CN1024338C - Hydraulic elevator - Google Patents

Hydraulic elevator Download PDF

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Publication number
CN1024338C
CN1024338C CN91101675A CN91101675A CN1024338C CN 1024338 C CN1024338 C CN 1024338C CN 91101675 A CN91101675 A CN 91101675A CN 91101675 A CN91101675 A CN 91101675A CN 1024338 C CN1024338 C CN 1024338C
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mentioned
speed
pressure
car
oil
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CN1054949A (en
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坂井吉男
荒堀升
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Hitachi Ltd
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Hitachi Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/04—Control systems without regulation, i.e. without retroactive action hydraulic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/285—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical with the use of a speed pattern generator

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)
  • Types And Forms Of Lifts (AREA)

Abstract

A hydraulic elevator has a cage 5 being moved upwardly and downwardly by a hydraulic cylinder 2, and an induction motor driven hydraulic pump 13 supplying pressured hydraulic oil to the cylinder 2 through a electromagnetic change-over valve 12. The induction motor speed is controlled on the basis of a output signals of a speed instruction generating circuit 33 and start compensation instruction circuit 34 which generates a compensation signal in response to the difference between the discharge pressure oil of the hydraulic pump 13 and oil pressure in the cylinder 2.

Description

Hydraulic elevator
The present invention relates to a kind of hydraulic elevator, particularly a kind of by driving a Hydraulic Pump and moving up and down the control setup of the hydraulic elevator of car by this delivery side of pump flow of control.
Motor speed control system is considered to the conventional hydraulic control system of hydraulic elevator.Thereby a kind of constant flow rate type pump provides pressure oil to move up and down car by an electromagnetic change-over valve to oil cylinder, conducting in the opposite direction when above-mentioned change-over valve encourages as boiler check valve operation but by an electromagnetic valve usually.When said pump during by an Asynchronous Motor Driving, speed control system comes to change the speed of asynchronous motor by changing voltage and frequency in the scope of broad, and moves up and down car by changing the delivery side of pump oil mass.
Leakage ubiquity in Hydraulic Pump of oil, therefore, even there is a Hydraulic Pump turning round but car and inoperative scope.When Hydraulic Pump turns round according to the starting order signal, produced the problem of starting vibration and human discomfort.
In order to overcome this problem, a suggestion is suggested, and this suggestion is to export oil in advance according to corresponding spillage, or in other words, one low speed started electrical motor but model signals that the bias model signal and of inoperative car drives car superposition mutually makes the car smooth starting.
Notification number 64-311(1989), publication number 61-37678(1986) and publication number 60-71474(1985) Japanese Patent and 708(1990) number " Japanese Instiution of Mechanical Engineers proceedings " disclose the stack of bias model and process model signal is existing.
According to prior art, in order to reduce the starting vibration and to obtain a bias model (signal), oil leakage quantity under the real-world operation state is the calculating of being done by according to the leakage of oil amount of the temperature of the load of car, fuel tank and each oil pump, and the leakage of oil amount during with unloaded and 0 ℃ oil temperature for referencial use come definite.
The leakage of oil amount of Hydraulic Pump changes with the difference in the oil pump manufacturing, and along with the time changes gradually.
Therefore, correctly detect the leakage of oil amount is difficult to reduce the starting vibration always, because bias model (signal) determines by calculating indirectly, thereby reduces the starting vibration and has been subjected to the limit.
The purpose of this invention is to provide a kind of direct generation and the corresponding bias model of leakage of oil amount and make the starting vibration drop to minimum hydraulic elevator.
To achieve these goals, the invention provides the means of carrying out STCP starting compensatory by bias model, and bias model is to ask for according to the difference of pressure between the delivery pressure of the oil pressure of the oil cylinder of mobile car and Hydraulic Pump, in other words, is that the inlet and outlet pressure difference by boiler check valve obtains.
Pressure reduction is that the output valve by the delivery pressure of comparison measurement oil cylinder and Hydraulic Pump and pressure detector records.When supposing that output pressure ratio oil cylinder working-pressure when Hydraulic Pump is high, pressure reduction is a positive code, and this moment, boiler check valve was opened.At the positive differential pressure state, pressure oil flows to oil cylinder from boiler check valve, so it is to measure by detecting above-mentioned flow velocity that pressure differential exists.When pressure oil when boiler check valve flows to oil cylinder, car rises.So pressure differential exists by the speed and the miles of relative movement that detect car to be measured.
As long as car does not produce any to the feeling starting vibration of human body, pressure reduction can be set at a negative code, also can be set at zero.
The STCP starting compensatory device that is to say that according to the difference based on the delivery pressure of the oil pressure of oil cylinder and Hydraulic Pump a bias model of the inlet outlet pressure differential of boiler check valve compensates.Above-mentioned pressure reduction is the value that records according to actual, is not subjected to the influence of fluctuations of each Hydraulic Pump leakage of oil amount.
The inlet outlet pressure differential of above-mentioned boiler check valve is not that value of determining indirectly by the spillage of calculating Hydraulic Pump, but actual measurement.So STCP starting compensatory can accurately be finished.
Fig. 1 is the overall construction drawing of the hydraulic elevator of one embodiment of the present of invention;
Fig. 2 is the structural representation of the speed control unit among Fig. 1;
Fig. 3 is the details drawing of the speed control unit of Fig. 1;
Fig. 4 a is the instruction diagram that hydraulic elevator shown in Figure 1 moves up and down to Fig. 5 g;
Fig. 6 a is the instruction diagram of the STCP starting compensatory indication generation circuit among the present invention to Fig. 6 e;
Fig. 7 is the sequential circuit figure of hydraulic elevator shown in Figure 1;
Fig. 8 a and Fig. 8 b are the Hydraulic Pump in the presentation graphs 1 and the mounting structure scheme drawing of asynchronous motor;
Fig. 9 a and Fig. 9 b are the scheme drawings of disconnection (unclamping) detector of the expression driving band that is connected Hydraulic Pump shown in Figure 1 and asynchronous motor; And
Figure 10 a and Figure 10 b be expression the present invention and with the scheme drawing of corresponding other embodiment of Fig. 6 c.
Among Fig. 1, one hydraulic elevator elevator hoistways 1 arranged, be embedded in the oil cylinder 2 at elevator hoistways 1 melt pit place, inject oil cylinder 2 pressure oil 3, support the piston 4 of (support) by pressure oil 3, be fixed on the car 5 of column piston 4 upper ends and be placed on induction type position detector 6 in the car 5.Detector 6 detects a zone and the stop position that proceeds to when relative with each floor baffle plate 7,8.Pulse coder 11 directly links with the pulley 9 that is placed on the lower position of elevator hoistways 1, and detects the speed and the position of car.The rotation of pulley 9 is by pulley 10 and be fixed on rope 11a on the car 5 and the synchronized movement of car.Electromagnetic change-over valve 12 plays the function of a boiler check valve usually, when magnet coil encourages, also converts reverse-conducting to.Pipeline 12a is connected between oil cylinder 2 and the electromagnetic change-over valve 12 and transmits pressure oil 3 and give oil cylinder 2.Hydraulic Pump 13 can two-wayly rotate, and sends and pressure recovery oil 3 through electromagnetic valve 12 by pipeline 13a.Pressure detector 14 and 15 is used for detecting the pressure of oil cylinder 2 and the delivery pressure of Hydraulic Pump 13.Magnet stopper 16 directly and Hydraulic Pump 13 link.Fuel tank 17 is given Hydraulic Pump 13 by pipeline 17a pressure recovery oil 3 or delivery pressure oil 3 from Hydraulic Pump 13.Three phase asynchronous motor 12 drives Hydraulic Pump 13 by pulley 18,19 and belt conveyor 20.Pulse coder 22 detects the rotative speed of this three phase asynchronous motor 21.Changer 25 is transformed into direct current (DC) to three-phase ac power supply R, S and T, vice versa.Inverter 23 makes direct current (DC) obey the three plase alternating current of pulse width control and generation voltage and changeable frequency, and it links to each other with changer 25 by filter capacitor 24.
Speed control unit 26 comprises the signal 11a of the pulse coder 11 that detects car position and speed respectively, detect the signal 6a of induction type position detector 6 of the stop position of each floor, detect the feedback speed signal 22a of the pulse coder 22 of three phase asynchronous motor 21 rotating speeds, signal 14a, the 15a of pressure detecting instrument 14,15, and from starting indication often opening and normally closed contact 43a1,43b1 up to the operation indicating relay 43 that stops to indicate input.The signal 12b of the signal 23a of this device output control inverter 23, the signal 16a of control magnet stopper 16 and control electromagnetic change-over valve 12.
The structural outline of speed control unit 26 as shown in Figure 2.For the sake of simplicity, parts not too relevant with speed control that have among Fig. 1 or part have been omitted in Fig. 2.Use with Fig. 1 in identical sequence number represent identical part.
In Fig. 2, current control circuit 30 receives the output i of vector control circuit 31 *And the control signal 23a of output inverter 23.The output of vector control circuit 31 received pulse coders 22 is the rotational speed omega of asynchronous motor 21 RmAnd the output of speed control circuit (ASR) 32 is torque command τ *The output of ASR circuit 32 inbound pacing instruction generating circuits 33 is speed command ω * r, pulse coder 11 output be the speed omega of car 5 r, and according to the present invention as the STCP starting compensatory instruction τ of STCP starting compensatory instruction generating circuit 34 output (with reference to STCP starting compensatory instruction τ 0).The output signal of pressure detector 14,15 is that the oil pressure of oil cylinder and the delivery pressure of Hydraulic Pump 13 are imported in the STCP starting compensatory instruction generating circuit 34 according to the present invention.The detailed structure of speed control unit 26 as shown in Figure 3.
Speed by these speed control unit 26 control cars will be described afterwards.Rising of car 5 once and the overview of having changeed compensation are described here.
At first, explain " rising " operation with reference to Fig. 4.
At t 0Magnet stopper 16 is seen Fig. 7 by an operating instruction relay 43(constantly) open, so that slowly increase STCP starting compensatory instruction τ.In this case, when magnet stopper 16 was opened, " decline " of car 5 operation did not take place, and this is because the closure of check ring of electromagnetic change-over valve 12.Inverter 23 is by output signal 23a control, and signal 23a produces according to STCP starting compensatory instruction τ by ASR circuit 32, vector control circuit 31 and current control circuit 30, and asynchronous motor 21 is with a low-speed running.It is that (output) signal 15a of pressure detector 15 is that pressure detector 14(exports than the pressure of oil cylinder that above-mentioned speed increases delivery pressure up to Hydraulic Pump 13) signal 14a height, the boiler check valve of electromagnetic valve 12 is opened then.STCP starting compensatory instruction τ increase (by force) up to car with low speed rising and at moment t 1Remain unchanged.Go up the step down, at time t 2, speed command ω * rBegin to raise, car quickens up to moment t 3(Fig. 7) STCP starting compensatory instruction output control relay 41 that occurs later is at time t 2Connect, make the normally closed contact 41b between STCP starting compensatory instruction generating circuit 34 and the ASR circuit 32 disconnect (release), so STCP starting compensatory instruction (signal) is zero.Car moves up to time t with a command speed 4Till.Hug layer when elevator is close to a certain purpose, utilize the position signal 11a of car that it is run slowly, near stop position the time, speed reduces, and at time t 5Reach land speed.Again next step, at t 0Constantly, operating instruction relay 43 " is opened " (disconnection) by stop position signal 6a, to stop elevator.Magnet stopper 16 is at time t 8Barrier gate is at time t 9, STCP starting compensatory instruction output relay 41 " is opened " (disconnection).Like this, operation is finished.
Secondly, the STCP starting compensatory that the present invention relates to is described in detail with reference to Fig. 6.
The oil pressure of the open contact 43a1 of operating instruction relay (see figure 7) and normally closed contact 43b1, oil cylinder is that the signal 14a of pressure detector 14 and the delivery pressure of Hydraulic Pump 13 are the incoming signal input of the signal 15a of pressure detector 15 as the STCP starting compensatory generation circuit 34 shown in Fig. 6 a, and this circuit output is with reference to STCP starting compensatory instruction τ 0
Fig. 6 b represents with reference to STCP starting compensatory instruction τ 0Output circuit, Fig. 6 C represents to keep with reference to STCP starting compensatory instruction τ 0The driving circuit of constant relay 61, Fig. 6 d are represented as instruct τ with reference to STCP starting compensatory 0The sequential circuit of output circuit, Fig. 6 e represents with reference to STCP starting compensatory instruction τ 0Output model promptly based on the pressure differential bias model between the oil pressure of the delivery pressure of Hydraulic Pump 13 and oil cylinder.
In Fig. 6 d, described output circuit comprises that amplifier OP1 arrives R11 and capacitor C to OP3, resistance R 1 at Fig. 6 b.
When the open contact 43a1 of the operating instruction relay shown in Fig. 6 d " connection ", by the normally closed contact 61b of the relay among Fig. 6 c 61 and the normally closed contact 62b of relay 62, " connection " relay 64.In Fig. 6 b, because the normally closed contact 43b1 of operating instruction relay opens (disconnection), therefore with reference to STCP starting compensatory instruction τ 0Output circuit become an integrating circuit.Because the open contact 64a1 of relay 64 closes, with reference to STCP starting compensatory instruction τ 0Rise with a gradient, shown in Fig. 6 c, the power line voltage E among the figure 1As reference voltage.The delivery pressure of Hydraulic Pump 13 is the input end that the signal 15a of pressure detector 15 is input to the DP2 shown in Fig. 6 c, and polarity is reversed.In order to make car 5 low speed rise power line voltage E 2Be arranged to bias reference voltage.When the pressure from oil cylinder 3 is the signal 14a and the bias reference voltage E of being convenient to the rising of car 5 low speed of pressure detector 14 2And in deduct Hydraulic Pump 13 delivery pressure be the signal 15a of pressure detector 15 and the value that obtains when becoming negative, relay 61 " connection ".When open contact 61a closed, relay 62 " connection " was so open contact 62a closes and self-locking.Open contact 61b and open contact 62b disconnect, and relay 64 " disconnections " open contact 64a1 opens, and the output of the output circuit of Fig. 6 b (value) is promptly instructed (signal) τ with reference to STCP starting compensatory 0In time T 1Keep steady state value, shown in Fig. 6 e.It is for normally closed contact 61b being closed and do not make relay 64 " connection " that normally closed contact 62b is connected in the circuit of the relay 64 shown in Fig. 6 d, but condition is that Hydraulic Pump 13 is in the time T as shown in Fig. 6 e 1The back is driven by speed command, and the delivery pressure of Hydraulic Pump 13 is that the oil pressure of the signal 15a of pressure detector 15 and oil cylinder 3 is that the signal 14a of pressure detector 14 changes, like this relay 61 " disconnection ".When operating instruction relay 43 " disconnection ", normally closed contact 43b1 connects (closing), and discharges the electric charge of capacitor C by resistance R 3, and thus, running state is got back to initial state (initial state).
As mentioned above, the setting of amplifier OP3 among Fig. 6 c is for according to the signal 14a of the oil pressure that corresponds respectively to the delivery pressure of Hydraulic Pump and oil cylinder and the difference (pressure reduction) between the 15a, in other words according to the pressure reduction between the front and back of the boiler check valve in the electromagnetic change-over valve 12, produce the bias model shown in Fig. 6 e.
Below, " rising " operation among Fig. 4 illustrates with reference to Fig. 6 and Fig. 7.
Among Fig. 7, the anode and the negative terminal of (+) and (-) expression direct supply.Relay 60 is used for guaranteeing safe.Sequence number 45b represents the normally closed contact of a safety device, and above-mentioned safety device does not draw in the drawings, a normally closed contact of the relay 49 in the driving band disconnection detector that 49b will occur after being.Sequence number 43 expressions one operating instruction relay; 60a1 is the open contact of safety relay 60; 10a then is an open contact of unillustrated operation generation commands relays 10 among the figure.Symbol " TON " expression one on-delay device, this on-delay device are closed the back at normally closed contact 62a2 and are postponed to connect.
The input end of car speed instruction generating circuit 32 comprise among the open contact UPa(figure of transmission " rising " instruction do not draw) and the open contact DNa1(figure of the relay DN of transmission " decline " operating instruction in do not express).When open contact UPa closes (closure), produce the instruction of " rising " running velocity, when open contact DNa1 closes (closure), produce the instruction of " decline " running velocity.Sequence number 41 expression STCP starting compensatory instruction output control relays.Off delay device TOEF1, TOEF2 and TOEF3 open the back at the open contact of input end and postpone " disconnection ".The delay sequential that is provided with is TOEF1, TOEF2 and TOEF3.The relay of sequence number 63 expressions one control electromagnetic change-over valve 12.When relay 63 " connection ", electromagnetic change-over valve 12 is opened, and when its " disconnection ", electromagnetic change-over valve 12 is closed.The relay of sequence number 46 expressions one control magnet stopper 16.When relay 46 " connection ", magnet stopper 16 is opened, and when its " disconnection ", the latter closes (closure).
Now, when the open contact 10a closure (closing) of commands relays 10 takes place in operation, since the open contact 60a1 closure (closing) of safety (assurance) relay, operating instruction relay 43 " connection ".When operating instruction relay 43 " connection ", with reference to STCP starting compensatory instruction τ 0As tilt rising shown in Fig. 6 e, as reference Fig. 6 explained.Simultaneously, when open contact 43a3 is closed, TOFF2 and TOFF3 " connection ".
Because operation is " rising " operation, the commands relays DN " disconnection " that therefore " descends and move ", TOEF1 is " connection " not.Since the open contact 60a3 closure of safety (assurance) relay 60, so when TOFF2a is closed, control relay 46 " connection " and magnet stopper 16 is opened.Time T among Fig. 6 e 1With the time t among Fig. 4 1Consistent.STCP starting compensatory instruction τ is (with reference to STCP starting compensatory instruction τ 0) at time t 1The time keep constant.At time t 1, the relay 62 " connection " shown in Fig. 6 d.At time t 2, open contact 62a2 closure, on-delay device TON postpone " connection ".At time t 2, open contact TONa1, TONa2 closure.Because " rising " operating instruction relay UP " connection " therefore impels car speed instruction generating circuit 33 to produce the instruction of " rising " running velocity by open contact 43a2 and TONa1.At time t 2, by open contact TONa2 and TOFF3a, STCP starting compensatory instruction output control relay 41 " connection ".By speed command ω * rThe accelerated movement that produces is up to time t 3Just stop, and operation becomes steady later on.At time t 4, decelerated movement begins, at time t 5Reach the floor close velocity.The open contact 10a of instruction takes place at time t in operation shown in Figure 7 5Open (disconnection), so operating instruction relay 43 " disconnection ".When operating instruction relay 43 " disconnection ", the normally closed contact 43b1 closure among Fig. 6 b, cond C discharge.Open contact 43a1 among Fig. 6 d opens (disconnection), relay 62 " disconnection ", and running state is got back to initial conditions (initial state).When open contact 43a3 opened (disconnection), off delay device TOFF2 and TOFF3 postponed " disconnection " in order.
Open contact TOFF2a disconnects, and the relay 46 of control magnet stopper is at time t 8" disconnection " is so magnet stopper 16 is closed.Open contact TOFF3a is at time t 9Open (disconnection), STCP starting compensatory instruction output control relay 41 " disconnection ".Like this, operational process is finished.
Because top situation about " rising " having been moved is described, " decline " operation is described with reference to Fig. 5 earlier with the difference of " rising " operation.
STCP starting compensatory instruction τ 1At time t 0Gradually begin to increase, and asynchronous motor is with low-speed running.This speed increment is the value of the signal 15a(of pressure detector 15 up to Hydraulic Pump 13 delivery pressures) be the value of the signal 14a(of pressure detector 14 than the oil pressure of oil cylinder 3) till the height; Till STCP starting compensatory instruction τ rises to car and rises with low speed, then at time t 1Remain on that level (value).Magnet coil is at time t 112a encourages by signal, and electromagnetic valve 12 is reversed conducting (turning to).Speed command ω * rAt time t 2Rise, accelerate to time t 3Till.At time t 5Reduce speed now, at time t 6Obtain land speed, at time t 6, operating instruction relay 43 " disconnection "; At time t 7, the coil of electromagnetic change-over valve 12 is disengaged excitation.So the function that this valve is got back to boiler check valve gets on.
" decline " operation will be described in detail referring to Fig. 5, Fig. 6 and Fig. 7.
Operating instruction relay 43 is at time t 0" connection ".Contact 43a1 closure shown in Fig. 6 and Fig. 7 d, relay 64 " connection ".The normally closed contact 43b1 of Fig. 6 b opens, and so open contact 64a1 closure is with reference to STCP starting compensatory instruction τ 0Shown in Fig. 6 e, tilt to rise.Time T 1With the time t among Fig. 5 1Unanimity is at time t 1, STCP starting compensatory instruction τ is (with reference to STCP starting compensatory instruction τ 0) remain unchanged.When open contact 43a3 is closed, off delay device TOFF2 and TOFF3 " connection ".When open contact 43a3 at time t 0When closed, off delay device TOFF2 " connection ", open contact TOFF2a closure, 46 connections of magnet stopper control relay and magnet stopper 16 are opened.Relay 62 is in time t1 " connection ".Delay timer TOFF1 is because the open contact DNa2 of open contact 43a3, " decline " operating instruction relay and open contact 62a4 are closed " connection ".When the open contact DNa3 of the open contact 62a2 of safety (assurance) relay, " decline " operating instruction relay and open contact 62a4 are closed, electromagnetic change-over valve control relay 63 " connection ", and make electromagnetic change-over valve 12 reverse-conductings by signal 12a.When open contact 62a2 was closed, on-delay device TON postponed " connection ".The open contact TONa1 of on-delay device TON is at time t 2Open contact DNa1 closed and by " declines " operating instruction relay DN instructs speed command generation circuit 33 generation " decline " running velocitys.Open contact TONa2 is at time t 1So closure is STCP starting compensatory instruction output control relay 41 " connection ".Car 5 quickens to run to time t 3Till, reach a smooth operation (stage) then.When car is close to a certain purpose (being scheduled to) floor, at time t 4Run slowly, at time t 5Reach land speed.The open contact 10a of relay 10 takes place at time t in operation 6Open (disconnection).So operating instruction relay 43 " disconnection ".Off delay device TOFF1 is at time t 7" disconnection ", open contact TOFF1a opens (disconnection); Electromagnetic change-over valve control relay 63 " disconnection "; And electromagnetic change-over valve 12 is because signal 12a returns to the function of boiler check valve.Off delay device TOFF3 is at time t 9Disconnect, open contact TOFF3a opens (disconnection), STCP starting compensatory instruction output control relay 41 " disconnection ", and like this, this operation has just been finished.
Here, asynchronous motor 21 low-speed runnings and speed increment are the value of the signal 15a(of pressure detector 15 up to the delivery pressure of Hydraulic Pump 13) be the value of the signal 14a(of pressure detector 14 than the oil pressure of oil cylinder 3) till the height, and, STCP starting compensatory instruction τ increases till the car low cruise, at time t 1Remain unchanged.In addition, speed command ω * rAt time t 2Growth will describe afterwards.
The starting that reduces to be caused by leakage of oil is vibrated, and is to realize by the spillage that compensates Hydraulic Pump 13.
Yet in hydraulic efficiency pressure system, the difference between the friction between oil cylinder and the column piston very big and static friction and the dynamic friction is also very big.So, in the present invention, be to realize reducing of starting vibration, also detect further the oil pressure of oil cylinder 3 and Hydraulic Pump 13 delivery pressure, increase asynchronous motor speed till the output pressure ratio oil cylinder oil pressure height of Hydraulic Pump 13 and make static friction arrive the dynamic friction smooth transition again.
If the difference of static friction and dynamic friction is not too big or vibration is not to make the people feel to obtain to resembling the starting vibration greatly, the bias reference voltage E2 shown in Fig. 6 c can be set at zero or negative value so.Even above-mentioned value negative value, also be no more than the poor of the output valve 14a of pressure detector 14 and 15 and 15a, and as far as possible the absolute value of the difference of specific output signal 14a and 15a little (| signal (value) 14a-signal (value) 15a|＞| E2|), on the meaning that the starting vibration reduces, above-mentioned value is near zero simultaneously.
Fig. 3 represents speed control unit shown in Figure 2 in more detail.
This block scheme is a kind of basiccircuit of difference frequency type vector controlled.
Sequence number 32 expression ASR circuit; The 31st, vector control circuit; The 30th, current control circuit.The incoming signal of ASR circuit 32 is speed command ω of car speed instruction generating circuit * r, car speed signal ω rAnd the STCP starting compensatory of STCP starting compensatory instruction generating circuit 34 instruction τ.ASR circuit 32 comprises the Z of the Z function of a proportional integral (PI) constant K i, sampled value control -1, a constant of proportionality K P, a limiter of moment and an adder-subtractor.
When operating instruction relay 43 " connection ", STCP starting compensatory instruction generating circuit 34 produces STCP starting compensatories instruction τ (with reference to STCP starting compensatory instruction τ 0), above-mentioned instruction becomes the command value τ of vector control circuit 31 by normally closed contact 41b and limiter of moment *Because this moment, open contact 41a opened (disconnection), so above-mentioned integrating function does not work, STCP starting compensatory instruction τ itself promptly becomes the command value τ of vector control circuit 31 *At this moment, speed command ω * r=o and car speed ω r=0.
Incidentally, STCP starting compensatory instruction can be a bias model, and this bias model signal is reducing in the scope of the starting vibration that causes because of leakage of oil low speed ground rotation asynchronous motor 21 in other words in the inoperative scope of car 5.
The incoming signal of vector control circuit 31 is torque instruction τ of ASR circuit 32 *With the signal 22a of the pulse coder 22 that directly links to each other with asynchronous motor 21 is the rotational speed omega of asynchronous motor 21 * Rm Vector control circuit 31 comprises constant of proportionality K1, K2, the flux component Im of asynchronous motor 21, function Im 2 + It 2 , function+an -1(It/im) and an adder.The instruction i of current control circuit 30 *Comprise frequency instruction ω iWith an instruction be Ii, instruction is the current value of θ mutually.Frequency instruction ω 1Torque instruction τ *Multiply by constant of proportionality K1, obtain difference frequency ω s.In addition, it is rotational speed omega RmBe added on the difference frequency ω s, obtain frequency instruction ω 1Current-order Ii with instruct the way of asking for of θ to be mutually, with torque instruction τ *Multiply by constant of proportionality K2 to determine the torque component It of asynchronous motor 21, utilize the function of forming by this torque component It and flux component Im again And tan -1(It/im) calculate them respectively.
Current control circuit 30 is from current-order i *Obtain control signal iu, iv, the iw of three-phase alternating current, and control inverter 23 and rotation asynchronous motor 21.
To do an explanation to the operation that switches to speed command and acceleration elevator from the STCP starting compensatory instruction.Speed command ω in the car speed instruction generating circuit shown in Figure 4 and 5 * rAt time t 2When increasing, open contact 41a closure is carried out integrating function.Because this normally closed contact is opened, STCP starting compensatory instruction τ becomes zero.As a result, ASR circuit 32 becomes and utilizes car speed ω rAs the proportional integral (PI) circuit of feedback signal, and control asynchronous motor 21 is so that car speed ω rObey speed command ω * rThereby, drive Hydraulic Pump 13 runnings.
When using such system architecture, the speed feedback control circuit that comprises car speed can be achieved and the speed control performance improves.As a result, land speed can reduce from common 5m/min and reduces to 2m/min.Because this land speed is lower than usual means, thus the vibration of stopping reduces, drives more comfortable and from start can accomplish to the speed control of land process smooth steady.
Because car speed is as feedback speed signal, land speed does not change with load and oil pressure.So in other words the time of run of land speed is exactly that so-called " slowly time of run " can shorten, the time of run from start to stopping also to shorten.
In addition, be input to the back level of ASR circuit and pass through relatively speed command ω owing to STCP starting compensatory τ * rWith car speed ω rInfluence velocity feedback, so STCP starting compensatory instruction τ do not become the disturbing factor of velocity feedback, and realize speed command ω * rThe velocity feedback that the fidelity effect is arranged.
Fig. 8 a is asynchronous motor 21 drives Hydraulic Pump by pulley 18,19 and driving band 20 a structural representation.
When " decline " run duration driving band 20 was disconnected (unclamping), because the deadweight of car, car quickened operation in " decline " direction.
Therefore, magnet stopper 16 is assemblied on the axle 13b that connects belt pulley 18 and Hydraulic Pump 13, quickens operation so that can stop car when driving band 20 disconnects (unclamping), shown in Fig. 8 b.
The fixed position of magnet stopper 16 is the opposites at belt pulley 18.This drg can be drum type but consider compact dimensions and a preferably pan brake in light weight.
Fig. 9 represents the driving band disconnection detector in the speed control unit 26.
The input (signal) of the driving band disconnection detector 50 shown in Fig. 9 a is rotational speed omega of asynchronous motor RmWith car speed ω rWork as rotational speed omega RmWith car speed ω rDifference during greater than a predetermined value (for example greater than command speed 10%), 50 work of driving band disconnection detector, relay 49 is energized, the normally closed contact 49b among Fig. 7 disconnects and 60 " disconnections " of safety (assurance) relay.In addition, when open contact 60a2,60a3 open (disconnection), the control relay 46 " disconnection " of magnet stopper 16, the open contact 46 shown in Fig. 9 b is opened, so magnet stopper 16 closures (closing).Simultaneously, electromagnetic change-over valve control relay 63 is opened and electromagnetic change-over valve 12 is got back on the function of boiler check valve.
The service condition of driving band disconnection detector 50 is with reference to Fig. 9 b explanation.
Car speed ω rBe input to " OP3 ", so the pole reversal." OP4 " is with the rotational speed omega of asynchronous motor (motor) RmWith car speed ω rCompare, determine their difference, by absolute (value) circuit 51 its polarity is just become simultaneously with example.For example, power line voltage E 3Value be set to 10% of command speed." OP5 " be power line voltage E relatively 3Value and the output valve of absolute (value) circuit 51, when this value (difference) is timing, relay 49 " connection ".
The function that above-mentioned driving band disconnects (unclamping) detector 50 is a velocity increment minimum when making driving band disconnect (unclamping).
Below, an alternative embodiment of the invention will be described.
Figure 10 a is corresponding with Fig. 6 c with Figure 10 b.
Among Figure 10 a, sequence number 14A represents to be used for to replace the output voltage of the flow counter of pressure detector shown in Figure 1 14.Compare with Fig. 6 c, clearly, the output signal 15a of pressure detector 15 is useless.In other words, this embodiment has omitted pressure detector shown in Figure 1 15.
Among Figure 10 b, pulse totalizer PC replaces the OP3 shown in Figure 10 a, and the input of the output 11a of pulse coder shown in Figure 1 (E2) 11 as it.
Among Fig. 1, when because the delivery pressure P2 of STCP starting compensatory Hydraulic Pump 13 during greater than the oil pressure of oil cylinder, then boiler check valve 12 is opened, pressure oil begins to flow to fuel feed pipe 12a.Be the output of zero flow counter in this case up to now always, flow and show a certain value 14A owing to measure oil pressure.When output (value) 14A of flow counter surpasses bias reference voltage E 2The time, relay 61 " connection ".
In Fig. 1, boiler check valve 12 is similarly opened, and pressure oil begins to flow to fuel feed pipe 12a.Then, car 5 low speed rise.Because rising, this low speed can be measured, so the pulse count of the speed after " rising " distance or corresponding conversion surpasses corresponding bias reference voltage E by pulse coder 11 2Pulse setting value E PThe time, relay 61 " connection ".
Also be in these examples, the bias model of STCP starting compensatory becomes the form of Fig. 6 e.
In Figure 10 a and Figure 10 b, " connection " of relay 61 grasped (decision) by the oil pressure of mensuration oil cylinder and the difference between hydraulic pressure delivery side of pump (output) pressure, and above-mentioned two pressure are that output (value) and pulse coder output (value) form with flow counter occurs.
In two embodiment of the present invention, setting value E 2, E PCan be set to a kind of like this state, in this state, oil cylinder oil pressure and Hydraulic Pump delivery pressure equate.
The pattern of embodiments of the invention is described below.
(1) current control circuit in the speed control unit 30, vector control circuit 31, ASR circuit 32, car speed instruction generating circuit 33 and STCP starting compensatory command circuit 34 were described as independent circuit.Yet this has just done explanation to function, and when using microcomputer, above-mentioned functions has been brought together because having used software configuration.
(2) in Fig. 3, STCP starting compensatory instruction τ 0To add speed command ω is arranged rForm and pulse coder (E 2) 11 output valve ω rCompare.
(3) in Fig. 4, at time t 2The speed command rising of starting from scratch.As STCP starting compensatory instruction ι and speed command ω *At time t 2During conversion, if car is because the speed command in the rate feedback system is zero and the low speed rising, the power that stops car so just works.Therefore, to speed command ω * rConversion rise and may steadily carry out by the low speed that adds car, the signal of being added is as speed command ω * rRising exported.
(4) in Fig. 1, car is directly driven by column piston, but when driving, indirect system must settle a pulley, (on the pulley) on the piston around a rope, this end and car is fixed, the other end is maintained fixed of restricting, and move up and down piston so that move up and down car by this rope.
(5) although Hydraulic Pump is driven by the running belt of asynchronous motor by Fig. 1, also can adopt a direct connection system or gear coupling system.
(6) in the electromagnetic valve of Fig. 1, boiler check valve separates with the valve of setting up reverse-conducting, but fuel feed pipe 12a and 12a can communicate by two valves.
According to above description,, the invention provides a kind of hydraulic elevator with little starting vibration by directly, accurately producing the corresponding bias model of leakage of oil amount with Hydraulic Pump.

Claims (5)

1, a kind of hydraulic elevator, it comprises:
One car that can move up and down along elevator hoistways;
One is used for moving the oil cylinder of above-mentioned car;
One asynchronous motor;
One Hydraulic Pump by above-mentioned Asynchronous Motor Driving and generation pressure oil;
One electromagnetic change-over valve, normal as returning only valve work, become reverse-conducting when this valve is encouraged by a magnet coil, this electromagnetic change-over valve can offer above-mentioned oil cylinder from above-mentioned Hydraulic Pump with the pressure oil of discharging, and the speed of car is controlled by the flow of regulating above-mentioned Hydraulic Pump;
One car speed instruction generating circuit:
It is characterized in that it also comprises:
One output with above-mentioned generation circuit is transformed into the speed control circuit of torque command;
One is transformed into the difference frequency type vector control circuit of a current-order with above-mentioned torque command;
One drives a power inverter and drives the current command circuit of above-mentioned asynchronous motor according to above-mentioned current-order; And
The one STCP starting compensatory instruction generating circuit that is used for producing a compensating signal according to the difference of the oil pressure of above-mentioned hydraulic pressure delivery side of pump oil pressure and above-mentioned oil cylinder, and the rate of discharge of above-mentioned Hydraulic Pump is controlled according to the output signal of above-mentioned car speed instruction generating circuit and above-mentioned STCP starting compensatory instruction generating circuit, and above-mentioned vector control circuit uses above-mentioned compensating instruction as a torque command.
2, hydraulic elevator according to claim 1, it is characterized in that also comprising the pressure sensor of oil pressure in the delivery pressure that detects above-mentioned Hydraulic Pump and the oil cylinder, and above-mentioned STCP starting compensatory instruction generating circuit produces compensating signal in case the difference of oil pressure that keeps above-mentioned hydraulic pressure delivery side of pump oil pressure and above-mentioned oil cylinder at set pressure.
3, hydraulic elevator according to claim 1 is characterized in that, this magnet coil be energized occur in move on the described car low speed after.
4, hydraulic elevator according to claim 1, the speed that it is characterized in that above-mentioned car are used as a feedback speed signal above-mentioned speed control circuit of feeding.
5, hydraulic elevator according to claim 1, the speed that it is characterized in that above-mentioned asynchronous motor are used as a feedback speed signal above-mentioned vector control circuit of feeding.
CN91101675A 1990-03-16 1991-03-16 Hydraulic elevator Expired - Fee Related CN1024338C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP64217/90 1990-03-16
JP2064217A JPH0780644B2 (en) 1990-03-16 1990-03-16 Hydraulic elevator

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CN1054949A CN1054949A (en) 1991-10-02
CN1024338C true CN1024338C (en) 1994-04-27

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CN (1) CN1024338C (en)
GB (1) GB2243927A (en)

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Publication number Priority date Publication date Assignee Title
JP2533683B2 (en) * 1990-10-16 1996-09-11 三菱電機株式会社 Control device for hydraulic elevator
JP2505644B2 (en) * 1990-11-20 1996-06-12 三菱電機株式会社 Hydraulic elevator drive controller
JP3175418B2 (en) * 1993-08-18 2001-06-11 三菱電機株式会社 Hydraulic elevator controller
CN1074744C (en) * 1995-09-01 2001-11-14 浙江大学 Computerized device for controlling speed of hydraulic elevator by speed feedback
KR970020931A (en) * 1995-10-09 1997-05-28 이종수 Operation Control Method of Hydraulic Elevator
IT1280604B1 (en) * 1995-11-02 1998-01-23 Sme Elettronica Spa POWER GROUP FOR THE POWER SUPPLY OF HYDRAULIC ACTUATORS
CN1050337C (en) * 1996-04-15 2000-03-15 浙江大学 Electric feedback voltage-fluid ratio flowmetering valve for hydraulic elevator speed control
DE19821678C2 (en) * 1998-05-14 2001-03-29 Leistritz Ag Hydro rope elevator
KR100336358B1 (en) * 1999-09-30 2002-05-13 장병우 Control apparatus and method for hydraulic elevator
CN100586831C (en) * 2007-09-25 2010-02-03 上海三菱电梯有限公司 Frequency-changing hydraulic elevator system
IT1393876B1 (en) * 2009-04-29 2012-05-11 Brea Impianti S U R L CONTROL SYSTEM FOR A HYDRAULIC LIFT SYSTEM
JP5812578B2 (en) * 2010-05-31 2015-11-17 Ｋｙｂエンジニアリングアンドサービス株式会社 lift device
CN102431856B (en) * 2011-08-31 2014-02-05 太原重工股份有限公司 Lifting control device for engineering machinery air-stairs
CN110347115B (en) * 2018-04-08 2021-04-30 华中科技大学 Method and system for online detection and optimization of resonance rotating speed of main shaft
CN109502447B (en) * 2018-12-10 2020-12-15 深圳资深投资管理有限公司 Anti-falling elevator based on pressure and flow coupling control

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DE3703576A1 (en) * 1987-02-06 1988-08-18 Rexroth Mannesmann Gmbh Control arrangement for at least two hydraulic consumers fed by at least one pump

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GB9105328D0 (en) 1991-04-24
CN1054949A (en) 1991-10-02
GB2243927A (en) 1991-11-13
KR910016602A (en) 1991-11-05
JPH03267279A (en) 1991-11-28
JPH0780644B2 (en) 1995-08-30

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