CN106744223B - A kind of magnetic floats oblique elevator and its control method - Google Patents
A kind of magnetic floats oblique elevator and its control method Download PDFInfo
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- CN106744223B CN106744223B CN201611074861.XA CN201611074861A CN106744223B CN 106744223 B CN106744223 B CN 106744223B CN 201611074861 A CN201611074861 A CN 201611074861A CN 106744223 B CN106744223 B CN 106744223B
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- permanent magnet
- suspension
- magnet body
- mover
- stator
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B23/00—Component parts of escalators or moving walkways
- B66B23/02—Driving gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B25/00—Control of escalators or moving walkways
-
- 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
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- Elevator Control (AREA)
Abstract
The present invention relates to a kind of magnetic to float oblique elevator and its control method, belongs to elevators field.The oblique elevator includes：Diagonal track, suspension system, drive system, control system, pedal.The suspension system includes two pairs of suspension permanent magnet bodies, and each pair suspension permanent magnet body is coaxial relative up and down；The both sides of diagonal track are arranged on along a suspension permanent magnet body per centering, another suspension permanent magnet body per centering is arranged on the bottom both sides of the pedal；The drive system includes stator and mover, the centre for the diagonal track that is laid in along stator；Mover includes mover core and Halbach array permanent magnet, mover are fixed among the bottom of pedal；Control system obtains the set-point of tractive force by given accelerating curve and actually measured load, and the input current of stator winding is controlled with this, finally realizes the closed-loop control of elevator speed, acceleration.The present invention controls simple, safe for operation, small power consumption, is particluarly suitable for running on stair, gangway ladder and slope.
Description
Technical field
The present invention relates to a kind of elevator, especially a kind of magnetic that can be run on stair, gangway ladder and slope floats oblique elevator,
Belong to elevators field.
Background technology
Oblique elevator as a kind of accessible facilities, be mainly used in the corridor in no vertical lift building, station, airport,
The public places such as ship, underpass, for conveying people or luggage and other items, facility is brought.
Existing oblique elevator is generally traction-type, and critical piece is traction machine and traction steel-cable, and its operation principle is logical
The frictional force for crossing steel wire rope and traction sheave is driven by traction machine, runs elevator, reaches 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
It is a primary object of the present invention to：For defect present in prior art or deficiency, there is provided it is a kind of it is simple for structure,
The high oblique elevator of simple, small power consumption, safety coefficient is controlled, the elevator uses electromagnetic suspension technology, without traction machine and hoist ropes, peace
Dress, easy maintenance.
In order to reach object above, a kind of magnetic of the present invention floats oblique elevator, including：Diagonal track, suspension system, drivetrain
System, control system, weighing sensor, pedal.
The suspension system includes two pairs of suspension permanent magnet bodies：First suspension permanent magnet body and the second suspension permanent magnet body are a pair,
Both are coaxial relative up and down, and pole polarity is identical, is such as N poles, S poles；3rd suspension permanent magnet body and the 4th suspension permanent magnet body are
Another pair, both are coaxial relative up and down, and pole polarity is identical (being such as S poles, N poles), and (first is outstanding with another pair suspension permanent magnet body
Floating permanent magnet and the second suspension permanent magnet body) pole polarity it is opposite (being such as N poles, S poles).Wherein, first suspension permanent magnet
The right and left of the diagonal track is fixed on along body and the 3rd suspension permanent magnet body；The second suspension permanent magnet body and
Four suspension permanent magnet bodies are fixed on bottom the right and left of the pedal respectively.
The drive system includes stator and mover, and the stator and the mover are coaxially relative.The stator contains fixed
Sub unshakable in one's determination and stator winding, the stator winding are made up of A, B, C three-phase windings, and the stator is along whole line arrangement described
The centre of diagonal track.The mover includes mover core and permanent magnet, and the permanent magnet is uniformly pasted solid with Halbach array
The surface of the mover core is scheduled on, the mover is fixed among the bottom of the pedal.
The weighing sensor is arranged among the weight-bearing surface of the pedal.
The control system includes a three-phase inverter, and the three-phase inverter is connected with the stator winding.
The diagonal track is fixed on stair, gangway ladder or slope.
Above-mentioned magnetic floats the control method of oblique elevator, and its technical scheme is to use 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, if
Speed, the accelerating curve presetting module of oblique elevator are put, obtains the given speed v of elevator operation*With acceleration a*；
2) when elevator passenger station to or goods to be conveyed be put on the pedal after, elevator operation before, read now
The real load mg that the weighing sensor measures；
3) the given speed v for obtaining step 1)*With acceleration a*And the real load mg that step 2) obtains transports to traction
Power set-point computing module, obtain tractive force set-point Fx *, by this tractive force set-point Fx *Transport to stator winding current set-point
Computing module, obtain stator winding d-axis and quadrature axis current set-point id *、iq *, this stator winding d-axis and quadrature axis current are given
Definite value id *、iq *Transport to the three-phase inverter；
4) the stator winding d-axis and quadrature axis current set-point i obtained step 3)d *、iq *, obtained through the three-phase inverter
To three-phase stator winding input current iA、iB、iC。
The beneficial effects of the invention are as follows：
1) electromagnetic suspension technology is used, it is simple for structure, control is simple, stable, safety coefficient is high, installation, easy maintenance.
2) permanent magnet can increase air gap flux density, increase suspends using the excellent Halbach array structure of poly- magnetic function
Power, save permanent-magnet material so that elevator is from heavy and light, cost is low, payload is big, power consumption substantially reduces.
Brief description of the drawings
Fig. 1 is the structural representation that magnetic of the present invention floats oblique elevator.
Fig. 2 determines mover arrangement schematic diagram for the floating oblique elevator of magnetic of the present invention.
Fig. 3 is that the installation of stator and the first, the 3rd suspension permanent magnet body on the diagonal track of the floating oblique elevator of magnetic of the present invention is shown
It is intended to.
Fig. 4 is the structural side view that magnetic of the present invention floats oblique elevator.
Fig. 5 is the mechanical analysis schematic diagram that magnetic of the present invention floats oblique elevator.
Fig. 6 is Control system architecture block diagram.
Fig. 7 is default rate curve schematic diagram.
Fig. 8 is default accelerating curve schematic diagram.
Fig. 9 determines mover arrangement schematic diagram for another embodiment of the floating oblique elevator of magnetic of the present invention.
Label in figure：1- diagonal tracks；2nd, the suspension permanent magnet bodies of 3- first, second；4th, the suspension permanent magnet bodies of 5- the three, the 4th；
6- stators, 60- stator cores, 61- stator winding, 62- speed, accelerating curve presetting module, 63- tractive force set-point calculate
Module, 64- stator winding current set-point computing modules, 65- three-phase inverters；7- movers, 70- mover cores, 71- permanent magnetism
Body；8- weighing sensors；9- pedals, 91- pedal weight-bearing surfaces；6a- stators, 60a- stator cores, 61a- permanent magnets；7a- movers,
70a- mover cores, 71a- mover windings.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is described in further detail.
As shown in Figure 1, magnetic of the present invention floats oblique elevator and included：Diagonal track 1, suspension system, drive system, control system
System, weighing sensor 8, pedal 9.
The line track that magnetic of the present invention floats oblique elevator is diagonal track 1, and it is guiding elevator direction of advance that it, which is acted on,.
The suspension system of oblique elevator includes two pairs of suspension permanent magnet bodies：First suspension permanent magnet body 2 and the second suspension permanent magnet body 3
For a pair, both are coaxial relative up and down, and pole polarity is identical, is such as N poles, S poles；3rd suspension permanent magnet body 4 and the 4th suspends
Permanent magnet 5 is another pair, and both are coaxial relative up and down, and pole polarity is identical, is such as S poles, N poles, with another pair suspension permanent magnet
The pole polarity of body (the first suspension permanent magnet body 2 and the second suspension permanent magnet body 3) is opposite.Wherein, the first suspension permanent magnet body 2 and the 3rd
The right and left of diagonal track 1 is fixed on along suspension permanent magnet body 4；Second suspension permanent magnet body 3 and the 4th suspension permanent magnet body 5
Bottom the right and left of pedal 9 is fixed on respectively.
Weighing sensor 8 is arranged on passenger's standing area of the crown center of pedal 9, and control system is surveyed according to weighing sensor 8
The elevator load mg obtained, determines elevator traction power set-point.
The drive system of oblique elevator includes stator 6 and mover 7, and stator 6 and mover 7 are coaxially relative.Such as Fig. 2, Fig. 3 institute
Show, stator 6 is long stator, including stator core 60 and stator winding 61, stator winding 61 are made up of A, B, C three-phase windings.It is fixed
Son 6 is along whole line arrangement in the centre of diagonal track 1.Mover 7 includes mover core 70 and permanent magnet 71, permanent magnet 71 with
Halbach array uniformly pastes the surface for being fixed on mover core 70.Mover 7 is fixed among the bottom of pedal 9.Stator
6 form long stator permanent magnet linear synchronous motor with mover 7, both are also used for braking for traction.
As shown in Figure 4, Figure 5, the pedal 9 of oblique elevator is right angle trigonometry body, its acute angle and stair or slope
Angle of gradient θ is identical, it is ensured that its weight-bearing surface 91 is parallel to the ground.During whole service, pedal 9 and its carrier suspend online
Above rail road, and run along diagonal track 1.
Diagonal track 1 is fixed on stair, gangway ladder or slope.
Fig. 5 is the mechanical analysis schematic diagram that magnetic of the present invention floats oblique elevator, and it is two components that elevator load mg, which is divided to, in figure：It is flat
Row is in the component f of diagonal track 1x=the mgsin θ and component f perpendicular to diagonal track 1y(wherein θ is stair, the side of a ship to=mgcos θ
Ladder or the angle of gradient on slope), f is that pedal 9 is being subject to and fySuspending power in opposite direction, it be by two pairs of suspension permanent magnet bodies (i.e.：
Suspension permanent magnet body 2 and 3, suspension permanent magnet body 4 and 5) caused by repulsion, FxFor elevator traction power.
Then the equation of motion of the elevator on parallel to the direction of diagonal track 1 is：
Fx-fx=ma (1)
By fx=mgsin θ substitute into formula (1), obtain
Fx=ma+mgsin θ (2)
As shown in fig. 6, the control system for realizing oblique elevator of the present invention is led by speed, accelerating curve presetting module 62
Gravitation computing module 63, stator winding give current calculation module 64, and three-phase inverter 65 is formed.
Input difference connection speed, the output end and title of accelerating curve presetting module 62 of tractive force computing module 63
Retransmit the output of sensor 8, the output end connecting stator winding of tractive force computing module 63 gives current calculation module 64, stator around
The output end connection three-phase inverter 65 of the given current calculation module 64 of group, the output end connecting stator winding of three-phase inverter 65
61。
When on elevator passenger station to pedal 9 or after goods is put on pedal 9, before elevator operation, now weighing sensor 8
Elevator load mg (as shown in Figure 3) is measured, mg is inputted to tractive force computing module 63 and obtains tractive force Fx *Set-point, this is led
Gravitation Fx *Set-point transports to stator winding and gives current calculation module 64, obtains stator winding current direct-axis component, quadrature axis component
Set-point id *、iq *, by this stator winding current set-point id *、iq *Transport to three-phase inverter 65.
Above-mentioned control system obtains the given of tractive force by given speed, accelerating curve, and actually measured load
Value, controls stator winding input current with this, 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, the range ability that slows down and its run time, if
Speed, the accelerating curve presetting module 62 of oblique elevator are put, obtains the given speed v of elevator operation*With acceleration a*；Wherein
Default rate curve and accelerating curve schematic diagram is distinguished as shown in Figure 7, Figure 8 in speed, accelerating curve presetting module 62：
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
The 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 is transported
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 elevator passenger station to or goods to be conveyed be put on pedal 9 after, before elevator operation, reading is now weighed biography
The real load mg that sensor 8 measures；
3) the given speed v for obtaining step 1)*With acceleration a*And the real load mg that step 2) obtains transports to traction
Power set-point computing module 63, obtain tractive force set-point Fx *, by this tractive force set-point Fx *Stator winding current is transported to give
It is worth computing module 64, obtains stator winding current set-point id *、iq *, by this stator winding current set-point id *、iq *Transport to three-phase
Inverter 65.
Wherein, the tractive force set-point F of tractive force set-point computing module 63x *Computational methods are as follows：
Had by formula (2)：
Fx *=ma*+mgsinθ (3)
The stator winding current set-point i of stator winding current set-point computing module 64d *、iq *Computational methods are as follows：
Tractive force is as caused by permanent magnet linear synchronous motor：
Fx=(3 pi/2 τ) np[ψfiq+(Ld-Lq)idiq] (4)
In formula, FxFor tractive force, τ is motor pole square, npFor motor number of pole-pairs, Ld、LqRespectively stator d-axis and quadrature axis
Inductance, id、iqThe respectively d-axis and quadrature axis current of three-phase stator winding, it is three-phase stator winding electric current iA、iB、iCSat through dq
The virtual current obtained after mark conversion, ψfFor mover magnetic linkage.
Make the direct-axis current set-point i of three-phase stator windingd *=0, then by formula (4), it can obtain tractive force set-point Fx *
Fx *=(3 pi/2 τ) npψf iq * (5)
Simultaneous formula (3), formula (5), have：
4) the stator winding current set-point i for obtaining step 3)d *、iq *, through three-phase inverter 65 obtain stator three-phase around
61 input current i of groupA、iB、iC。
Another embodiment of oblique elevator is floated as magnetic of the present invention, the stator 6 in above-described embodiment and mover 7 is right
Adjust, i.e., original son 6, which is arranged on pedal 9, is used as mover, and former mover 7 is arranged on the centre of diagonal track 1 as stator.Such as figure
Shown in 9, in this embodiment, stator 6a includes stator core 60a and permanent magnet 61a, and stator 6a is fixed on tiltedly along line arrangement
Among row track 1；Mover 7a includes mover core 70a and mover winding 71a, and mover 7a is fixed among the bottom of pedal 9.Control
System processed will be controlled mover winding 71a input current i by tractive force set-pointA、iB、iCCome realize the speed of service to elevator,
The control of acceleration.
Claims (1)
1. a kind of magnetic floats the control method of oblique elevator, magnetic, which floats oblique elevator, includes diagonal track（1）, suspension system, drivetrain
System, control system, weighing sensor（8）, pedal（9）；The suspension system includes the first suspension permanent magnet body（2）, second suspend
Permanent magnet（3）With the 3rd suspension permanent magnet body（4）, the 4th suspension permanent magnet body（5）, the first suspension permanent magnet body（2）It is outstanding with second
Floating permanent magnet（3）For a pair, both are coaxial relative up and down, and pole polarity is identical；The 3rd suspension permanent magnet body（4）It is outstanding with the 4th
Floating permanent magnet（5）For another pair, both are coaxial relative up and down, and pole polarity is identical, but with the first suspension permanent magnet body（2）With second
Suspension permanent magnet body（3）Pole polarity on the contrary, wherein, the first suspension permanent magnet body（2）With the 3rd suspension permanent magnet body（4）Along the line
It is fixed on the diagonal track（1）The right and left, the second suspension permanent magnet body（3）With the 4th suspension permanent magnet body（5）
The pedal is fixed on respectively（9）Bottom the right and left；The drive system includes stator（6）And mover（7）, it is described
Stator（6）With the mover（7）It is coaxial relative, the stator（6）Contain stator core（60）And stator winding（61）, it is described fixed
Sub- winding（61）It is made up of A, B, C three-phase windings, the stator（6）Along whole line arrangement in diagonal track（1）Centre, institute
State mover（7）Including mover core（70）And permanent magnet（71）, the permanent magnet（71）Fixation is uniformly pasted with Halbach array
In the mover core（70）Surface, the mover（7）It is fixed on the pedal（9）Bottom among；The weighing and sensing
Device（8）Installed in the pedal（9）Weight-bearing surface among；The control system includes a three-phase inverter（65）, described three
Phase inverter（65）With the stator winding（61）It is connected；Characterized in that, using following steps：
1）The physical length of oblique elevator is floated according to the magnetic, it is determined that accelerate, at the uniform velocity, the range ability that slows down and its during operation
Between, set the magnetic to float speed, the accelerating curve presetting module of oblique elevator（62）, obtain magnetic float oblique elevator operation to
Constant speed degreev * And accelerationa * ；
2）When magnetic floats the oblique elevator passenger station pedal（9）After upper, before magnetic floats oblique elevator operation, now institute is read
State weighing sensor（8）The real load measuredmg；
3）By step 1）Obtained given speedv * And accelerationa * And step 2）Obtained real loadmgTransport to tractive force to
Fixed value calculation module（63）, obtain tractive force set-pointF x *, by this tractive force set-pointF x *Transport to stator winding current set-point
Computing module（64）, obtain stator winding d-axis and quadrature axis current set-pointi d * 、i q * , by this stator winding d-axis and quadrature axis electricity
Flow set-pointi d * 、i q * Transport to the three-phase inverter（65）；
4）By step 3）Obtained stator winding d-axis and quadrature axis current set-pointi d * 、i q * , through the three-phase inverter（65）
To the stator winding（61）Input currenti A、i B、i C。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611074861.XA CN106744223B (en) | 2016-11-30 | 2016-11-30 | A kind of magnetic floats oblique elevator and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611074861.XA CN106744223B (en) | 2016-11-30 | 2016-11-30 | A kind of magnetic floats oblique elevator and its control method |
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| CN106744223B true CN106744223B (en) | 2018-01-09 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107265257B (en) * | 2017-08-14 | 2023-03-31 | 苏州莱茵电梯股份有限公司 | Linear motor driven diagonal elevator |
| CN112611583B (en) * | 2021-01-04 | 2023-04-07 | 中车株洲电力机车有限公司 | Rail vehicle line operation test method, device and system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1046907C (en) * | 1997-06-29 | 1999-12-01 | 牛慧 | Magnetomotive tansport equipment |
| DE10136030B4 (en) * | 2001-07-25 | 2005-01-27 | System Antriebstechnik Dresden Gmbh | Drum drive for an escalator or moving walk |
| EP1502892A1 (en) * | 2003-07-31 | 2005-02-02 | Inventio Ag | Driving arrangement for escalator step |
| JP5022779B2 (en) * | 2007-05-31 | 2012-09-12 | 株式会社日立ビルシステム | Oil pan cleaning machine for passenger conveyor |
| JP5252384B2 (en) * | 2007-07-31 | 2013-07-31 | 東芝エレベータ株式会社 | Passenger conveyor |
| CN102897054B (en) * | 2012-09-28 | 2016-06-01 | 清水控股有限公司 | Haulage system with suspension that magnetic advances, placed in the middle |
| CN105691233B (en) * | 2016-01-14 | 2018-02-09 | 曲阜师范大学 | Electromagnetism train |
| CN206219029U (en) * | 2016-12-02 | 2017-06-06 | 曲阜师范大学 | A kind of magnetic floats oblique elevator |
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