor drive is configured to generate a torque reference value corresponding to a desired level of torque supplied by the motor, and wherein the first and second values of torque are torque reference values.
3. The system of claim 1 wherein the motor drive further comprises at least one current sensor configured to generate a current feedback signal corresponding to current output from the motor drive to the motor and wherein the first and second values of torque are determined as a function of the current feedback signal.
4. The system of claim 1 , wherein:
comparing the first value of torque to the second value of torque includes determining a difference between the first and second values of torque, and
detecting when the at least one braking surface of the elevator brake does not fully disengage the rotating member of the elevator drive during rotation of the elevator drive includes comparing the difference to a predetermined threshold and detecting the dragging brake when the difference is greater than the predetermined threshold.
5. The system of claim 1 , wherein the motor drive is further configured to initially determine an offset value between the first value of torque and the second value of torque.
6. The system of claim 5 , wherein:
comparing the first value of torque to the second value of torque includes determining a difference between the first and second values of torque, and
detecting when the at least one braking surface of the elevator brake does not fully disengage the rotating member of the elevator drive during rotation of the elevator drive includes comparing the difference to the offset value and detecting the dragging brake when the difference is greater than the offset value.
7. A system for detecting a dragging brake for an electric motor, the system comprising:
a motor configured to control motion of a drive train for a load having an additional force acting on the load to cause motion of the load when not controlled by the drive train;
a motor drive operatively connected to the motor, wherein the motor drive is configured to:
determine a first value of torque when a holding brake in the drive train is initially released and prior to causing motion of the drive train with the motor,
determine a second value of torque when the motor is rotating at a constant speed, and
compare the first value of torque to the second value of torque to detect when the holding brake does not fully disengage the drive train during operation of the motor.
8. The system of claim 7 wherein the motor drive is configured to generate a torque reference value corresponding to a desired level of torque supplied by the motor, and wherein the first and second values of torque are torque reference values.
9. The system of claim 7 wherein the motor drive further comprises at least one current sensor configured to generate a current feedback signal corresponding to current output from the motor drive to the motor and wherein the first and second values of torque are determined as a function of the current feedback signal.
10. The system of claim 7 , wherein:
comparing the first value of torque to the second value of torque includes determining a difference between the first and second values of torque, and
detecting when the holding brake does not fully disengage the drive train includes comparing the difference to a predetermined threshold and detecting the dragging brake when the difference is greater than the predetermined threshold.
11. The system of claim 7 , wherein the motor drive is further configured to initially determine an offset value between the first value of torque and the second value of torque.
12. The system of claim 11 , wherein:
comparing the first value of torque to the second value of torque includes determining a difference between the first and second values of torque, and
detecting when the holding brake does not fully disengage the drive train includes comparing the difference to the offset value and detecting the dragging brake when the difference is greater than the offset value.
13. The system of claim 7 , wherein:
the motor drive further comprises an input configured to receive a position feedback signal,
the position feedback signal is generated by a position feedback device operatively connected to the motor,
the position feedback signal corresponds to an angular position of the motor, and
the motor drive is configured to control operation of the motor to maintain the load at an initial position determined from the position feedback signal when the holding brake is released and until the first value of torque is determined.
14. The system of claim 7 , wherein:
the drive train is an elevator drive train,
the holding brake is an elevator brake, including:
at least one braking surface configured to engage a rotating member of the elevator drive train to prevent rotation of the elevator drive train,
a spring configured to apply a force to the at least one braking surface causing the at least one braking surface to engage the rotating member of the elevator drive train, and
an actuator selectively activated to apply a counter force to the spring, wherein when the counter force is applied to the spring, the at least one braking surface disengages the rotating member of the elevator drive train, allowing rotation of the elevator drive train,
the load is an elevator cab and counter weight, and
the additional force is a force resulting as a difference between a weight of the elevator cab and a weight of the counter weight.
15. A method for detecting a dragging brake for an electric motor, the method comprising the steps of:
determining a first value of torque generated in a motor operatively connected to a motor drive when a holding brake in a drive train between the motor and a load controlled by the motor is initially released, wherein:
the motor drive is configured to determine the first value of torque, and
the load has an additional force acting on the load to cause motion of the load when not controlled by the drive train;
determining a second value of torque when the motor is rotating at a constant speed; and
comparing the first value of torque to the second value of torque to detect the dragging brake.
16. The method of claim 15 further comprising the step of generating a torque reference value with the motor drive, wherein the torque reference value corresponds to a desired level of torque supplied by the motor and wherein the first and second values of torque are torque reference values.
17. The method of claim 15 further comprising the step of generating a current feedback signal with at least one current sensor in the motor drive, wherein the current feedback signal corresponds to current output from the motor drive to the motor and wherein the first and second values of torque are determined as a function of the current feedback signal.
18. The method of claim 15 wherein the step of comparing the first value of torque to the second value of torque further comprises the steps of:
determining a difference between the first and second values of torque, and
comparing the difference to a predetermined threshold, and
detecting the dragging brake when the difference is greater than the predetermined threshold.
19. The method of claim 15 , further comprising an initial step of determining an offset value between the first value of torque and the second value of torque with the motor drive, wherein the step of comparing the first value of torque to the second value of torque further comprises the steps of:
determining a difference between the first and second values of torque, and
detecting the dragging brake when the difference is greater than the offset value.
20. The method of claim 15 , further comprising the steps of:
receiving a position feedback signal at an input of the motor drive, wherein the position feedback signal is generated by a position feedback device operatively connected to the motor and wherein the position feedback signal corresponds to an angular position of the motor, and
controlling operation of the motor with the motor drive to maintain the load at an initial position determined from the position feedback signal when the holding brake is released and until the first value of torque is determined.