CN103466410B - Guide system of magnetic suspension elevator - Google Patents
Guide system of magnetic suspension elevator Download PDFInfo
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- CN103466410B CN103466410B CN201210184360.2A CN201210184360A CN103466410B CN 103466410 B CN103466410 B CN 103466410B CN 201210184360 A CN201210184360 A CN 201210184360A CN 103466410 B CN103466410 B CN 103466410B
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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, the magnetic suspension electricity more particularly to being supported by magnetic suspension mode
Terraced guidance system.
Background technology
The high speed running with elevator in high-rise, improves the comfortableness of elevator ride, reduces and run noise one-tenth
For important research topic.Generally, elevator is to drive car by traction machine, is run up and down using wirerope traction, elevator
Guidance system ensure that car and can move up and down along guide rail to focusing in hoistway.Elevator guidance system generally includes flat
Row configuration two guide rails and by roll or slide in the way of on guide rail the multiple of movement lead boots.In the electricity being capable of high-speed cruising
In ladder, lead boots and generally formed by roller and spring suspension, thus, it is possible to absorb vibration to ensure certain comfortableness.But, with
The normal speed elevator improves constantly, because the vibration problem that the factors such as guide rail deformation, surface irregularity cause becomes non-
Often project.This contact is led boots and vibration is passed to car, and the therefore riding comfort of elevator can not be fully protected.
At present, realize leading the magnetic levitation elevator guiding of contactless suspended state between boots and guide rail by the effect of magnetic force
System is just causing the concern of people.It is contactless suspended state due to leading between boots and guide rail when elevator runs, therefore do not exist
Frictional resistance, need not be lubricated process, and can extend the service life of elevator.Moreover, it is also possible to leading that thick machine adds
Rail replacing the guide rail finishing, therefore, it is possible to reduce manufactures, the expense installed and safeguard, thus further reduces cost.This
Outward, magnetic levitation elevator guides rigidity and the damping that system can lead boots by changing the mechanical attributes leading boots, effectively to press down
The extraneous interference of system and the vibration of system, thus improve the comfort level of elevator ride.
Propose the scheme that a kind of magnetic levitation elevator guides system in patent document 1～3, wherein, by leading on boots
Setting electromagnet, so that producing sufficient attraction and the permanent magnet being arranged on guide rail between in electromagnet, is carried out to car
Suspension bearing.But, the defect of this technical scheme is, in order to provide enough bearing capacities it is necessary to electromagnetism iron supply very
The power consumption of big electric current, therefore system is very big, is unfavorable for reducing use cost.
In order to solve the above problems, patent document 4 proposes following technical proposals: setting electromagnet and permanent magnetism on leading boots
Iron, also produces larger attraction to support car due to being arranged on to lead between the permanent magnet on boots and guide rail, therefore need not be to
The very big electric current of electromagnetism iron supply, can reduce the power consumption of system.But, it is subject to larger side force or side in lift car
To during disturbance it is still desirable to can avoiding leading boots to the very big electric current of electromagnetism iron supply increasing side setting in air gap and leading
The contact of rail.
Additionally, above two technical scheme all adopts in the way of attraction supporting car, due to permanent magnet or not to line
Loop current carry out suction size between the electromagnet of active control and guide rail and size of gaps inversely (air gap is less,
Suction is bigger, and vice versa), rigidity produced by attraction is negative stiffness it is therefore desirable to be controlled introducing positive rigidity to support
Disappear negative stiffness, and also will further provide for positive rigidity and make to lead boots being stably suspended on guide rail.A part due to positive rigidity
It is used for offsetting negative stiffness, therefore the size of the positive rigidity playing supporting role is caused to waste, and require control system to have
Very high precision, increased the complexity of equipment, leads to cost to raise.
Existing patent document
Patent document 1:us5368132a
Patent document 2:us5379864a
Patent document 3:us5439075a
Patent document 4:us6408987b2
Content of the invention
The present invention is to propose in view of the above problems, its object is to provide a kind of magnetic levitation elevator guiding system, leads to
Cross and control the size leading the repulsion between boots and guide rail, to improve the stability of elevator operation, and the consumption of system can be reduced
Electricity, thus reduces cost.
Magnetic levitation elevator according to the present invention guiding system is it is characterised in that include: abreast arranging, be provided with many
Two t type guide rails of individual permanent magnet；There is the lift car of car frame, above-mentioned car frame is located between above-mentioned t type guide rail；
Boots led by multiple e types, and it is respectively arranged at the top of above-mentioned car frame of above-mentioned lift car and bottom, and is provided with multiple
Permanent magnet and multiple electromagnet；Multiple displacement transducers, it is arranged at above-mentioned e type and leads boots, for detect above-mentioned e type lead boots with
State the air gap between t type guide rail；And control unit, it is to being arranged at above-mentioned e type and leading above-mentioned multiple magnet spools of boots
The electric current of middle circulation is controlled, and wherein, in the state of elevator runs, control unit controls the size of above-mentioned electric current, so that
Lead and between boots, produce enough repulsion in above-mentioned t type guide rail and above-mentioned e type, make the two become non-contact type suspended state.
In an embodiment of the invention, above-mentioned t type guide rail includes: on the direction of z-axis representing vertical direction
The base portion extending；The protuberance protruding upward with the side of the x-axis in the expression horizontal direction vertical with the direction of above-mentioned z-axis,
The end of the side contrary with above-mentioned base portion of above-mentioned protuberance is provided with permanent magnet, and close above-mentioned in above-mentioned protuberance
Two side surfaces on the direction of the y-axis of end, are respectively arranged with permanent magnet in the way of homopolarity is relative, above-mentioned y-axis and above-mentioned x
Axle and above-mentioned z-axis are all vertical.
In an embodiment of the invention, above-mentioned e type is led boots and is included: the base portion extending in vertical direction；With
One horizontal arm section, it, from the substantial middle position of above-mentioned base portion, stretches out along horizontal direction, in the state of elevator runs, on
State the end of first level arm phase in the way of the above-mentioned end with the above-mentioned protuberance of above-mentioned t type guide rail separates certain intervals
Right.
In an embodiment of the invention, boots are led in above-mentioned e type, above-mentioned base portion includes the first vertical arm and second
Vertically arm, this first vertical arm and the second vertical arm section be not contrary with above-mentioned end from above-mentioned first level arm
The end of opposite side is risen and is extended and formed to the positive direction of above-mentioned y-axis and negative direction respectively, and above-mentioned e type is led boots and also included the 3rd and erects
Straight-arm portion and the 4th vertical arm, the 3rd vertical arm and the 4th vertical arm section not with the above-mentioned first vertical arm and above-mentioned
Second vertical arm is abreast arranged, and the above-mentioned protuberance of above-mentioned t type guide rail is clipped in the middle, in above-mentioned first vertical arm
It is provided with second horizontal arm parallel with above-mentioned first level arm that the two is connected between portion and above-mentioned 3rd vertical arm
Portion, and, it is provided with the two is connected and first level between the above-mentioned second vertical arm and above-mentioned 4th vertical arm
The 3rd parallel horizontal arm section of arm, in the state of elevator runs, above-mentioned 3rd vertical arm and above-mentioned 4th vertical arm
Respective end, respectively and above-mentioned t type guide rail the close above-mentioned end of above-mentioned protuberance above-mentioned side surface separate certain between
Every ground relatively.
In an embodiment of the invention, boots are led in above-mentioned e type, in above-mentioned first level arm and above-mentioned t type
The above-mentioned end that the above-mentioned end of the above-mentioned protuberance of guide rail is relative is provided with above-mentioned permanent magnet, above-mentioned permanent magnet with above-mentioned
The mode that the above-mentioned permanent magnet homopolarity of the above-mentioned end setting of the above-mentioned protuberance of t type guide rail is relative is arranged, perpendicular the above-mentioned 3rd
Straight-arm portion and the respective above-mentioned end of above-mentioned 4th vertical arm are respectively arranged with permanent magnet, this permanent magnet with respectively with above-mentioned
The mode that the above-mentioned permanent magnet homopolarity of the above-mentioned side surface setting of the close above-mentioned end of the above-mentioned protuberance of t type guide rail is relative sets
Put, and, be not provided with electromagnet in the above-mentioned first vertical arm and above-mentioned second vertical arm section, in above-mentioned 3rd vertical arm
Portion and above-mentioned 4th vertical arm section are not provided with electromagnet.
In an embodiment of the invention, four corners on the above-below direction of the outside of above-mentioned car frame,
It is each provided with 1 above-mentioned e type in the way of mutually relative with above-mentioned t type guide rail and leads boots, lead boots in each above-mentioned e type and be provided with two
Individual upper displacement sensors.
In an embodiment of the invention, above-mentioned control unit includes Signal-regulated kinase, a/d sampling module, dsp
Module, d/a modular converter and Current amplifier module, wherein, above-mentioned Signal-regulated kinase reception is arranged on above-mentioned e type and leads the upper of boots
The displacement signal of displacement sensors, after being adjusted by above-mentioned Signal-regulated kinase, after the collection of above-mentioned a/d sampling module
It is input to above-mentioned dsp module, the computing being specified in above-mentioned dsp module, make result of calculation pass through above-mentioned d/a modular converter
Above-mentioned Current amplifier module is exported after carrying out digital-to-analog conversion, will be defeated after Current amplifier using above-mentioned Current amplifier module
Go out to being arranged in the above-mentioned magnet spool that boots led by above-mentioned e type.
In an embodiment of the invention, above-mentioned control unit receives and is arranged on the above-mentioned displacement that boots led by above-mentioned e type
The displacement signal of sensor, by each coil come calculating current variable quantity, to the above-mentioned electromagnet that circulates with following 6 parameters
Size of current carry out real-time control: the free degree δ x along above-mentioned x-axis translation, the free degree δ y along above-mentioned y-axis translation,
Around above-mentioned x-axis rotate free degree δ θ, around above-mentioned y-axis rotate free degree δ ξ, around above-mentioned z-axis rotate free degree δ ψ and
The twist angle of boots place plane led by four e types
Invention effect
According to the said structure of the present invention, lead the big of the repulsion that the magnetic field between boots and t type guide rail produces by controlling e type
Little, enough bearing capacities can be produced, to maintain the size of gaps that e type is led between boots and t type guide rail constant, thus, it is possible to improve
The stability that elevator runs, improves comfort level.Further, since being separately positioned on e type to lead the permanent magnet of boots and t type guide rail with homopolarity
Relative mode is arranged, and electromagnet produced magnetic field after coil electricity is folded with magnetic field produced by permanent magnet respectively
Plus, therefore, obtain abundant and stable propping up even if weakening the magnetic field intensity being produced by electromagnet further and e type also being made to lead boots
Load, thereby, it is possible to reduce the size of the electric current to magnet spool supply, thus realize reducing the effect of power consumption.
Brief description
Fig. 1 is the structure that in the magnetic levitation elevator guiding system represent embodiment of the present invention, boots led by t type guide rail and e type
Sectional view.
Fig. 2 is that the magnetic levitation elevator representing embodiment of the present invention guides the integrally-built schematic diagram of system.
Fig. 3 is the stereogram of the structure that boots led by e type in the magnetic levitation elevator guiding system represent embodiment of the present invention.
Fig. 4 is the t type guide rail being arranged in pairs in the magnetic levitation elevator guiding system represent embodiment of the present invention and e type is led
The sectional view of the structure of boots.
Fig. 5 is that the magnetic levitation elevator representing embodiment of the present invention guides each step of the 6DOF control method of system
Flow chart.
Fig. 6 is the module frame chart for realizing control method representing embodiment of the present invention.
Fig. 7 is that the magnetic levitation elevator representing embodiment of the present invention guides the Signal-regulated kinase in the control unit of system
Circuit diagram.
Fig. 8 is that the magnetic levitation elevator representing embodiment of the present invention guides the Current amplifier module in the control unit of system
Circuit diagram.
Specific embodiment
Below, in conjunction with accompanying drawing, embodiments of the present invention are described in detail.
See figures.1.and.2, magnetic levitation elevator according to the present invention guides system, comprising: have the elevator of car frame 21
Car；Two t type guide rails 1 abreast arranging, being provided with multiple permanent magnets；It is respectively arranged at the car frame of lift car
21 top and bottom, be provided with multiple permanent magnets and boots 2 led by the e type of multiple electromagnet；It is arranged at e type and lead the use on boots 2
Lead the displacement transducer 18,19 of the air gap between boots 2 and t type guide rail 1 in detection e type；With to leading the many of boots 2 being arranged at e type
The control unit that in individual magnet spool, the electric current of circulation is controlled.More specifically, with reference to Fig. 2, car frame 21
Between the t type guide rail 1 of two configured in parallel, four corners on the above-below direction of the outside of car frame 21, with t type
Guide rail 1 mutually relative to mode be each provided with 1 e type and lead boots 2, and, lead boots 2 in each e type two displacement sensings be installed
Device 18,19.
T type guide rail 1 is made up of permeability magnetic material (killed steel), and its longitudinal section is in substantially t word shape.T type guide rail 1 includes:
The base portion 1-1 extending in vertical direction；And protuberance 1-2 vertical with this base portion 1-1, that stretch out in the horizontal direction, such as Fig. 1
Shown, the portion size of the close base portion 1-1 of protuberance 1-2 is less, and the portion size of its opposition side is larger, but does not limit
In this, protuberance 1-2 can also be identical size.As shown in figure 1, t type guide rail 1 protuberance 1-2 with base portion 1-1 phase
The end 7 of anti-side, is provided with permanent magnet 15.On the y-axis direction of the close end 7 of the protuberance 1-2 of t type guide rail 1
Both sides (left and right sides) surface 5,6, is respectively arranged with permanent magnet 11,13 in the way of homopolarity is relative.In addition, permanent magnet 11,13,15
Project all without from the surface of t type guide rail 1.
E type leads boots 2 main body by making using iron core obtained from folded silicon steel slice, and it is installed on the car frame of lift car
The corner relative with t type guide rail 1 of frame 21, longitudinal section is in substantially e word shape, is oppositely disposed with t type guide rail 1.Specifically,
E type is led boots 2 and is included: the base portion 2-1 extending in vertical direction；With the substantial middle position from this base portion 2-1, along level side
To horizontal arm section 2-2 (first level arm) stretched out, the end 10 of this horizontal arm section 2-2 is with the protuberance 1- with t type guide rail 1
2 end 7 separates the mode of certain intervals (1～5mm) relatively, e type lead boots 2 base portion 2-1 include the first vertical arm 2-3 and
Second vertical arm 2-4, this first vertical arm 2-3 and the second vertical arm 2-4 is respectively from horizontal arm section 2-2 and end 10
The end of contrary opposite side is risen and is extended and formed to+y the direction of in figure and-y direction respectively.Additionally, e type is led in boots 2 also wrapping
Include 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 respectively with
One vertical arm 2-3 and the second vertical arm 2-4 is abreast arranged, and the protuberance 1-2 of t type guide rail 1 is clipped in the middle.?
It is provided with, between first vertical arm 2-3 and the 3rd vertical arm 2-7, the level parallel with horizontal arm section 2-2 that the two is connected
Arm 2-5 (the second horizontal arm section), equally, is provided with the two between the second vertical arm 2-4 and the 4th vertical arm 2-8
Horizontal arm section 2-6 parallel with horizontal arm section 2-2 (the 3rd horizontal arm section) connecting.3rd vertical arm 2-7 and the 4th vertical
The respective end of arm 2-8 8 and 9 respectively and t type guide rail 1 the close end of protuberance 1-2 side surface 5,6 separate certain between
Every ground (1～5mm) relatively.
Lead boots 2 in e type, the end 10 of horizontal arm section 2-2 be provided with permanent magnet 16, this permanent magnet 16 be arranged at t
The mode that permanent magnet 15 homopolarity of the end 7 of the protuberance 1-2 of type guide rail 1 is relative is arranged.In the 3rd vertical arm 2-7 and the 4th
Vertically the respective end of arm 2-8 8 and 9 is respectively arranged with permanent magnet 12,14, this permanent magnet 12,14 with respectively be arranged on t type
The relative mode of the permanent magnet 11 of side surface 5,6 of the protuberance 1-2 of guide rail 1,13 homopolarities is arranged.Additionally, in the first vertical arm
Portion 2-3 and the second vertical arm 2-4 is respectively arranged with electromagnet 3_2,4_2, in the 3rd vertical arm 2-7 and the 4th vertical arm
2-8 is respectively arranged with electromagnet 3_1,4_1, and this electromagnet 3_1,4_1 are to be located at respectively on the y-axis direction of permanent magnet 12,14
The both sides and mode separating certain intervals (1～5mm) with permanent magnet 12,14 is arranged.
Lead boots 2 due to e type to be made up of iron core, therefore pass through as described above on iron core setting coil it becomes possible to structure
Become 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 be in series
Constitute one group of coil, the magnetic field superposition of produced magnetic field and permanent magnet 12,16, the such as Fig. 1 of the magnetic direction after superposition after energising
In loop 1 shown in.Equally, coil 4_1,4_2 constitutes one group of coil in series, produced magnetic field and permanent magnet after energising
14th, 16 magnetic field superposition, the magnetic direction after superposition 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 neodymium iron boron
Permanent magnet, the intensity that magnetizes is more than 1 tesla.
According to the said structure of the present invention, the side surface in the end 8 of the protuberance 1-2 of t type guide rail 1 near end 8
5th, 6 it is each provided with permanent magnet 15,11,13, lead end 8 and the above-mentioned side surface with protuberance 1-2 respectively of boots 2 in e type meanwhile
5th, the end 10 of 6 relative horizontal arm section 2-2, the end 8,9 of the 3rd vertical arm 2-7 and the 4th vertical arm 2-8 are respectively arranged
There is permanent magnet 16,12,14, and, lead, in e type, the side that boots 2 are respectively formed as the loop 1 shown in Fig. 1 and loop 2 with magnetic direction
Formula arranges electromagnet 3_1,3_2,4_1,4_2, provides sufficiently large biasing supporting force thereby, it is possible to lead boots 2 for e type.Concrete and
Speech, leads boots 2 for certain e type, produced magnetic field and permanent magnet 11,12 generation after the coil electricity of electromagnet 3_1,3_2
Magnetic field produces at end (hereinafter also referred to as magnetic pole) 8 together makes this e type lead the repulsion away from t type guide rail 1 for the boots 2, and direction is+y side
To；After the coil electricity of electromagnet 4_1,4_2 produced magnetic field together with the magnetic field of permanent magnet 13,14 in end (below,
Referred to as magnetic pole) 9 produce and make e type lead the repulsion away from t type guide rail 1 for the boots 2, direction is-y direction.Therefore, in controlled electromagnetic force
Under effect, it is capable of the balance on y direction.On the other hand, produced after the coil electricity of electromagnet 3_1,3_2,4_1,4_2
Magnetic field, work to produce and make e type lead boots 2 scolding away from t type guide rail 1 in the magnetic field one producing also and permanent magnet 15,16 between
Power, direction is x direction.Additionally, as shown in Fig. 2 e type lead boots a and e type lead boots b be a pair relative lead boots, boots c and e led by e type
Type lead boots d be a pair relative lead boots, in the present invention, relative leading has configuration relation as shown in Figure 4 between boots, i.e.
Every a pair relative to lead the repulsion that boots are subject in the x direction is contrary, therefore in the presence of controlled electromagnet, Neng Goushi
Balance on existing x direction.
The magnetic field that permanent magnet produces is constant, and the magnetic field intensity that electromagnet produces is the electric current in coil by circulation
Control, therefore, control the intensity in the magnetic field of electromagnet generation by the size of control electric current, can control in e further
The active force producing between boots 2 and t type guide rail 1 led by type, makes e type lead the air gap between boots 2 and t type guide rail 1 and keeps constant, realizes
Contactless supporting.Further, since being provided with permanent magnet 15,11,13 in t type guide rail 1, and this permanent magnet 15,11,13 be with
Arrange with the relative mode of permanent magnet 16,12,14 homopolarity that is arranged at e type and leads boots 2, therefore, compared with prior art, even if
Weaken the magnetic field intensity being produced by electromagnet further e type also can be made to lead boots 2 and obtain abundant and stable supporting force, thus,
The size of the electric current of coil supply to electromagnet 3_1,3_2,4_1,4_2 can be reduced, thus realizing reducing the effect of power consumption.
Fig. 3 is to represent that the stereogram of the actual installation structure of boots 2 led by the e type of embodiment of the present invention.It is wound with by electromagnetism
Coil i's that the coil of iron 3_1,3_2 the is constituted in series and coil ii that is made up of in series the coil of electromagnet 4_1,4_2
Iron core (boots led by e type) is built-in in the housing 22, is provided with sensor 19 He for detecting the displacement of x direction on the top of housing 22
For detecting the sensor 18 of y direction displacement.Here, four e types are led the displacement transducer on boots a, b, c, d (referring to Fig. 2)
It is defined as a-i, a-ii, b-i, b-ii, c-i, c-ii, d-i, d-ii successively, lead the every of boots a, b, c, d by being arranged at four e types
One, the coil i that is made up of the coil of electromagnet 3_1,3_2 and coil ii being made up of the coil of electromagnet 4_1,4_2 divides
It is not defined as a-1, a-2, b-1, b-2, c-1, c-2, d-1, d-2.In addition, in the present invention, the displacement for detecting air gap passes
Sensor can adopt inductance type transducer or eddy current sensor, due to being provided with permanent magnet on guide rail 1, therefore can also
Using Hall element.
The electric current leading in the coil midstream of electromagnet 3_1,3_2 and 4_1,4_2 is affected by the electric current of control unit adjustment, control
The air gap between boots 2 led by the t type guide rail 1 that unit processed detects according to the displacement transducer 18,19 being arranged at e type and leading boots 2 and e type
The change of size, to adjust the size of electric current in real time.So that boots 2 led by an e type as a example illustrate, when the magnetic pole of boots 2 led by e type
When air gap between (end) 8 and t type guide rail 1 reduces, or, when e type is led between the magnetic pole (end) 9 of boots 2 and t type guide rail 1
Air gap when increasing, control unit is controlled increasing the electric current that the coil midstream of electromagnet 3_1,3_2 leads to, and reduces electricity simultaneously
The electric current that the coil midstream of magnet 4_1,4_2 leads to.On the other hand, when e type is led between the magnetic pole (end) 8 of boots 2 and t type guide rail 1
Air gap when increasing, or, when e type is led air gap between the magnetic pole (end) 9 of boots 2 and t type guide rail 1 and is reduced, control unit
It is controlled increasing the electric current that the coil midstream of electromagnet 4_1,4_2 leads to, reduce the coil midstream of electromagnet 3_1,3_2 simultaneously
Logical electric current.Additionally, when the air gap that e type is led between the magnetic pole (end) 10 of boots 2 and t type guide rail 1 reduces, control unit is carried out
The electric current that control to increase electromagnet 3_1,3_2 and 4_1 simultaneously, the coil midstream of 4_2 leads to.When the magnetic pole (end) of boots 2 led by e type
When air gap between 10 and t type guide rails 1 increases, control unit is controlled reducing electromagnet 3_1,3_2 and 4_1,4_2 simultaneously
Coil midstream lead to electric current.Wherein, the occurrence of the increase of calculating current and reduction amount algorithm as shown in Figure 5 is given.
Fig. 5 is the figure of each step of the 6DOF control method representing that embodiment of the present invention is related to.Fig. 6 is to represent this
The module frame chart for realizing control method that invention embodiment is related to.As shown in Figure 5, Figure 6, by displacement transducer 18,19
The signal obtaining, after being adjusted by Signal-regulated kinase, is input to dsp (at data signal after the collection of a/d sampling module
Reason device) module, the computing being specified in dsp module, make result of calculation carry out digital-to-analog by d/a modular converter and turn
Export Current amplifier module after changing, using Current amplifier module by export after Current amplifier electromagnet 3_1,3_2 and 4_1,
In the coil of 4_2.
In addition, further illustrating to above-mentioned module, a/d sampling module can be built in dsp module, and d/a modular converter can
To adopt ad5344, dsp module can adopt the chip of model tms320f28335.
Below, in conjunction with Fig. 5, each step of the free degree control method that embodiment of the present invention is related to is carried out specifically
Bright.
In prior art, boots a, b, c, d are led due to e type and produces the control that suspends in y-direction respectively, therefore for car frame
Frame, can produce overdetermination on x-z plane and control.For this problem, present invention employs 6DOF as shown in Figure 5 and control
Method, that is, the distortion free degree being further introduced into x-z-plane controls.
Specifically, as shown in figure 5, car frame 21 is measured with differential fashion by displacement transducer a-i, b-i
Top along x-axis displacement (with x described lateraCorresponding), car is measured with differential fashion by displacement transducer c-i, d-i
The bottom of framework 21 along x-axis displacement (with x described latercCorresponding), by displacement transducer a-ii, b-ii, c-ii, d-ii
The displacement along y direction in four corners measuring car frame 21 respectively is (with y described latera、yb、yc、ydCorresponding).
The displacement signal measured by displacement transducer a-i, b-i, c-i, d-i, a-ii, b-ii, c-ii, d-ii, respectively
After signal condition (provide corresponding amount of bias simultaneously be amplified) and a/d sampling processing are provided, further to wherein respectively with x side
Displacement x upwardsaWith displacement xcCorresponding signal is amplified processing, then and with obtained by above-mentioned sampling processing
Displacement y along y directiona、yb、yc、ydCorresponding signal carries out coordinate transform i together.
Coordinate transform i is carried out according to following equation:
(δxa,δxc,δya,δyb,δyc,δyd)t=(xa,xc,ya-ya0,yb-yb0,yc-yc0,yd-yd0)t
Wherein, δ xa、δxc、δya、δyb、δyc、δydRepresent displacement x respectivelya、xc、ya、yb、yc、ydChange
Amount；ya0、yb0、yc0、yd0Four corners representing car frame 21 respectively are that the upper left corner, the upper right corner, the lower left corner, the lower right corner are in
Displacement transducer a, b, c, d measured value in y-direction during equilbrium position, above-mentioned equilbrium position represents that t type guide rail 1 and e type are led
The equal position of two sides air gap in y-direction between boots.
As shown in figure 5, displacement xa、xc、ya、yb、yc、ydAfter carrying out coordinate transform i process, obtain variable δ xa、δxc、
δya、δyb、δyc、δyd, and carry out coordinate transform ii further.
Coordinate transform ii is carried out according to equation below:
Wherein, δ y represents the displacement on the y axis of the geometric center of car frame 21；δ x represents the geometry of car frame 21
Displacement in x-axis for the center；δ θ represents the rotational angle along y-axis of car frame 21；δ ξ represents the edge of car frame 21
The rotational angle of x-axis；δ ψ represents the rotational angle along z-axis of car frame 21；Represent that car frame 21 is put down in x-z
The degree of distortion in face；lzRepresent that e type leads boots the distance between a, c；lxRepresent that e type leads boots the distance between a, b.
Further, to the variable δ x obtaining as mentioned abovea、δxc、δya、δyb、δyc、δydCarry out feeding back at rule
Reason (feedback control).Feedback rule adopts 6DOF (parameter) decentralized control method, calculates δ i according to δ yy, according to δ
X calculates δ ix, δ i is calculated according to δ θθ, δ i is calculated according to δ ξξ, δ i is calculated according to δ ψψ, according toCalculateEvery single-degree-of-freedom is pressed pid (PID control parameter) algorithm stated and is carried out:
Wherein, u corresponds to δ iy、δix、δiθ、δiξ、δiψ、E correspond to δ y, δ x, δ θ, δ ξ, δ ψ,kpFor proportionality coefficient, its effect is to improve response speed, can quickly adjust levitation position, t when car is disturbedi
For integral coefficient, systematic static error can be eliminated, make car accurately be suspended in given position, tdFor differential coefficient, it is used for subtracting
Little overshoot, reduces vibratory output when car is disturbed, when all physical quantitys all adopt standard unit, its initial value can divide
It is not set to empirical value 14142,1608 and 18.18, then adjusted using known practical tuning method.
Further to obtained variable δ iy、δix、δiθ、δiξ、δiψ、Carry out coordinate transform iii, thus
To current change quantity δ ia1、δia2、δib1、δib2、δic1、δic2、δid1、δid2.
Coordinate transform iii is carried out according to equation below:
Because there being permanent magnet to provide bias magnetic field, it is possible to providing following two control modes:
First kind of way: using bias current i0, by current control amount i0+δia1、i0+δia2、i0+δib1、i0+δ
ib2、i0+δic1、i0+δic2、i0+δid1、i0+δid2Be respectively outputted to a-1, a-2, b-1, b-2, c-1, c-2, d-1, d-2 this
In 8 groups of coils, if i0+δia1、i0+δia2、i0+δib1、i0+δib2、i0+δic1、i0+δic2、i0+δid1、i0+δid2
In have amount less than or equal to zero, then correspondingly not to coil not output current.As δ ia1、δia2、δib1、δib2、δic1、
δic2、δid1、δid2Result of calculation be timing, correspondingly coil electric current increase, repulsion increase, as δ ia1、δia2、δ
ib1、δib2、δic1、δic2、δid1、δid2Result of calculation when being negative, correspondingly the electric current of coil reduces, and repulsion reduces
(for example, δ ia1Be negative, then electric current i0+δia1Value just than i0Reduce, repulsion is just corresponding to be reduced).
The second way: do not adopt bias current, and directly by current change quantity δ ia1、δia2、δib1、δib2、δ
ic1、δic2、δid1、δid2It is respectively outputted in this 8 groups of coils of corresponding a-1, a-2, b-1, b-2, c-1, c-2, d-1, d-2,
If current change quantity δ ia1、δia2、δib1、δib2、δic1、δic2、δid1、δid2In have amount less than or equal to zero,
Then corresponding coil not output current.
In prior art (referring to patent document 4), using car frame as an entirety, closed for car frame
In the control of 5 frees degree, 5 frees degree are respectively the free degree δ x along x-axis translation, free degree δ along y-axis translation
Y, around x-axis rotate free degree δ θ, around y-axis rotate free degree δ ξ and around z-axis rotate free degree δ ψ, that is, control except
All frees degree along beyond z-axis translation (free degree that elevator runs up and down).But, using car frame as an entirety
Technical scheme have ignored the deformation of car frame, in the case that car frame deformation is larger, if only with above-mentioned 5 from
It is controlled for parameter by spending, then may lead to suspend and lose efficacy.In the present invention, control unit introduces reflection car frame and becomes
The variable of shapeIts physical significance is the twist angle (deflection) that boots place plane led by four e types.By with 6 frees degree being
Parameter carrys out calculating current variable quantity, can carry out real-time control to the size of current of each coil that circulates, can be more realistically anti-
Reflect the physics law of car frame so that controlling more stable.Thus, control unit leads boots 2 and t type guide rail 1 by gathering e type
Between displacement signal, output is controlled to being arranged at each e type and lead the size of current in the magnet spool of boots 2, by
This, control e type to lead the size of the repulsion between boots 2 and t type guide rail 1, produce enough bearing capacities, to maintain e type to lead boots 2 and t
Size of gaps between type guide rail 1 is constant, thus realizing the supporting guide effect of the car frame to elevator.
Fig. 7 is the circuit diagram of the Signal-regulated kinase representing that embodiment of the present invention is related to.Fig. 8 is to represent that the present invention is implemented
The circuit of the Current amplifier module that mode is related to.
As shown in fig. 7, being derived from the signal of displacement transducer through resistance r1, the offset signal that system provides is through resistance
R3, through variable resistor r4 and operational amplifier u1 behind the two interflow, by adjusting the resistance value of variable resistor r4, can be to letter
Number multiplication factor be adjusted.Additionally, in the figure 7, " uoffset" it is variable voltage signal, resistance r2 and fortune can be passed through
Calculate the amount of bias that amplifier u1 adjustment is with respect to the signal from displacement transducer.
The circuit implementing scheme of Current amplifier module is as shown in figure 8, input signal is input to operation amplifier through resistance r5
The inverting input ("-" input) of device u2, acts on the input of triode q1, in triode through operational amplifier u2
The output end of q1, is sampled to coil current by resistance r7, makes sampled result feed back to computing through resistance r9, r10 and puts
The in-phase input end ("+" input) of big device u2, to improve response speed.In addition, by the sampled result of resistance r7 through resistance
R8, r6 feed back to the inverting input of operational amplifier u2, are controlled such that current stabilization, and c1 is used for eliminating current oscillation.
Although being illustrated to the present invention above in association with drawings and Examples, it will be appreciated that described above
The invention is not limited in any way.Those skilled in the art without departing from the true spirit and scope of the present invention may be used
To be deformed to the present invention as needed and to change, these deformation and change are within the scope of the present invention.
Claims (6)
1. a kind of magnetic levitation elevator guiding system is it is characterised in that include:
The two t type guide rails abreast arranging, this t type guide rail includes the upwardly extending base in side in the z-axis representing vertical direction
The protuberance that portion protrudes upward with the side of the x-axis in the expression horizontal direction vertical with the direction of described z-axis, in described protuberance
The end of the side contrary with described base portion be provided with permanent magnet, and the y-axis of the close described end in described protuberance
Direction on two side surfaces be respectively arranged with permanent magnet in the way of homopolarity is relative, described y-axis and described x-axis and described z
Axle is all vertical；
There is the lift car of car frame, described car frame is located between described t type guide rail；
Boots led by multiple e types, and it is respectively arranged at the top of described car frame of described lift car and bottom, and with setting
Multiple described permanent magnet in described t type guide rail is correspondingly provided with multiple permanent magnets in the way of homopolarity is relative, and also sets up
There are multiple electromagnet in produced magnetic field and the magnetic field superposition of the plurality of permanent magnet after energising；
Multiple displacement transducers, it is arranged at described e type and leads boots, for detecting that described e type leads between boots and described t type guide rail
Air gap；With
Control unit, it is controlled to the electric current of circulation in the plurality of magnet spool being arranged at described e type and leading boots
System, wherein, in the state of elevator runs, the described t type that described control unit detects according to the plurality of displacement transducer
The change of the size of gaps between boots led by guide rail and described e type, controls the size of described electric current, so as described t type guide rail with
Described e type is led and is produced enough repulsion between boots, makes the two become non-contact type suspended state.
2. magnetic levitation elevator as claimed in claim 1 guiding system it is characterised in that:
Described e type is led boots and is included:
In the upwardly extending base portion in the side of described z-axis；With
First level arm, it stretches out from the substantial middle position of described base portion, the direction along described x-axis,
In the state of elevator runs, the end of described first level arm is with the institute with the described protuberance of described t type guide rail
State end and separate the mode of certain intervals relatively.
3. magnetic levitation elevator as claimed in claim 2 guiding system it is characterised in that:
Lead boots in described e type, described base portion includes the first vertical arm and the second vertical arm, this first vertical arm and second
Vertically respectively to the pros of described y-axis the end of the opposite side contrary with described end from described first level arm for the arm
To with negative direction extend and formed,
Described e type is led boots and is also included the 3rd vertical arm and the 4th vertical arm, the 3rd vertical arm and the 4th vertical arm
Abreast arrange with the described first vertical arm and described second vertical arm respectively, and described t type guide rail is described prominent
Go out portion to be clipped in the middle, be provided between the described first vertical arm and described 3rd vertical arm by the two connect with described
The second parallel horizontal arm section of first level arm, and, between the described second vertical arm and described 4th vertical arm
It is provided with threeth horizontal arm section parallel with first level arm that the two is connected,
In the state of elevator runs, described 3rd vertical arm and the respective end of described 4th vertical arm, respectively with institute
The described side surface stating the close described end of the described protuberance of t type guide rail is with separating certain intervals relative.
4. magnetic levitation elevator as claimed in claim 3 guiding system it is characterised in that:
Lead boots in described e type, relative with the described end of the described protuberance of described t type guide rail in described first level arm
Described end be provided with permanent magnet, this permanent magnet with the described end setting of the described protuberance in described t type guide rail
The relative mode of described permanent magnet homopolarity is arranged, at described 3rd vertical arm and the respective described end of described 4th vertical arm
Portion is respectively arranged with permanent magnet, this permanent magnet with respectively with the close described end of the described protuberance in described t type guide rail
The mode that the described permanent magnet homopolarity of described side surface setting is relative is arranged, and, in the described first vertical arm and described the
Two vertical arm section are not provided with electromagnet, are not provided with electromagnetism in described 3rd vertical arm and described 4th vertical arm section
Iron.
5. magnetic levitation elevator as claimed in claim 4 guiding system it is characterised in that:
Four corners on the above-below direction of the outside of described car frame, in the way of mutually relative with described t type guide rail
It is each provided with 1 described e type and leads boots, lead boots in each described e type and be provided with two institute's displacement sensors.
6. as any one of Claims 1 to 5 magnetic levitation elevator guiding system it is characterised in that:
Described control unit receives the displacement signal being arranged on institute's displacement sensors that boots led by described e type, by with following 6
Parameter carrys out calculating current variable quantity, carries out real-time control to the size of current of each coil of the described electromagnet that circulates: along institute
State x-axis translation free degree δ x, along described y-axis translation free degree δ y, around described x-axis rotate free degree δ θ, around institute
The twist angle of boots place plane led by the free degree δ ξ stating y-axis rotation, the free degree δ ψ rotating around described z-axis and four e types
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| CN104724576B (en) * | 2015-03-30 | 2019-01-18 | 永大电梯设备（中国）有限公司 | Magnet unit and magnetic boot guiding device |
| CN104682772A (en) * | 2015-04-01 | 2015-06-03 | 河南理工大学 | Mixed-excitation non-contact levitation and guidance system |
| CN104728265B (en) * | 2015-04-01 | 2017-03-08 | 河南理工大学 | The guiding control method of composite excitation guidance system |
| CN107306099B (en) * | 2016-04-18 | 2019-04-09 | 复旦大学 | Magnetic suspension guiding device and its control method |
| CN106672855B (en) * | 2017-01-11 | 2019-04-09 | 合肥工业大学 | A kind of post lift magnetic suspension synchronization steering and state monitoring apparatus and method |
| CN108106636B (en) * | 2017-12-26 | 2021-07-06 | 重庆华渝电气集团有限公司 | Auxiliary fiber arrangement device for winding optical fiber ring |
| CN112240834B (en) * | 2020-09-30 | 2023-04-14 | 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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| US5379864A (en) * | 1993-11-19 | 1995-01-10 | Otis Elevator Company | Magnetic system for elevator car lateral suspension |
| CN1756710A (en) * | 2003-08-08 | 2006-04-05 | 东芝电梯株式会社 | Guiding devices of elevator |
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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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