CN103466410A - Guide system of magnetic suspension elevator - Google Patents
Guide system of magnetic suspension elevator Download PDFInfo
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- CN103466410A CN103466410A CN2012101843602A CN201210184360A CN103466410A CN 103466410 A CN103466410 A CN 103466410A CN 2012101843602 A CN2012101843602 A CN 2012101843602A CN 201210184360 A CN201210184360 A CN 201210184360A CN 103466410 A CN103466410 A CN 103466410A
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Abstract
The invention provides a guide system of a magnetic suspension elevator. The system is characterized by comprising two parallel T-shaped guide rails, an elevator car, a plurality of E-shaped guide shoes, a plurality of displacement sensors and a control unit, wherein the two T-shaped guide rails are provided with a plurality of permanent magnets, the elevator car is provided with a car framework, the car framework is positioned between the T-shaped guide rails, the E-shaped guide shoes are respectively arranged at the top part and bottom part of the car framework of the elevator car and are provided with a plurality of permanent magnets and a plurality of electric magnets, the displacement sensors are arranged on the E-shaped guide shoes, and are used for detecting the air gaps between the E-shaped guide shoes and the T-shaped guide rails, and the control unit is used for controlling the current flowing in a coil of the electric magnets on the E-shaped guide rails. When the elevator runs, the size of the current is controlled by the control unit, then the sufficient repulsion force between the T-shaped guide rails and the E-shaped guide shoes is generated, and the T-shaped guide rails and the E-shaped guide shoes are in the non-contact type suspension state.
Description
Technical field
The present invention relates to a kind of elevator guidance system, particularly relate to the magnetic levitation elevator guiding system supported by the magnetic suspension mode.
Background technology
Along with the high speed of elevator operation in high-rise, the traveling comfort, the reduction operation noise that improve elevator ride become important research topic.Usually, elevator is to drive car by towing machine, utilizes the wirerope traction to move up and down, and the elevator guidance system has been guaranteed car and can have been moved up and down along guide rail focusing in hoistway.The elevator guidance system generally includes two guide rails of configured in parallel and a plurality of boots of leading that move on guide rail in the mode of rolling or sliding.In can the elevator of high-speed cruising, lead boots and usually by roller and spring, hang and forms, can absorb thus and vibrate to ensure certain traveling comfort.But, along with the command speed of elevator improves constantly, the vibration problem caused due to factors such as guide rail distortion, surface irregularities becomes very outstanding.This contact is led boots vibration is passed to car, so the travelling comfort of elevator can not be fully protected.
At present, by magnetic force be used for realize that the magnetic levitation elevator guiding system lead no touch suspended state between boots and guide rail is just causing people's concern.Lead while moving due to elevator between boots and guide rail as the no touch suspended state, therefore do not have friction drag, without being lubricated processing, and can extend service life of elevator.And the guide rail that can also add with thick machine replaces accurately machined guide rail, therefore can reduce the expense of manufacture, installation and maintenance, thereby further reduce costs.In addition, the mechanical attributes that magnetic levitation elevator guiding system can be led boots by change leads rigidity and the damping of boots, effectively suppresses extraneous interference and the vibration of system, thereby improves the comfort level of elevator ride.
The scheme of a kind of magnetic levitation elevator guiding system has been proposed in patent documentation 1～3, wherein, by electromagnet being set leading on boots, make electromagnet be arranged on the sufficient attractive force of generation between the permanent magnet on guide rail, car is carried out to suspension bearing.But the defect of this technical scheme is, for enough bearing capacities are provided, must supply with very large electric current to electromagnet, so the consumption of current of system is very large, is unfavorable for reducing use cost.
In order to address the above problem, patent documentation 4 has proposed following technical proposals: electromagnet and permanent magnet are set leading on boots, also produce larger attractive force and support car owing to being arranged between the permanent magnet of leading on boots and guide rail, therefore without to electromagnet, supplying with very large electric current, can reduce the consumption of current of system.But, when lift car is subject to larger side force or side direction perturbation, still needs to supply with very large electric current to the electromagnet that increases a side setting at air gap and can avoid leading contacting of boots and guide rail.
In addition, above-mentioned two kinds of technical schemes all adopt the mode with attractive force supporting car, due to permanent magnet or coil current is not carried out to the electromagnet of ACTIVE CONTROL and the size of the suction between guide rail and size of gaps and be inversely proportional to that (air gap is less for relation, suction is larger, vice versa), therefore the rigidity that attractive force produces is negative stiffness, need to control the positive rigidity of introducing and offset negative stiffness, and will further provide positive rigidity to make to lead boots stably to be suspended on guide rail.Because the part of positive rigidity is used for offsetting negative stiffness, therefore the size of the positive rigidity that plays supporting role caused to waste, and require control system to there is very high precision, increased the complexity of equipment, cause cost to raise.
Existing patent documentation
Patent documentation 1:US5368132A
Patent documentation 2:US5379864A
Patent documentation 3:US5439075A
Patent documentation 4:US6408987B2
Summary of the invention
The present invention proposes in view of the above problems, its purpose is to provide a kind of magnetic levitation elevator guiding system, leads the size of the repulsion between boots and guide rail by control, improves the stability of elevator operation, and can reduce the consumption of current of system, thereby reduce costs.
The magnetic levitation elevator that the present invention relates to guiding system, is characterized in that, comprising: arrange, two T-shaped guide rails that be provided with a plurality of permanent magnets abreast; Lift car with car frame, above-mentioned car frame is between above-mentioned T-shaped guide rail; A plurality of E types are led boots, and it is arranged at respectively top and the bottom of the above-mentioned car frame of above-mentioned lift car, and are provided with a plurality of permanent magnets and a plurality of electromagnet; A plurality of displacement pickups, it is arranged at above-mentioned E type and leads boots, for detection of above-mentioned E type, leads the air gap between boots and above-mentioned T-shaped guide rail; And control unit, it is to being controlled being arranged at the electric current that above-mentioned E type circulates in leading above-mentioned a plurality of magnet spools of boots, wherein, under the state of elevator operation, control unit is controlled the size of above-mentioned electric current, in order to lead at above-mentioned T-shaped guide rail and above-mentioned E type the repulsion that between boots, generation is enough, make the two become the non-contact type suspended state.
In an embodiment of the invention, above-mentioned T-shaped guide rail comprises: the base portion extended on vertical direction; With, protrusion that in the horizontal direction stretch out vertical with above-mentioned base portion, end in the side contrary with above-mentioned base portion of above-mentioned protrusion, be provided with above-mentioned permanent magnet, and, on the upper and lower sides surface of the close above-mentioned end of above-mentioned protrusion, with homopolarity, relative mode is respectively arranged with above-mentioned permanent magnet.
In an embodiment of the invention, above-mentioned E type is led boots and is comprised: the base portion extended on vertical direction; With the first horizontal arm section, its position of substantial middle from above-mentioned base portion, along horizontal direction, stretch out, under the state of elevator operation, the mode that the end of above-mentioned the first horizontal arm section separates certain intervals with the above-mentioned end of the above-mentioned protrusion with above-mentioned T-shaped guide rail is relative.
In an embodiment of the invention, lead boots in above-mentioned E type, above-mentioned base portion comprises the first vertical arm and the second vertical arm, this first vertical arm and the second vertical arm respectively from the end of the opposite side contrary with above-mentioned end of above-mentioned the first horizontal arm section respectively up and down direction extend and form, above-mentioned E type is led boots and is also comprised the 3rd vertical arm and the 4th vertical arm, the 3rd vertical arm and the 4th vertical arm arrange abreast with the above-mentioned first vertical arm and the above-mentioned second vertical arm respectively, and the above-mentioned protrusion of above-mentioned T-shaped guide rail is clipped in the middle, between the above-mentioned first vertical arm and the above-mentioned the 3rd vertical arm, be provided with second horizontal arm section parallel with above-mentioned the first horizontal arm section of the two connection, and, between the above-mentioned second vertical arm and the above-mentioned the 4th vertical arm, be provided with three horizontal arm section parallel with the first horizontal arm section of the two connection, under the state of elevator operation, the above-mentioned the 3rd vertical arm and the above-mentioned the 4th vertical arm end separately, with the above-mentioned side surface of the close above-mentioned end of the above-mentioned protrusion of above-mentioned T-shaped guide rail, to separate certain intervals ground relative respectively.
In an embodiment of the invention, lead boots in above-mentioned E type, be provided with above-mentioned permanent magnet in the above-mentioned end relative with the above-mentioned end of above-mentioned protrusion above-mentioned T-shaped guide rail above-mentioned the first horizontal arm section, above-mentioned permanent magnet arranges in the relative mode of above-mentioned permanent magnet homopolarity of the above-mentioned end setting of the above-mentioned protrusion with at above-mentioned T-shaped guide rail, be respectively arranged with permanent magnet at the above-mentioned the 3rd vertical arm and the above-mentioned the 4th vertical arm above-mentioned end separately, this permanent magnet arranges in relative with the above-mentioned permanent magnet homopolarity of the above-mentioned side surface setting of the close above-mentioned end of above-mentioned protrusion at above-mentioned T-shaped guide rail respectively mode, and, be respectively arranged with electromagnet at the above-mentioned first vertical arm and the above-mentioned second vertical arm, be respectively arranged with electromagnet at the above-mentioned the 3rd vertical arm and the above-mentioned the 4th vertical arm.
In an embodiment of the invention, four bights on the above-below direction of the outside of above-mentioned car frame, respectively be provided with 1 above-mentioned E type in the mode mutual relative with above-mentioned T-shaped guide rail and lead boots, lead boots in each above-mentioned E type and be provided with two above-mentioned displacement pickups.
In an embodiment of the invention, above-mentioned control unit comprises the signal condition module, the A/D sampling module, the DSP module, D/A modular converter and electric current amplification module, wherein, above-mentioned signal condition module receives and is arranged on the displacement signal that above-mentioned E type is led the above-mentioned displacement pickup of boots, after being adjusted by above-mentioned signal condition module, be input to above-mentioned DSP module after the collection of above-mentioned A/D sampling module, the computing of being stipulated in above-mentioned DSP module, make result of calculation be undertaken outputing to above-mentioned electric current amplification module after the digital-to-analog conversion by above-mentioned D/A modular converter, output to after utilizing above-mentioned electric current amplification module that electric current is amplified and be arranged on above-mentioned E type and lead in the above-mentioned magnet spool of boots.
In an embodiment of the invention, above-mentioned control unit receives and is arranged on the displacement signal that above-mentioned E type is led the above-mentioned displacement pickup of boots, by by following 6 parameters, calculating current change quantity, the size of current of each coil of the above-mentioned electromagnet that circulates is controlled in real time: along the degree of freedom Δ x of x axle translation, the degree of freedom Δ y along the translation of y axle, the degree of freedom Δ θ rotated around the x axle, the degree of freedom Δ ξ rotated around the y axle, the degree of freedom Δ ψ and four the E types that rotate around the z axle, lead the twist angle on plane, boots place
, wherein, establish the coordinate axle that the x axle is vertical paper direction, establish the coordinate axle that the y axle is along continuous straight runs in paper, establish the z axle and be coordinate axle vertically in paper.
The invention effect
According to said structure of the present invention, lead the size of the repulsion that the magnetic field between boots and T-shaped guide rail produces by controlling the E type, can produce enough bearing capacities, maintain the size of gaps that the E type leads between boots and T-shaped guide rail constant, can improve thus the stability of elevator operation, improve comfort level.In addition, because the permanent magnet mode relative with homopolarity that is separately positioned on the E type and leads boots and T-shaped guide rail arranges, and the magnetic field superposition that the magnetic field that electromagnet produces after coil electricity produces with permanent magnet respectively, therefore, even further weaken the magnetic-field intensity produced by electromagnet, also can make the E type lead the abundant and stable supporting power of boots acquisition, thus, can reduce the size of the electric current of supplying with to magnet spool, thereby realize reducing the effect of power consumption.
The accompanying drawing explanation
Fig. 1 means the section drawing that in the magnetic levitation elevator guiding system of embodiment of the present invention, T-shaped guide rail and E type are led the structure of boots.
Fig. 2 means the integrally-built schematic diagram of the magnetic levitation elevator guiding system of embodiment of the present invention.
Fig. 3 means the block diagram that in the magnetic levitation elevator guiding system of embodiment of the present invention, the E type is led the structure of boots.
Fig. 4 means the section drawing that the T-shaped guide rail that arranges in pairs in the magnetic levitation elevator guiding system of embodiment of the present invention and E type are led the structure of boots.
Fig. 5 means the diagram of circuit of each step of 6DOF control method of the magnetic levitation elevator guiding system of embodiment of the present invention.
Fig. 6 mean embodiment of the present invention for realizing the module frame chart of control method.
Fig. 7 means the circuit diagram of the signal condition module in the control unit of magnetic levitation elevator guiding system of embodiment of the present invention.
Fig. 8 means the circuit diagram of the electric current amplification module in the control unit of magnetic levitation elevator guiding system of embodiment of the present invention.
The specific embodiment
Below, by reference to the accompanying drawings, embodiments of the present invention are described in detail.
See figures.1.and.2, the magnetic levitation elevator guiding system the present invention relates to, comprising: the lift car with car frame 21; Two T-shaped guide rails 1 that arrange abreast, be provided with a plurality of permanent magnets; The top and E type bottom, that be provided with a plurality of permanent magnets and a plurality of electromagnet that are arranged at respectively the car frame 21 of lift car are led boots 2; Being arranged at the E type leads and leads the displacement pickup 18,19 of the air gap between boots 2 and T-shaped guide rail 1 for detection of the E type on boots 2; With the control unit to being arranged at electric current that the E type circulates in leading a plurality of magnet spools of boots 2 and being controlled.More specifically, with reference to Fig. 2, car frame 21 is between the T-shaped guide rail 1 of two configured in parallel, four bights on the above-below direction of the outside of car frame 21, respectively be provided with 1 E type in the mode mutual relative with T-shaped guide rail 1 and lead boots 2, and, lead boots 2 in each E type two displacement pickups 18,19 be installed.
T-shaped guide rail 1 is made by permeability magnetic material (killed steel), and its vertical section is shape in T shape roughly.T-shaped guide rail 1 comprises: the base portion 1-1 extended on vertical direction; With with this base portion 1-1 protrusion 1-2 vertical, that stretch out in the horizontal direction, as shown in Figure 1, the portion size of the close base portion 1-1 of protrusion 1-2 is less, and the portion size of its opposition side is larger, but be not limited thereto, protrusion 1-2 can be also identical size.As shown in Figure 1, the end 7 in the side contrary with base portion 1-1 of the protrusion 1-2 of T-shaped guide rail 1, be provided with permanent magnet 15.On the upper and lower sides surface 5,6 of the close end 7 of the protrusion 1-2 of T-shaped guide rail 1, with homopolarity, relative mode is respectively arranged with permanent magnet 11,13.In addition, permanent magnet 11,13,15 can be not outstanding from the surface of T-shaped guide rail 1.
The E type is led boots 2 main bodys and is made for the iron core that adopts folded silicon steel slice to obtain, and it is installed on the bight relative with T-shaped guide rail 1 of the car frame 21 of lift car, and vertical section roughly is the E word shape, with T-shaped guide rail 1, relatively arranges.Particularly, the E type is led boots 2 and is comprised: the base portion 2-1 extended on vertical direction; With the substantial middle position from this base portion 2-1, the horizontal arm section 2-2 stretched out along horizontal direction (the first horizontal arm section), the mode that the end 10 of this horizontal arm section 2-2 separates certain intervals (1～5mm) with the end 7 of the protrusion 1-2 with T-shaped guide rail 1 is relative, the base portion 2-1 that the E type is led boots 2 comprises the first vertical arm 2-3 and the second vertical arm 2-4, this first vertical arm 2-3 and the second vertical arm 2-4 respectively from the end of the opposite side contrary with end 10 of horizontal arm section 2-2 respectively up and down direction, the y direction figure and-the y direction extends and forms.In addition, the E type is led in boots 2 and is also comprised the 3rd vertical arm 2-7 and the 4th vertical arm 2-8, the 3rd vertical arm 2-7 and the 4th vertical arm 2-8 arrange abreast with the first vertical arm 2-3 and the second vertical arm 2-4 respectively, and the protrusion 1-2 of T-shaped guide rail 1 is clipped in the middle.Between the first vertical arm 2-3 and the 3rd vertical arm 2-7, be provided with the horizontal arm section 2-5 parallel with horizontal arm section 2-2 (the second horizontal arm section) of the two connection, equally, between the second vertical arm 2-4 and the 4th vertical arm 2-8, be provided with by the horizontal arm section 2-6 parallel with horizontal arm section 2-2 of the two connection (the 3rd horizontal arm section).With the side surface 5,6 of the close end of the protrusion 1-2 of T-shaped guide rail 1, to separate certain intervals ground (1～5mm) relative respectively with 9 for the 3rd vertical arm 2-7 and the 4th vertical arm 2-8 end 8 separately.
Because the E type is led boots 2 and consisted of iron core, therefore by coil is set as described above on iron core, just can form electromagnet 3_1,3_2 and 4_1,4_2.The number of turn scope of each coil is 50～200 circles.Wherein, coil 3_1,3_2 in series form one group of coil, the magnetic field produced after energising and the magnetic field superposition of permanent magnet 12,16, and the magnetic direction after stack is as shown in the loop 1 in Fig. 1.Equally, coil 4_1,4_2 in series form one group of coil, the magnetic field produced after energising and the magnetic field superposition of permanent magnet 14,16, and the magnetic direction after stack is as shown in the loop 2 in Fig. 1.
In addition, in the present embodiment, the thickness range of above-mentioned permanent magnet is 0.5mm～5mm, and permanent magnet adopts Nd-Fe-B permanent magnet, and the intensity that magnetizes is greater than 1 tesal.
According to said structure of the present invention, in the end 8 of the protrusion 1-2 of T-shaped guide rail 1 with near the side surface 5 of end 8, 6 respectively are provided with permanent magnet 15, 11, 13, simultaneously, the E type lead boots 2 respectively with end 8 and the above-mentioned side surface 5 of protrusion 1-2, the end 10 of 6 relative horizontal arm section 2-2, the end 8 of the 3rd vertical arm 2-7 and the 4th vertical arm 2-8, 9 respectively are provided with permanent magnet 16, 12, 14, and, lead in the E type mode that boots 2 form respectively the loop 1 shown in Fig. 1 and loop 2 with magnetic direction electromagnet 3_1 is set, 3_2, 4_1, 4_2, thus, can lead boots 2 for the E type large biasing supporting power is provided enough.Particularly, lead boots 2 for certain E type, produce and make this E type lead the repulsion of boots 2 away from T-shaped guide rail 1 end (below, also referred to as magnetic pole) 8 together with the magnetic field that the magnetic field produced after the coil electricity of electromagnet 3_1,3_2 and permanent magnet 11,12 produces, direction is the y direction; Produce and make the E type lead the repulsion of boots 2 away from T-shaped guide rail 1 end (below, also referred to as magnetic pole) 9 together with the magnetic field of the magnetic field produced after the coil electricity of electromagnet 4_1,4_2 and permanent magnet 13,14, direction is-the y direction.Therefore, under the effect of controlled electromagnetic force, can realize the balance on the y direction.On the other hand, the magnetic field produced after the coil electricity of electromagnet 3_1,3_2,4_1,4_2, the magnetic field one produced also and between permanent magnet 15,16 is worked to produce and is made the E type lead the repulsion of boots 2 away from T-shaped guide rail 1, and direction is the x direction.In addition, as shown in Figure 2, the E type is led boots A and E type, and to lead boots B be a pair of relative boots of leading, the E type is led boots C and E type, and to lead boots D be a pair of relative boots of leading, in the present invention, and the relative configuration relation had as shown in Figure 4 of leading between boots,, every a pair of relative to lead the repulsion that boots are subject on the x direction be contrary, therefore, under the effect of controlled electromagnet, can realize the balance on the x direction.
The magnetic field that permanent magnet produces is constant, and the magnetic-field intensity that electromagnet produces is current control in coil by circulation, therefore, control the intensity in the magnetic field of electromagnet generation by the size of controlling electric current, can further be controlled at the E type and lead the application force produced between boots 2 and T-shaped guide rail 1, the air gap that the E type is led between boots 2 and T-shaped guide rail 1 keeps constant, realizes contactless supporting.In addition, owing at T-shaped guide rail 1, being provided with permanent magnet 15,11,13, and this permanent magnet the 15,11, the 13rd, be arranged at the E type and lead that mode that permanent magnet 16,12,14 homopolarities of boots 2 are relative arranges, therefore, compared with prior art, even further weaken the magnetic-field intensity produced by electromagnet, also can make the E type lead the abundant and stable supporting power of boots 2 acquisition, thus, can reduce the size of the electric current of supplying with to the coil of electromagnet 3_1,3_2,4_1,4_2, thereby realize reducing the effect of power consumption.
The block diagram that Fig. 3 leads the actual installation structure of boots 2 for the E type that means embodiment of the present invention.The iron core (the E type is led boots) of the coil II that is wound with coil I that the coil by electromagnet 3_1,3_2 in series forms and in series consists of the coil of electromagnet 4_1,4_2 is built in housing 22, on the top of housing 22, is provided with for detection of the sensor 19 of x direction displacement with for detection of the sensor 18 of y direction displacement.Here, the displacement pickup that four E types are led on boots A, B, C, D (referring to Fig. 2) is defined as A-I, A-II, B-I, B-II, C-I, C-II, D-I, D-II successively, by be arranged at four E types lead boots A, B, C, D each, the coil I that formed by the coil of electromagnet 3_1,3_2 and be defined as respectively A-1, A-2, B-1, B-2, C-1, C-2, D-1, D-2 by the coil II that the coil of electromagnet 4_1,4_2 forms.In addition, in the present invention, for detection of the displacement pickup of air gap, inductive pickoff or eddy current sensor can be adopted, owing on guide rail 1, being provided with permanent magnet, therefore also Hall element can be adopted.
The logical electric current of coil midstream at electromagnet 3_1,3_2 and 4_1,4_2 is to be controlled the electric current that unit is adjusted, control unit is led T-shaped guide rail 1 that the displacement pickup 18,19 of boots 2 detects and the variation of the size of gaps between E type guide rail 2 according to being arranged at the E type, adjusts in real time the size of electric current.The E type guide rail 2 of take describes as example, when the magnetic pole (end) 8 of E type guide rail 2 and the air gap between T-shaped guide rail 1 reduce, perhaps, when the magnetic pole (end) 9 of E type guide rail 2 and the air gap between T-shaped guide rail 1 increase, control unit controls to increase the logical electric current of coil midstream of electromagnet 3_1,3_2, reduces the logical electric current of coil midstream of electromagnet 4_1,4_2 simultaneously.On the other hand, when the magnetic pole (end) 8 of E type guide rail 2 and the air gap between T-shaped guide rail 1 increase, perhaps, when the magnetic pole (end) 9 of E type guide rail 2 and the air gap between T-shaped guide rail 1 reduce, control unit controls to increase the logical electric current of coil midstream of electromagnet 4_1,4_2, reduces the logical electric current of coil midstream of electromagnet 3_1,3_2 simultaneously.In addition, when the magnetic pole (end) 10 of E type guide rail 2 and the air gap between T-shaped guide rail 1 reduce, control unit is controlled the logical electric current of coil midstream that simultaneously increases electromagnet 3_1,3_2 and 4_1,4_2.When the magnetic pole (end) 10 of E type guide rail 2 and the air gap between T-shaped guide rail 1 increase, control unit is controlled the logical electric current of coil midstream that simultaneously reduces electromagnet 3_1,3_2 and 4_1,4_2.Wherein, calculating the increase of electric current and the occurrence algorithm as shown in Figure 5 of decrease provides.
Fig. 5 means the figure of each step of the 6DOF control method that embodiment of the present invention relates to.Fig. 6 mean that embodiment of the present invention relates to for realizing the module frame chart of control method.As shown in Figure 5, Figure 6, the signal of being obtained by displacement pickup 18,19, after being adjusted by the signal condition module, be input to DSP (digital signal processor) module after the collection of A/D sampling module, the computing of being stipulated in the DSP module, make result of calculation be undertaken outputing to the electric current amplification module after the digital-to-analog conversion by the D/A modular converter, utilize the electric current amplification module to output in the coil of electromagnet 3_1,3_2 and 4_1,4_2 after the electric current amplification.
In addition, above-mentioned module is further illustrated, the A/D sampling module can be built in the DSP module, and the D/A modular converter can adopt AD5344, and the DSP module can adopt the chip that model is TMS320F28335.
Below, in conjunction with Fig. 5, each step of the degree of freedom control method that embodiment of the present invention is related to is specifically described.
In prior art, because the E type is led boots A, B, C, D generation suspension control on the y direction respectively, therefore for car frame, can generation overdetermination control on the x-z plane.For this problem, the present invention has adopted 6DOF control method as shown in Figure 5, has further introduced the distortion degree of freedom on x-z plane and has controlled.
Particularly, as shown in Figure 5, by displacement pickup A-I, B-I, in differential mode, measure the top of car frame 21 along the displacement of x axle (with x described later
acorresponding), by displacement pickup C-I, D-I, in differential mode, measure the bottom of car frame 21 along the displacement of x axle (with x described later
ccorresponding), measure respectively the displacement along the y direction in four bights of car frame 21 (with y described later by displacement pickup A-II, B-II, C-II, D-II
a, y
b, y
c, y
dcorresponding).
The displacement signal of being measured by displacement pickup A-I, B-I, C-I, D-I, A-II, B-II, C-II, D-II, after carrying out respectively signal condition (corresponding Offset is provided and is amplified) and A/D sampling processing, further to wherein respectively with the x direction on displacement x
awith displacement x
ccorresponding signal amplifies processing, then and with the y of the displacement along the y direction obtained by above-mentioned sampling processing
a, y
b, y
c, y
dcorresponding signal carries out coordinate transform I together.
Coordinate transform I carries out according to following equation:
(Δx
a，Δx
c，Δy
a，Δy
b，Δy
c，Δy
d)
T＝(x
a，x
c，y
a-y
a0，y
b-y
b0，y
c-y
c0，y
d-y
d0)
T
Wherein, Δ x
a, Δ x
c, Δ y
a, Δ y
b, Δ y
c, Δ y
dmean respectively displacement x
a, x
c, y
a, y
b, y
c, y
dvariable quantity; y
a0, y
b0, y
c0, y
d0four bights that mean respectively car frame 21 are the upper left corner, the upper right corner, the lower left corner, the lower right corner displacement pickup A, B, C, the D observed reading on the y direction when balance position, and above-mentioned balance position means that T-shaped guide rail 1 and E type lead the position that the two sides air gap on the y direction between boots equates.
As shown in Figure 5, displacement x
a, x
c, y
a, y
b, y
c, y
dafter carrying out coordinate transform I processing, obtain variable Δ x
a, Δ x
c, Δ y
a, Δ y
b, Δ y
c, Δ y
d, a stepping row-coordinate conversion II goes forward side by side.
Coordinate transform II carries out according to following equation:
Wherein, Δ y means the displacement of geometric centre on the y axle of car frame 21; Δ x means the displacement of geometric centre on the x axle of car frame 21; Δ θ means the rotational angle along the y axle of car frame 21; Δ ξ means the rotational angle along the x axle of car frame 21; Δ ψ means the rotational angle along the z axle of car frame 21;
the degree that means car frame 21 distortion in the x-z plane; l
zexpression E type is led the distance between boots A, C; l
xexpression E type is led the distance between boots A, B.
Further, the variable Δ x to obtaining as mentioned above
a, Δ x
c, Δ y
a, Δ y
b, Δ y
c, Δ y
dfed back rule and processed (controlled reset).The feedback rule adopts 6DOF (parameter) decentralized control method, according to Δ y, calculates Δ i
y, according to Δ x, calculate Δ i
x, according to Δ θ, calculate Δ i
θ, according to Δ ξ, calculate Δ i
ξ, according to Δ ψ, calculate Δ i
ψ, according to
calculate
every single-degree-of-freedom is pressed PID (proportion integration differentiation control) algorithm of stating and is carried out:
Wherein, u is corresponding to Δ i
y, Δ i
x, Δ i
θ, Δ i
ξ, Δ i
ψ,
e corresponding to Δ y, Δ x, Δ θ, Δ ξ, Δ ψ,
k
pfor proportionality coefficient, its effect is to improve speed of response, can the quick adjusting levitation position when car is disturbed, and T
ifor integral coefficient, can eliminate the static system error, make car accurately be suspended in given position, T
dfor differential coefficient, for reducing overshoot, the vibratory magnitude when reducing car and being disturbed, when all physical quantitys all adopt standard unit, its initial value can be set to respectively empirical value 14142,1608 and 18.18, then adopts known practical tuning method to be adjusted.
Further to resulting variable Δ i
y, Δ i
x, Δ i
θ, Δ i
ξ, Δ i
ψ,
carry out coordinate transform III, obtain thus current change quantity Δ i
a1, Δ i
a2, Δ i
b1, Δ i
b2, Δ i
c1, Δ i
c2, Δ i
d1, Δ i
d2.
Coordinate transform III carries out according to following equation:
Because there is permanent magnet that bias magnetic field is provided, so following two kinds of modes can be provided:
First kind of way: adopt bias current i
0, by current control amount i
0+ Δ i
a1, i
0+ Δ i
a2, i
0+ Δ i
b1, i
0+ Δ i
b2, i
0+ Δ i
c1, i
0+ Δ i
c2, i
0+ Δ i
d1, i
0+ Δ i
d2output to respectively in A-1, A-2, B-1, B-2, C-1, C-2, these 8 groups of coils of D-1, D-2, if i
0+ Δ i
a1, i
0+ Δ i
a2, i
0+ Δ i
b1, i
0+ Δ i
b2, i
0+ Δ i
c1, i
0+ Δ i
c2, i
0+ Δ i
d1, i
0+ Δ i
d2in the amount that is less than or equal to zero is arranged, correspondingly not to coil outgoing current not.As Δ i
a1, Δ i
a2, Δ i
b1, Δ i
b2, Δ i
c1, Δ i
c2, Δ i
d1, Δ i
d2result of calculation be timing, correspondingly the electric current of coil increases, repulsion increases, as Δ i
a1, Δ i
a2, Δ i
b1, Δ i
b2, Δ i
c1, Δ i
c2, Δ i
d1, i
d2result of calculation when negative, correspondingly the electric current of coil reduces, repulsion reduces (for example, Δ i
a1for negative, current i
0+ Δ i
a1value just than i
0reduce, repulsion reduces with regard to corresponding).
The second way: do not adopt bias current, and directly by current change quantity Δ i
a1, Δ i
a2, Δ i
b1, Δ i
b2, Δ i
c1, Δ i
c2, Δ i
d1, Δ i
d2output to respectively in corresponding A-1, A-2, B-1, B-2, C-1, C-2, these 8 groups of coils of D-1, D-2, if current change quantity Δ i
a1, Δ i
a2, Δ i
b1, Δ i
b2, Δ i
c1, Δ i
c2, Δ i
d1, Δ i
d2in the amount that is less than or equal to zero is arranged, corresponding coil outgoing current not.
In prior art (referring to patent documentation 4), car frame is done as a whole, carry out the control about 5 degree of freedom for car frame, 5 degree of freedom are respectively degree of freedom Δ x, the degree of freedom Δ y along the translation of y axle, the degree of freedom Δ θ rotated around the x axle, the degree of freedom Δ ξ rotated around the y axle along the translation of x axle and the degree of freedom Δ ψ rotated around the z axle, control except all degree of freedom along z axle translation (degree of freedom that elevator moves up and down).But, car frame is done to the distortion that as a whole technical scheme has been ignored car frame, in the situation that car frame distortion is larger, if only take 5 above-mentioned degree of freedom is controlled as parameter, may causes suspending and lose efficacy.In the present invention, control unit has been introduced the variable of reflection car frame distortion
its physical significance is the twist angle (deflection) that four E types are led plane, boots place.Calculate current change quantity by take 6 degree of freedom as parameter, can control in real time the size of current of each coil that circulates, can reflect more realistically the physics law of car frame, make control more stable.Thereby, control unit is led the displacement signal between boots 2 and T-shaped guide rail 1 by gathering the E type, be arranged at the size of current that each E type leads in the magnet spool of boots 2 and controlled outputing to, thus, control the E type and lead the size of the repulsion between boots 2 and T-shaped guide rail 1, produce enough bearing capacities, maintain the size of gaps that the E type leads between boots 2 and T-shaped guide rail 1 constant, thereby realize the supporting directional tagging to the car frame of elevator.
Fig. 7 means the circuit diagram of the signal condition module that embodiment of the present invention relates to.Fig. 8 means the circuit of the electric current amplification module that embodiment of the present invention relates to.
As shown in Figure 7, from the signal of displacement pickup, through resistance R 1, the offset signal that system provides is through resistance R 3, behind the two interflow through variable resistance R4 and op amp U1, by adjusting the resistance value of variable resistance R4, can be adjusted the magnification factor of signal.In addition, in Fig. 7, " U
offset" be variable voltage signal, can adjust the Offset with respect to the signal from displacement pickup by resistance R 2 and op amp U1.
The circuit implementing scheme of electric current amplification module as shown in Figure 8, incoming signal is input to the inverting input ("-" input end) of op amp U2 through resistance R 5, act on the input end of triode Q1 through op amp U2, mouth at aerotron Q1, by 7 pairs of coil currents of resistance R, sampled, make sampled result feed back to the in-phase input end ("+" input end) of op amp U2 through resistance R 9, R10, to improve speed of response.In addition, the sampled result of resistance R 7 is fed back to the inverting input of op amp U2 through resistance R 8, R6, controlled so that current stabilization, C1 is for eliminating current oscillation.
Although below in conjunction with the accompanying drawings and embodiments the present invention is illustrated, is appreciated that above-mentioned explanation does not limit the present invention in any form.Those skilled in the art are in the situation that depart from connotation of the present invention and scope can be out of shape and change the present invention as required, and these distortion and changing all fall within the scope of the present invention.
Claims (7)
1. a magnetic levitation elevator guiding system, is characterized in that, comprising:
Two T-shaped guide rails that arrange abreast, be provided with a plurality of permanent magnets;
Lift car with car frame, described car frame is between described T-shaped guide rail;
A plurality of E types are led boots, and it is arranged at respectively top and the bottom of the described car frame of described lift car, and are provided with a plurality of permanent magnets and a plurality of electromagnet;
A plurality of displacement pickups, it is arranged at described E type and leads boots, for detection of described E type, leads the air gap between boots and described T-shaped guide rail; With
Control unit, it is to being controlled being arranged at the electric current that described E type circulates in leading described a plurality of magnet spools of boots, wherein,
Under the state of elevator operation, control unit is controlled the size of described electric current, in order to lead at described T-shaped guide rail and described E type the repulsion that between boots, generation is enough, makes the two become the non-contact type suspended state.
2. magnetic levitation elevator as claimed in claim 1 guiding system is characterized in that:
Described T-shaped guide rail comprises:
The base portion extended on vertical direction; With
, protrusion that in the horizontal direction stretch out vertical with described base portion,
End in the side contrary with described base portion of described protrusion, be provided with described permanent magnet, and, on the upper and lower sides surface of the close described end of described protrusion, with homopolarity, relative mode is respectively arranged with described permanent magnet.
3. magnetic levitation elevator as claimed in claim 2 guiding system is characterized in that:
Described E type is led boots and is comprised:
The base portion extended on vertical direction; With
The first horizontal arm section, its position of substantial middle from described base portion, stretch out along horizontal direction,
Under the state of elevator operation, the mode that the end of described the first horizontal arm section separates certain intervals with the described end of the described protrusion with described T-shaped guide rail is relative.
4. magnetic levitation elevator as claimed in claim 3 guiding system is characterized in that:
Lead boots in described E type, described base portion comprises the first vertical arm and the second vertical arm, this first vertical arm and the second vertical arm respectively from the end of the opposite side contrary with described end of described the first horizontal arm section respectively up and down direction extend and form
Described E type is led boots and is also comprised the 3rd vertical arm and the 4th vertical arm, the 3rd vertical arm and the 4th vertical arm arrange abreast with the described first vertical arm and the described second vertical arm respectively, and the described protrusion of described T-shaped guide rail is clipped in the middle, between the described first vertical arm and the described the 3rd vertical arm, be provided with second horizontal arm section parallel with described the first horizontal arm section of the two connection, and, between the described second vertical arm and the described the 4th vertical arm, be provided with three horizontal arm section parallel with the first horizontal arm section of the two connection,
Under the state of elevator operation, the described the 3rd vertical arm and the described the 4th vertical arm end separately, with the described side surface of the close described end of the described protrusion of described T-shaped guide rail, to separate certain intervals ground relative respectively.
5. magnetic levitation elevator as claimed in claim 4 guiding system is characterized in that:
Lead boots in described E type, be provided with described permanent magnet in the described end relative with the described end of described protrusion described T-shaped guide rail described the first horizontal arm section, described permanent magnet arranges in the relative mode of described permanent magnet homopolarity of the described end setting of the described protrusion with at described T-shaped guide rail, be respectively arranged with permanent magnet at the described the 3rd vertical arm and the described the 4th vertical arm described end separately, this permanent magnet arranges in relative with the described permanent magnet homopolarity of the described side surface setting of the close described end of described protrusion at described T-shaped guide rail respectively mode, and, be respectively arranged with electromagnet at the described first vertical arm and the described second vertical arm, be respectively arranged with electromagnet at the described the 3rd vertical arm and the described the 4th vertical arm.
6. magnetic levitation elevator as claimed in claim 5 guiding system is characterized in that:
Four bights on the above-below direction of the outside of described car frame, with described T-shaped guide rail mutually relative mode respectively be provided with 1 described E type and lead boots, lead boots in each described E type and be provided with two described displacement pickups.
7. as described as any one in claim 1～6 magnetic levitation elevator guiding system is characterized in that:
Described control unit receives and is arranged on the displacement signal that described E type is led the described displacement pickup of boots, by by following 6 parameters, calculating current change quantity, the size of current of each coil of the described electromagnet that circulates is controlled in real time: along the degree of freedom Δ x of x axle translation, the degree of freedom Δ y along the translation of y axle, the degree of freedom Δ θ rotated around the x axle, the degree of freedom Δ ξ rotated around the y axle, the degree of freedom Δ ψ and four the E types that rotate around the z axle, lead the twist angle on plane, boots place
wherein, establish the coordinate axle that the x axle is vertical paper direction, establish the coordinate axle that the y axle is along continuous straight runs in paper, establish the z axle and be coordinate axle vertically in paper.
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| CN201210184360.2A CN103466410B (en) | 2012-06-06 | 2012-06-06 | Guide system of magnetic suspension elevator |
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| CN104682772A (en) * | 2015-04-01 | 2015-06-03 | 河南理工大学 | Mixed-excitation non-contact levitation and guidance system |
| CN104728265A (en) * | 2015-04-01 | 2015-06-24 | 河南理工大学 | Guidance control method of hybrid excitation guidance system |
| CN106672855A (en) * | 2017-01-11 | 2017-05-17 | 合肥工业大学 | Post lift magnetic levitation synchronous guiding and state monitoring device and method |
| CN107306099A (en) * | 2016-04-18 | 2017-10-31 | 复旦大学 | Magnetic suspension guider and its control method |
| TWI616393B (en) * | 2015-03-30 | 2018-03-01 | Magnetic guide shoe device | |
| CN108106636A (en) * | 2017-12-26 | 2018-06-01 | 重庆华渝电气集团有限公司 | A kind of fine device of fiber optic loop coiling auxiliary row |
| CN112240834A (en) * | 2020-09-30 | 2021-01-19 | 中国人民解放军海军工程大学 | Ultra-high-speed magnetic levitation test system adopting differential levitation guide and bilateral linear motor |
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| CN112240834A (en) * | 2020-09-30 | 2021-01-19 | 中国人民解放军海军工程大学 | Ultra-high-speed magnetic levitation test system adopting differential levitation guide and bilateral linear motor |
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Application publication date: 20131225 Assignee: Yi Noboru (Tianjin) Science and Technology Ltd. Assignor: Tianjin Flying Science Development Co., Ltd. Contract record no.: 2015120000010 Denomination of invention: Guide system of magnetic suspension elevator License type: Exclusive License Record date: 20150413 |
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Address after: 300457 northeast side of No.18 workshop of Jinbin development plant, No.45 Muning Road, Tianjin Economic and Technological Development Zone, Tanggu District, Tianjin Patentee after: Tianjin Feixuan Technology Co.,Ltd. Address before: 300457 northeast side of No.18 workshop of Jinbin development plant, No.45 Muning Road, Tianjin Economic and Technological Development Zone, Tanggu District, Tianjin Patentee before: TIANJIN EMAGING TECHNOLOGY Co.,Ltd. |
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