CN106586777A - Non-traction type inclined elevator and control method thereof - Google Patents
Non-traction type inclined elevator and control method thereof Download PDFInfo
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- CN106586777A CN106586777A CN201611074804.1A CN201611074804A CN106586777A CN 106586777 A CN106586777 A CN 106586777A CN 201611074804 A CN201611074804 A CN 201611074804A CN 106586777 A CN106586777 A CN 106586777A
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- elevator
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
- B66B9/02—Kinds or types of lifts in, or associated with, buildings or other structures actuated mechanically otherwise than by rope or cable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
- B66B1/308—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor with AC powered elevator drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/04—Driving gear ; Details thereof, e.g. seals
- B66B11/0407—Driving gear ; Details thereof, e.g. seals actuated by an electrical linear motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
- B66B9/06—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
Abstract
The invention relates to a non-traction type inclined elevator and a control method thereof. The inclined elevator comprises an inclined track, a support system, a driving system, a control system, weight sensors, a pedal, guiders and an inclined supporting pier. The driving system comprises two pairs of same stators and rotors. The stators are laid along the inclined track and fixed with the inclined track. The rotors are located below the stators and fixed with a support frame. The control system comprises following steps: controlling the exciting current of rotor windings through the difference between given values of resultant force and actual values detected by the weight sensors and by given values of exciting current of the rotor windings outputted by a PI regulator such that closed-loop control of resultant force is realized, wherein the resultant force is vertical to the direction of the inclined track; and obtaining given values of traction force through given speed, the acceleration curve and loads detected in real terms such that input current of the stator windings is controlled and closed-loop control is achieved over elevator speed, and the accelerated speed. The non-traction type inclined elevator and the control method thereof have following beneficial effects: there is no need to use a traction machine or a traction rope; control is easy; operation is safe; power consumption is little; and installation and maintenance are easy and convenient.
Description
Technical field
The present invention relates to a kind of elevator, especially a kind of non-traction-type diagonal that can be run on stair, gangway ladder and slope
Elevator, belongs to elevators field.
Background technology
Oblique elevator as a kind of accessible facilities, be mainly used in the corridor without vertical lift building, station, airport,
The public places such as ship, underpass, for conveying people or luggage and other items, have brought facility.
Existing oblique elevator is generally traction-type, and critical piece is traction machine and traction steel-cable, and its operation principle is logical
Cross steel wire rope to be driven by traction machine with the frictional force of traction sheave, run elevator, reach the purpose of conveying people or goods.It is existing
In technology, oblique elevator structure is complex, and not only production cost is high, and installs, safeguards inconvenience, and fault rate is high, energy consumption is big.
The content of the invention
Present invention is primarily targeted at：For defect present in prior art or deficiency, there is provided a kind of clever structure,
The high oblique elevator of simple, small power consumption, safety coefficient is controlled, the elevator is without the need for traction machine and hoist ropes, installation, easy maintenance.
In order to reach object above, a kind of non-traction-type oblique elevator of the present invention, including：Diagonal track, support system, drive
Dynamic system, control system, LOAD CELLS, pedal, guider, diagonal buttress.
The diagonal track contains stator face, side guide rail level, slides rail level；The diagonal track and the diagonal
Pier is fixed.
The support system includes bracing frame, supporting runner for turning over multi；Support frame as described above is made up of crossbeam, longeron, lower carriage；It is described
Supporting runner for turning over multi is fixed with the crossbeam of support frame as described above；The supporting runner for turning over multi is contacted with the rail level that slides of the diagonal track.
The drive system includes two pairs of identical stators and mover, is respectively in the down either side of the diagonal track.Institute
State stator and contain stator core and stator winding, the stator winding is made up of A, B, C three-phase windings；The stator is along described oblique
Row track continuously lays, and fixes with the stator face of the diagonal track.The mover is coaxially located at the stator lower section, and this is moved
There is fixed air gap between the sub and stator；The mover contains mover core and mover winding, and the mover winding is straight
Stream Exciting Windings for Transverse Differential Protection, the mover is fixed with the lower carriage of support frame as described above.
The control system includes the first current transformer and the second current transformer, wherein first current transformer and the stator around
Group is connected, and second current transformer is connected with the mover winding；First current transformer is current track inverter, described
Second current transformer is DC/DC choppers.
The LOAD CELLS is fixed with the crossbeam of support frame as described above, and it is placed in the crossbeam of support frame as described above and the support
Between skid.
The pedal is fixed with the crossbeam of support frame as described above；In whole driving process, the pedal is by the support
System is along the diagonal tracks travel.
The guider is fixed on the inner side of the longeron of support frame as described above, and connects with the guiding rail level of the diagonal track
Touch, it is correct to guarantee elevator traffic direction；The guider is pulley.
The diagonal buttress is fixed on stair, gangway ladder or slope.
The control method of above-mentioned non-traction-type oblique elevator, its technical scheme is to adopt following steps：
1) according to the physical length of oblique elevator, it is determined that accelerate, at the uniform velocity, slow down range ability and its run time, if
Speed, the accelerating curve presetting module of oblique elevator are put, the given speed v of elevator operation is obtained*With acceleration a*；
2) when elevator passenger station to or after goods to be conveyed is put on the pedal, before elevator operation, read now
The real load F that the LOAD CELLS is measuredy(0)；
3) initial electromagnetic power set-point f is made0 *=Fy(0), by f0 *It is input into mover winding initial excitation current calculation module
Obtain mover winding initial excitation given value of current value if0 *, by this mover winding initial excitation given value of current value if0 *The unsteady flows of Jing second
Device obtains mover winding initial excitation electric current if0, when mover winding is passed through initial excitation electric current if0Afterwards, the electricity that mover winding is produced
Magnetic force f is up to f0 *, i.e.,：F=f0 *=Fy(0), will now there is Fy=Fy(0)-f=0 so that pedal and diagonal track it
Between frictional force fmFor 0；Now elevator gets out state in operation；
4) the real load F that LOAD CELLS is measured is ready, and it is input into pull strength set-point computing module, together
When by step 1) the given speed v that obtains*With acceleration a*Also pull strength set-point computing module is transported to, pull strength is obtained and is given
Value Fx *, by this pull strength set-point Fx *Stator winding current set-point computing module is transported to, stator winding d-axis and quadrature axis is obtained
Given value of current value id *、iq *, by this stator winding d-axis and quadrature axis current set-point id *、iq *Transport to the first current transformer；
5) elevator is acted perpendicularly to the set-point F that makes a concerted effort on the direction of diagonal track 1y *With step 4) read weighing and sensing
The real load F that device is measuredyDifference obtain mover winding exciting current set-point through pi regulatorThis mover winding is encouraged
Magnetoelectricity stream set-pointTransport to the second current transformer；
6) by step 4) the stator winding d-axis that obtains and quadrature axis current set-point id *、iq *, the current transformers of Jing first are determined
Sub- three-phase windings input current iA、iB、iC；By step 5) the mover winding exciting current set-point that obtainsThe current transformers of Jing second
Obtain the exciting current i of mover windingf。
The invention has the beneficial effects as follows：
1) without the need for traction machine and steel wire rope, clever structure, simple, the stable, safety coefficient of control are high, install, safeguard
It is easy.
Although 2) be to fix contact, by dynamic regulation mover exciting current so that in orbital direction
Make a concerted effort to be always zero, so as to reach elevator in operation with the effect of track friction-free；Simultaneously because the gas between stator, mover
Gap is little so that elevator is from heavy and light, low cost, payload be big, power consumption is substantially reduced.
3) in case of emergency, by reducing mover exciting current so that electromagnetic force diminishes, you can increase elevator with
Frictional force between track, reaches the purpose rapidly and smoothly braked.
Description of the drawings
Fig. 1 is the structural representation of non-traction-type oblique elevator of the invention.
Fig. 2 is the structural side view of non-traction-type oblique elevator of the invention.
Fig. 3 is the mechanical analyses schematic diagram of non-traction-type oblique elevator of the invention.
Fig. 4 is the mechanical analyses schematic diagram determined between mover of non-traction-type oblique elevator of the invention.
Fig. 5 is Control system architecture block diagram.
Fig. 6 is default rate curve schematic diagram.
Fig. 7 is default accelerating curve schematic diagram.
Label in figure：1- diagonal tracks, the stator face of 11- diagonal tracks, the guiding rail level of 12- diagonal tracks, 13- diagonals
Track slides rail level；2- stators, 20- stator cores, 21- stator winding, 22- speed, accelerating curve presetting module, 23-
Pull strength set-point computing module, 24- stator winding current set-point computing modules, the current transformers of 25- first；3- movers, 30- is moved
It is sub unshakable in one's determination, 31- mover Exciting Windings for Transverse Differential Protection, 32-PI actuators, 33- mover winding initial excitation given value of current value computing modules, 34-
Second current transformer；4- bracing frames, 41- bracing frame crossbeams, 42- bracing frame longerons, 43- bracing frame lower carriages；5- LOAD CELLSs；
6- supporting runner for turning over multi；7- pedals, 71- pedal weight-bearing surfaces；8- guiders；9- diagonal buttresses.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is described in further detail.
As shown in Figure 1, non-traction-type oblique elevator of the invention includes：Diagonal track 1, support system, drive system, control
System processed, LOAD CELLS 5, pedal 7, guider 8, diagonal buttress 9.
The line track of the non-traction-type oblique elevator of the present invention includes diagonal track 1, diagonal buttress 9, and its effect is guiding
Elevator direction of advance, while bearing elevator load and it being reached into buttress 9.Diagonal track 1 is containing stator face 11 (for fixed fixed
Son 2), side guide rail level 12 (contacting to control elevator traffic direction with guider 8), slide rail level 13 (for supporting pedal 7
On people or goods) and its fixed auxiliary, diagonal track 1 is fixed on the top of buttress 9.
The drive system of oblique elevator includes two pairs of identical stators 2 and mover 3, each pair stator 2 and the coaxial phase of mover 3
Right, between the two with fixed air gap delta (as shown in Figure 4), and mover 3 is located at the lower section of stator 2.Stator 2 is long stator, along whole
Individual line arrangement diagonal track 1 down either side, with mover 3 constitute long stator synchronous linear motor, both for draw and also use
In braking.Its operation principle is：Rectilinear movement magnetic field is produced after the input three-phase alternating current of three-phase stator winding 21, electromagnetic push will
Elevator attracts to promote forward.
The support system of oblique elevator includes bracing frame 4, supporting runner for turning over multi 6；Bracing frame 4 is by 41, two longerons of a crossbeam
42nd, two lower carriages 43 are constituted；A He of LOAD CELLS 5 is respectively installed with the lower section of the right and left of bracing frame crossbeam 41
One supporting runner for turning over multi 6.
Supporting runner for turning over multi 6 is contacted with the rail level 13 that slides of diagonal track 1, and during whole service, keeps contact,
In particular cases, supporting runner for turning over multi 6 carries out brake hard using it with the frictional force of track, bears elevator load and reaches it tiltedly
Row buttress 9.
LOAD CELLS 5 is placed between bracing frame crossbeam 41 and supporting runner for turning over multi 6, and control system is surveyed according to LOAD CELLS 5
Component mgcos θ of the elevator load for obtaining on diagonal track, the exciting current of real-time regulation mover winding so that excitation
The electromagnetic attraction f=mgcos θ that electric current is produced, i.e. electromagnetic force counteracts elevator load gravity, then elevator is applied to line track cunning
Active force on row rail level 13 is equal to zero, so as to the frictional force between elevator and line track is also zero, reaches without friction effect.
Two movers 3 are separately fixed on the lower carriage 43 of left and right two of bracing frame 4.Each mover 3 is by mover core 30
Constitute with mover winding 31, mover winding 31 is DC excitation winding.
The pedal 7 of oblique elevator is fixed on the top of bracing frame crossbeam 41.As shown in Figure 2 and Figure 3, pedal 7 is right angle trigonometry
Body, with diagonal track 1 with width, its acute angle is identical with angle of gradient θ on stair or slope, it is ensured that its weight-bearing surface 71 and ground
It is parallel.During whole service, pedal 7 and its carrier are contacted by support system with line track, and along diagonal track 1
Slide.
Two guiders 8 are symmetrically fixed on the inner side of two longerons 42 in left and right of bracing frame 4, and lead with diagonal track
Contact to rail level 12, it is correct to guarantee elevator traffic direction；Guider 8 is pulley.
Diagonal buttress 9 is fixed on stair, gangway ladder or slope.
Fig. 3 is the mechanical analyses schematic diagram of non-traction-type oblique elevator of the invention, and elevator load mg is divided to for two points in figure
Amount：Perpendicular to the component f of diagonal track 1y=the mgcos θ and component f parallel to diagonal track 1x(wherein θ is building to=mgsin θ
The angle of gradient on ladder, gangway ladder or slope), f is produced after being powered for mover 3 and fyElectromagnetic force in opposite direction, FxFor elevator traction
Power, FyMaking a concerted effort on the direction of diagonal track 1 is acted perpendicularly to for elevator.
Then the equation of motion of the elevator on parallel to the direction of diagonal track 1 is：
Fx-fx-fm=ma (1)
In formula, fmFor frictional force, and there is fm=k1Fy, k1For coefficient of friction.
And elevator acts perpendicularly to the F that makes a concerted effort on the direction of diagonal track 1yFor：
Fy=fy- f=mgcos θ-f (2)
Fig. 4 is the mechanical analyses schematic diagram determined between mover of oblique elevator of the present invention, in figure δ be stator 2 and mover 3 it
Between air gap, f be mover 3 be powered after generation and fyElectromagnetic force in opposite direction, and have：
In formula, μ0For permeability of vacuum, N is the number of turn of mover winding 31, and S is the magnetic pole surfaces significant surface of mover core 30
Product, ifFor the exciting current of mover winding 31.
Then from formula (3), by the exciting current i for adjusting mover winding 31f, it is possible to change the size of electromagnetic force f,
So as to according to formula (2), it is possible to control the F that makes a concerted effortySize, when making f=fyDuring=mgcos θ, Fy=0, i.e. LOAD CELLS 5
0 is output as, now by fm=k1FyUnderstand, frictional force fmAlso be 0, thus by formula (1) can obtain now elevator parallel to diagonal rail
The equation of motion on the direction of road 1 is：
Fx- mgsin θ=ma (4)
As shown in figure 5, realizing that the control system of oblique elevator of the present invention, by speed, accelerating curve presetting module 22, is led
Gravitation computing module 23, stator winding gives current calculation module 24, the first current transformer 25 and pi regulator 32, and mover winding is encouraged
Magnetic current calculation module 33, the second current transformer 34 and LOAD CELLS 5 are constituted.
The input of pull strength computing module 23 distinguishes connection speed, the outfan of accelerating curve presetting module 22 and title
Retransmit the output of sensor 5, the given current calculation module 24 of the outfan connecting stator winding of pull strength computing module 23, stator around
The outfan of the given current calculation module 24 of group connects the first current transformer 25, the outfan connecting stator winding of the first current transformer 25
21。
The input of mover winding exciting current computing module 33 connects the outfan of pi regulator 32, mover winding excitation
The outfan of current calculation module 33 connects the second current transformer 34, the outfan connection mover winding 31 of the second current transformer 34.
When elevator passenger station to or goods be put on pedal 7 after, elevator operation before, now LOAD CELLS 5 is measured
FyThe component f for being elevator load on diagonal tracky=mgcos θ (as shown in Figure 3), are designated as Fy(0) initial magnetic attraction, is made
Set-point f0 *=Fy(0), by f0 *It is input into mover winding initial excitation current calculation module 33 and obtains mover winding initial excitation
Given value of current value if0 *, by this mover winding exciting current set-point if0 *The second current transformers of Jing 34 obtain mover winding initial excitation
Electric current if0, so that frictional force f between pedal 7 and diagonal track 1mFor 0.Now elevator gets out state in operation.
At the same time, by this Fy(0) it is input into pull strength computing module 23 and obtains pull strength Fx *Set-point, by this pull strength
Fx *Set-point transports to the given current calculation module 24 of stator winding, obtain stator winding current direct-axis component, quadrature axis component to
Definite value id *、iq *, by this stator winding current set-point id *、iq *Transport to the first current transformer 25.
After elevator startup optimization, elevator is acted perpendicularly to the set-point F that makes a concerted effort on the direction of diagonal track 1y *With biography of weighing
The real-time detection of sensor 5 to reality make a concerted effort FyDifference obtain mover winding exciting current set-point through pi regulator 32By this
Mover winding exciting current set-pointTransport to the second current transformer 34.
Above-mentioned control system pass through make a concerted effort set-point and it is actually detected arrive make a concerted effort value difference Jing pi regulator output move
Sub- winding exciting current set-point realizes elevator and acts perpendicularly to the direction of diagonal track 1 controlling mover winding exciting current
On make a concerted effort closed loop control；Again by given speed, accelerating curve, and actually measured load, obtain pull strength to
Definite value, with this stator winding input current is controlled, and finally realizes the closed loop control of elevator speed, acceleration.
Comprise the following steps that：
1) according to the physical length of oblique elevator, it is determined that accelerate, at the uniform velocity, slow down range ability and its run time, if
Speed, the accelerating curve presetting module 22 of oblique elevator are put, the given speed v of elevator operation is obtained*With acceleration a*；Wherein
Default rate curve and accelerating curve schematic diagram are distinguished as shown in Figure 6, Figure 7 in speed, accelerating curve presetting module 22：
In 0-t1Period, even boost phase can be set to, if its range ability is s1, then by s1=0.5a1t1 2This rank can be tried to achieve
The acceleration a of section1, then acceleration a is given during this*=a1, thus further try to achieve given speed v*=a*T, and in t1When
Speed v at quarter*(t1)=a*t1；
In t1-t2Period, constant velocity stage is set to, then its given acceleration a*=0, given speed v*=v*(t1).This section fortune
Row distance is s2, and have s2=v*(t1)×(t2-t1)；
In t2-t3Period, the even decelerating phase can be set to, if this section of range ability is s3, then according to s3=-0.5a3(t3-t2)2
The acceleration a in this stage can be tried to achieve3(a3For negative value), then acceleration a is given during this*=a3, thus try to achieve its given speed v*
=v*(t1)+a*t。
2) when on elevator passenger station to pedal 7 or after goods to be conveyed is put on pedal 7, before elevator operation, this is read
When the real load F that measures of LOAD CELLS 5y(0)。
3) initial electromagnetic power set-point f is made0 *=Fy(0), by f0 *It is input into mover winding initial excitation current calculation module
33 obtain mover winding initial excitation given value of current value if0 *, by this mover winding initial excitation given value of current value if0 *Jing second becomes
Stream device 34 obtains mover winding initial excitation electric current if0；When mover winding 31 is passed through initial excitation electric current if0Afterwards, mover winding 31
Electromagnetic force f of generation is up to f0 *, i.e.,：F=f0 *=Fy(0), will now there is Fy=Fy(0)-f=0 so that pedal 7 with
Frictional force f between diagonal track 1mFor 0, now elevator gets out state in operation.
Wherein, given value of current value i of mover winding initial excitation given value of current value computing module 33f0 *Computational methods are：
Because before elevator operation, mover winding 31 is not powered on, so electromagnetic force f is 0, can be obtained by formula (2)：
Fy(0)=mgcos θ (5)
In order that frictional force fm=0, then should make Fy=0, so as to according to formula (2), electromagnetic force f now0 *Should meet：
f0 *=mgcos θ=Fy(0)
Can be obtained by formula (3)：
4) the real load F that LOAD CELLS 5 is measured is ready, and it is input into pull strength set-point computing module 23,
Simultaneously by step 1) the given speed v that obtains*With acceleration a*Also pull strength set-point computing module 23 is transported to, pull strength is obtained
Set-point Fx *, by this pull strength set-point Fx *Stator winding current set-point computing module 24 is transported to, stator winding current is obtained
Set-point id *、iq *, by this stator winding current set-point id *、iq *Transport to the first current transformer 25.
Wherein, the pull strength set-point F of pull strength set-point computing module 23x *Computational methods are as follows：
By formula (1), formula (5), have：
Fx *=ma*+mgsinθ+k1Fy=ma*+Fy(0)tanθ+k1Fy (7)
The stator winding current set-point i of stator winding current set-point computing module 24d *、iq *Computational methods are as follows：
By linear synchronous generator produce pull strength be：
Fx=(3 pi/2 τ) np[(Ld-Lq)idiq+Lmdifiq] (8)
In formula, FxFor pull strength, τ is motor pole square, npFor motor number of pole-pairs, Ld、LqRespectively stator d-axis and quadrature axis
Inductance, LmdFor stator, mover d-axis mutual inductance, id、iqThe respectively d-axis and quadrature axis current of three-phase stator winding, it is stator three
Phase winding electric current iA、iB、iCThe virtual current obtained Jing after dq coordinate transforms, ifFor the exciting current of mover winding 31.
Make the direct-axis current set-point i of three-phase stator windingd *=0, then by formula (8), pull strength set-point F is obtainedx *
Fx *=(3 pi/2 τ) npLmdifiq * (9)
Simultaneous formula (7), formula (9), in conjunction with formula (6), you can obtain stator winding current set-point iq *；Simultaneously because of id *=
0 so that the electromagnetic force on y directions that stator winding current is produced is 0, is then had：
5) elevator is acted perpendicularly to the set-point F that makes a concerted effort on the direction of diagonal track 1y *With step 4) read weighing and sensing
The real load F that device 5 is measuredyDifference obtain mover winding exciting current set-point through pi regulator 32By this mover winding
Exciting current set-pointTransport to the second current transformer 34.
6) by step 4) the stator winding current set-point i that obtainsd *、iq *, the first current transformers of Jing 25 obtain stator three-phase around
21 input current i of groupA、iB、iC；By step 5) the mover winding exciting current set-point that obtainsThe second current transformers of Jing 34 are obtained
The exciting current i of mover winding 31f。
Claims (3)
1. a kind of non-traction-type oblique elevator, it is characterised in that：Including：Diagonal track (1), support system, drive system, control
System, LOAD CELLS (5), pedal (7), guider (8), diagonal buttress (9)；The diagonal track (1) and the diagonal
Pier (9) is fixed, the diagonal track (1) containing stator face (11), side guide rail level (12), slide rail level (13)；The support
System includes bracing frame (4), supporting runner for turning over multi (6), and support frame as described above (4) is by crossbeam (41), longeron (42), lower carriage (43) group
It is fixed with the crossbeam (41) of support frame as described above (4) into, the supporting runner for turning over multi (6), the supporting runner for turning over multi (6) and the diagonal track
(1) the rail level (13) that slides is contacted；The drive system includes two pairs of identical stators (2) and mover (3), is respectively in described oblique
The down either side of row track (1)；The stator (2) is containing stator core (20) and stator winding (21), the stator winding
(21) it is made up of A, B, C three-phase windings；The stator (2) is continuously laid along the diagonal track (1), and with the diagonal track
(1) stator face (11) is fixed；The mover (3) is coaxially located at the stator (2) lower section, and mover (3) contains mover core
(30) and mover winding (31), the mover winding (31) is DC excitation winding, the mover (3) and support frame as described above (4)
Lower carriage (43) it is fixed；The control system includes the first current transformer (25) and the second current transformer (34), first unsteady flow
Device (25) is connected with the stator winding (21), and second current transformer (34) is connected with the mover winding (31)；The title
Retransmit sensor (5) fixed with the crossbeam (41) of support frame as described above (4), it is placed in the crossbeam (41) of support frame as described above (4) and supports
Between skid (6)；The pedal (7) is fixed with the crossbeam (41) of support frame as described above (4), described to step in whole driving process
Plate (7) is slided by the support system along the diagonal track (1)；The guider (8) is fixed on the vertical of support frame as described above
The inner side of beam (42), and contact with the guiding rail level (12) of diagonal track (1).
2. non-traction-type oblique elevator according to claim 1, it is characterised in that：The guider (8) is pulley.
3. a kind of control method of non-traction-type oblique elevator as claimed in claim 1, it is characterised in that adopt following steps：
1) according to the physical length of oblique elevator, it is determined that accelerate, at the uniform velocity, the range ability that slows down and its run time, arrange oblique
The speed of row elevator, accelerating curve presetting module (22), obtain the given speed v of elevator operation*With acceleration a*；
2) after on elevator passenger station to the pedal (7), before elevator operation, read now LOAD CELLS (5) and measure
Real load Fy(0)；
3) initial electromagnetic power set-point f is made0 *=Fy(0), by f0 *It is input into mover winding initial excitation current calculation module (33)
Obtain mover winding initial excitation given value of current value if0 *, by this mover winding initial excitation given value of current value if0 *The unsteady flows of Jing second
Device (34) obtains mover winding initial excitation electric current if0, when mover winding (31) is passed through initial excitation electric current if0Afterwards, mover winding
(31) electromagnetic force f for producing is up to f0 *, i.e.,：F=f0 *=Fy(0), will now there is Fy=Fy(0)-f=0, so that pedal
(7) frictional force f and between diagonal track (1)mFor 0, now elevator gets out state in operation；
4) the real load F that LOAD CELLS (5) is measured is ready, and it is input into pull strength set-point computing module (23),
Simultaneously by step 1) the given speed v that obtains*With acceleration a*Also pull strength set-point computing module (23) is transported to, is drawn
Power set-point Fx *, by this pull strength set-point Fx *Stator winding current set-point computing module (24) is transported to, stator winding is obtained
Given value of current value id *、iq *, by this stator winding current set-point id *、iq *Transport to the first current transformer (25)；
5) elevator is acted perpendicularly to the set-point F that makes a concerted effort on diagonal track (1) directiony *With step 4) read LOAD CELLS
(5) the real load F for measuringyDifference obtain mover winding exciting current set-point i through pi regulator (32)f *By this mover around
Group exciting current set-point if *Transport to the second current transformer (34)；
6) by step 4) the stator winding current set-point i that obtainsd *、iq *, the current transformers of Jing first (25) obtains three-phase stator winding
(21) input current iA、iB、iC；By step 5) the mover winding exciting current set-point i that obtainsf *The current transformers of Jing second (34)
To the exciting current i of mover winding (31)f。
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Cited By (3)
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| CN107098249A (en) * | 2017-06-15 | 2017-08-29 | 邱国明 | A kind of cordless elevator and its installation and debugging method |
| CN107265257A (en) * | 2017-08-14 | 2017-10-20 | 苏州莱茵电梯股份有限公司 | The oblique elevator of linear electric motors driving |
| EP3738916A1 (en) * | 2019-05-15 | 2020-11-18 | KONE Corporation | Inclined elevator and method for manufacturing thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111039128B (en) * | 2019-12-09 | 2021-01-26 | 张仙驰 | Vertical lifting magnetic suspension elevator |
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| EP1502891A1 (en) * | 2003-07-31 | 2005-02-02 | Inventio AG | Drive for escalator step or pallet |
| CN105691233A (en) * | 2016-01-14 | 2016-06-22 | 曲阜师范大学 | Electromagnetic train |
| CN206553018U (en) * | 2016-12-05 | 2017-10-13 | 曲阜师范大学 | A kind of non-traction-type oblique elevator |
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| EP1502891A1 (en) * | 2003-07-31 | 2005-02-02 | Inventio AG | Drive for escalator step or pallet |
| CN105691233A (en) * | 2016-01-14 | 2016-06-22 | 曲阜师范大学 | Electromagnetic train |
| CN206553018U (en) * | 2016-12-05 | 2017-10-13 | 曲阜师范大学 | A kind of non-traction-type oblique elevator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107098249A (en) * | 2017-06-15 | 2017-08-29 | 邱国明 | A kind of cordless elevator and its installation and debugging method |
| CN107098249B (en) * | 2017-06-15 | 2022-11-22 | 上海史密富智能装备股份有限公司 | Cordless elevator and installation and debugging method thereof |
| CN107265257A (en) * | 2017-08-14 | 2017-10-20 | 苏州莱茵电梯股份有限公司 | The oblique elevator of linear electric motors driving |
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| EP3738916A1 (en) * | 2019-05-15 | 2020-11-18 | KONE Corporation | Inclined elevator and method for manufacturing thereof |
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