CN1078958A - Be used to control the apparatus and method of elevator speed - Google Patents
Be used to control the apparatus and method of elevator speed Download PDFInfo
- Publication number
- CN1078958A CN1078958A CN 93105457 CN93105457A CN1078958A CN 1078958 A CN1078958 A CN 1078958A CN 93105457 CN93105457 CN 93105457 CN 93105457 A CN93105457 A CN 93105457A CN 1078958 A CN1078958 A CN 1078958A
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- elevator
- elevator case
- speed
- signal
- frequency
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Control (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
A kind of apparatus and method that can effectively be suppressed at the control elevator motor speed of the vibration that produces in the elevator case.This device comprises that a subtracter is used to obtain representing the poor of speed detection signal and speed command signal; A proportional integral (PI) device is used for the signal of proportional integral (PI) from subtracter output; A notch filter is used for removing the characteristic frequency of the output signal that comes from the proportional integral (PI) device and the output signal that does not contain this characteristic frequency composition as motor control signal; With a vibration control circuit, be used to change the transfer function constant of notch filter.
Description
The present invention relates to the speed control of elevator, refer more particularly to a kind of speed control unit and method of gearless type elevator.
Not adopting no reducing gear the turning effort of motor is directly delivered on the pulley under the situation with the gearless type elevator of moving elevator case, may produces vibration in the elevator case, its reason is the characteristic oscillation of rope and sleeve spring.This vibration of resonance meeting that occurs in speed control unit becomes more violent, therefore, takes advantage of the people of an elevator just to have bad sensation.
Be this vibration in the restriction elevator case, traditional method is according to the eigentone of rope and sleeve spring, to reduce the gain of speed control system with a notch filter.
Shown a traditional elevator speed control system among Fig. 1.As shown in Figure 1, speed control system comprises the current command signal according to control motor 22 rotating speeds, and the output electric energy is with the motor drive circuit 21 of CD-ROM drive motor 22; This control system also comprises pulley 23, and it links to each other with motor 22, produces rotation by the turning effort of motor 22, and makes the rope that links to each other with elevator case 60 around thereon and from its expansion.Speed control system also comprises the speed detector 30 and the speed control circuit 10 that is used for toward motor drive circuit 21 outgoing current command signal I* that are used to detect the rotative speed of pulley 23, thereby making the rotative speed of pulley 23 consistent with the speed command signal Wr* that is provided by master control board (not drawing among the figure), more than is to carry out according to the difference of the speed detection signal Wr ' of speed command signal Wr* and speed detector 30.
As shown in Figure 2, speed control circuit 10 comprises subtracter 11 that a motor speed command signal Wr* from speed control computer (not drawing the figure) output deducts the speed detection signal Wr ' of speed detector 30 outputs, one and is used for output signal to subtracter 11 and carries out the proportional integral (PI) device 12 of proportional integral (PI) and one and be used for removing certain specific frequency content and the output notch filter 13 as the not output signal of this characteristic frequency composition of current command signal from the output signal of proportional integral (PI) device 12.
In Fig. 1, sleeve spring of reference number 50 expressions, reference number 20 is then represented the inertial system of motor drive circuit 21, motor 22 and pulley 23 that a usefulness is dynamically represented.
The service condition of traditional elevator speed control circuit will be described below.
When driving elevator case 60 as speed command signal Wr* of speed control computing machine generation so that by predetermined speed, speed control circuit 10 is just exported a current command signal I*, is used for according to speed command signal Wr
*The speed of control motor 22.According to current command signal I*, motor-drive circuit 21 output electric energy CD-ROM drive motor 22 are so that by speed command signal Wr
*CD-ROM drive motor 22.Thereby the turning effort of motor 22 passes to pulley 23 rotates pulley 23.The rotation of pulley 23 makes rope 40 move, thus moving elevator case 60 vertically.
When elevator case 60 is vertically mobile by the rotation of pulley 23, the just vibration that causes by the characteristic oscillation of rope 40 and sleeve spring 50 in 60 generations of elevator case.This vibration changes the velocity of rotation of pulley 23.
At this moment, speed detector 30 detects the rotating speed of pulley 23 and produces one and is added to the corresponding speed detection signal Wr ' on the subtracter 11 in the speed control circuit 10.Speed control circuit 10 is from speed command signal Wr
*In deduct the speed detection signal Wr ' that receives, produce an expression speed command signal Wr
*Signal with the difference of speed detection signal Wr '.Difference signal obtains proportional integral (PI) in proportional integral (PI) device 12, and this proportional integral (PI) circuit is again to the notch filter output result signal.Because the output of proportional integral (PI) device 12 contains the velocity variations that produces because of vibration, notch filter 13 just removes specific frequency content from this output signal sends one then as the consequential signal of the torque control current command signal I* motor drive circuit 21 to inertial system 20.
Correspondingly, when the vibration of the elevator case 60 that causes when the rotating speed of pulley 23 because because of the characteristic oscillation of rope 40 and sleeve spring 50 changed, speed detector 30 detected this rotation speed change.In addition, by notch filter 13, speed control circuit 10 reduces the gain of characteristic frequency, thereby makes the current command signal I* with velocity deviation correction be admitted to motor drive circuit 21, so that the rotational force of control motor 22.Therefore, the vibration that occurs in elevator case 60 is suppressed.
Cause that the eigentone fo of vibrative rope 40 and sleeve spring 50 can represent with following approximate formula in elevator case 60:
fo＝ 1/(2π) (K)/(m) ……（1-1）
K herein represents elasticity modulus, and m represents the quality of elevator case 60.
The elasticity modulus k relevant with 60 vibrations of elevator case can use the elasticity modulus k of rope 40
RElasticity modulus k with sleeve spring 50
TBe expressed as follows:
k = (k
Rk
T)/(K
r+ k
T) ……（1-2）
In addition, the elasticity modulus k of rope 40
RBe proportional to the cross-sectional area A of rope 40 and the product of Young's modulus E approx, and be inversely proportional to the length l of rope 40 approx.Corresponding being expressed as follows:
K
R＝ (A·E)/1 ＝ (C)/1 ……（1-3）
Equation (1-2) substitution equation (1-1), substitution equation (1-3), then eigentone f again
0Can use following The Representation Equation:
Equation (1-4) shows, is in the eigentone f of dynamic rope 40 and elevator case 60
0With the quality m of elevator case 60 and relevant as the length l of its parameter.
In addition, the transfer function of notch filter 13 that receives the output T* of the proportional integral (PI) device 12 contain the velocity variations that the eigentone by equation (1-4) expression causes can be expressed as follows:
θ=(ω herein
0)/(ω) (ω: the bandwidth of frequency filtering), and ω
0=2 π f.
Therefore, inertial system 20 is pressed the turning effort of the output control motor 22 of notch filter 13, so that reduce the velocity variations of pulley 23, thereby suppresses the vibration of the elevator case 60 that caused by system resonance.
Yet, eigentone f
0Change, it depends on that the load change by the elevator case causes the variation of quality and the variation of rope effective length.That is to say, the unloaded and bottom of the building layer zero load at the roof layer, the roof layer is fully loaded to be fully loaded with under these situations with the bottom of the building layer, and eigentone can dissimilate.
Traditionally, the variation of the natural frequency that is caused by elevator case load change makes and can not suppress vibration effectively that its reason is the θ and the ω of transfer function
0Fixing as constant, therefore, the operator will directly measure eigentone f
0To change this constant.Yet this processing bothers very much.
The present invention makes at the problems referred to above that prior art ran into, thereby purpose of the present invention just provides the apparatus and method that a kind of transfer function constant of controlling elevator speed and can changing the notch filter relevant with rope lengths with elevator case quality automatically suppresses vibration of elevator effectively.
On the one hand, the invention provides a kind of device that is used to control elevator speed, it comprises: a subtracter that is used for deducting from speed command signal speed detection signal; A proportional integral (PI) device that is used for the output signal from described subtracter is carried out proportional integral (PI): one is used to remove from certain characteristic frequency composition of the signal of described proportional integral (PI) device output and exports one as torque control current command signal and do not contain the notch filter of the signal of described characteristic frequency; With the vibration control apparatus that is used for changing the transfer function constant of described notch filter according to the load of the position of elevator case and described elevator case.This vibration control apparatus is a microcomputer, it is suitable for receiving represents that the load detection signal that is assemblied in the speed detection signal of the pulley on the elevator and represents the described load of elevator case reaches the output signal from the proportional integral (PI) device, and be used for changing described constant, and altered constant is delivered in the notch filter according to described received signal.
On the other hand, the present invention also provides a kind of method of controlling elevator speed, and it may further comprise the steps: determine that a) current operation is used to measure test operation or the normal running corresponding to the eigentone separately of elevator case position; B) if described current operation is described test operation, then under without the situation of notch filter in the speed of the CD-ROM drive motor of the described elevator of control, rope and sleeve spring are deposited in the table in the removal frequency of the eigentone of each position of elevator case; C), then change the constant of the transfer function of described notch filter according to the current load of current location that is contained in the elevator case on the elevator and described elevator case if current operation is described normal running; Described step (b) comprising: detect the position at the elevator case of predetermined space; Carry out fast Fourier transformation and obtain eigentone by the signal that is expressed as speed command signal that each position of described elevator case produces and speed detection signal difference being carried out signal that proportional integral (PI) obtains; From described eigentone, find out and remove frequency and each position of described removal frequency and cooresponding with it elevator case is deposited in the described table together each position of elevator case; Described step (c) comprising: detect described current elevator case position and described current elevator case load; Read former removal frequency and the corresponding current elevator case position that pre-exists in the table; Load correction and the described removal frequency of calculating corresponding to current elevator case position according to current elevator case; Change the described constant of described transfer function according to the bandwidth of the frequency of described correction and calculating and the described removal frequency of having stored.
By embodiment is described with reference to the drawings, other purposes of the present invention and aspect will become very clear, in the accompanying drawings:
Fig. 1 is the block scheme of the conventional speed control system of elevator;
Fig. 2 is the block scheme that is used for the speed control circuit in the conventional speed control system of Fig. 1;
Fig. 3 is the block scheme according to the device of one embodiment of the present of invention control elevator speed;
Fig. 4 is the figure that describes the relation between the gain and frequency under Fig. 3 situation;
Fig. 5 describes the rope lengths under Fig. 3 situation and the figure of the relation between the eigentone;
Fig. 6 is the figure that is described in the notch filter characteristic under Fig. 3 situation;
Fig. 7 is the figure according to the gain characteristic of vibration suppression that is described under Fig. 3 situation;
Fig. 8 is a diagram of circuit of describing the vibration suppression processing of Fig. 3 device.
With reference to Fig. 3, a kind of device of controlling elevator speed according to an embodiment of the invention has been described wherein.
As shown in Figure 3, speed control unit comprises an inertial system 120, and it comprises a motor drive circuit, a motor and a pulley.Inertial system 120 is adapted to pass through thereby the rotational force of motor is directly delivered to pulley according to the mobile rope of the rotation of pulley, drives elevator case perpendicular movement.Speed control unit comprises that also the speed detector 130 of a rotative speed that is used to detect inertial system 120 and one are used to examine then the detectors of load 140 of the elevator case load that is driven by inertial system 120.Speed detector 130 produces the speed detection signal Wr ' of a detected pulley rotative speed of expression.Speed detection signal Wr ' is added on the subtracter 111, and this subtracter 111 is used for deducting speed detection signal Wr ' and output as the end value of speed deviation signal from the speed command signal Wr* that is provided by speed control computing machine (not shown).Speed control unit comprises that also one is used for the speed deviation signal from subtracter 111 is carried out proportional integral (PI) and the output proportional integral (PI) device 112 as the end value of control signal T*.A notch filter 113, be used to receive output signal from proportional integral (PI) device 112, from received signal, remove characteristic frequency, the signal that does not have this characteristic frequency is delivered to the torque control current command signal of the motor drive circuit of inertial system 120 as control motor rotary speed Wr; And vibration control circuit 114.Vibration control circuit 114 is suitable for by the position from the speed detection signal Wr ' detection elevator case of speed detector 130, by the eigentone of asking rope and sleeve spring from the output signal T* of proportional integral (PI) device 112, produce a peak gain frequency as removing frequency from the natural frequency of trying to achieve, the removal frequency that produces is deposited in the table with corresponding elevator case position, from table, read removal frequency corresponding to needed elevator case position, according to the removal frequency correction of being read by detectors of load 140 detected elevator case load, obtain eigentone once more according to the elevator case load of being revised, and change the constant of the transfer function of notch filter 113 according to the correct eigentone of obtaining and the bandwidth of the removal frequency of being scheduled to.
The present invention also provides the method with vibration control circuit 114 control elevator speeds.According to the method, determine that at first current operation is used to measure test operation or the normal running with the corresponding eigentone separately in elevator case position.If current operation is a test operation,, detect the elevator case position of predetermined space driving the elevator case by during its whole stroke.Meanwhile, calculate the eigentone of rope and sleeve spring on the elevator case position of each detection.Then, each elevator case position and the corresponding eigentone of having obtained are existed in the table.If current operation is normal running, just the characteristic oscillation corresponding to required elevator case position is read out from table frequently, in this table, in test operating procedure, the oscillation frequency separately corresponding to all elevator case positions is stored.In the case, the eigentone that is read out will be revised and calculate according to the load of elevator case.After this, change the transfer function constant of notch filter according to the eigentone of revising and calculating.
Now the present invention is described in detail in conjunction with its operation and effect.The description here also will be in conjunction with the figure among Fig. 4 of the relation of describing gain and frequency, describe figure among Fig. 5 of rope lengths and eigentone relation, describe curve among Fig. 6 of characteristic of notch filter, describe the curve among Fig. 7 of the gain characteristic that depends on vibration suppression and the diagram of circuit described among Fig. 8 of vibration suppression processing is carried out.
When elevator moved from speed control computer (not shown) output speed command signal the time, the rotative speed of the pulley of inertial system 120 was just detected by the speed detector 130 of output speed detection signal Wr ' immediately as the actual speed of elevator.In subtracter 111, from the speed command signal Wr of speed control computer output
*In deduct speed detection signal Wr '.The value that is produced obtains proportional integral (PI) in proportional integral (PI) device 112.
If current operation is a test operation for the measurement eigentone between the elevator installation period, proportional integral (PI) device 112 just directly produces the output as torque control current command signal, notch filter 113 is not delivered in output so that drive the motor of inertial system 120.By the rotation of motor, make the pulley rotation, then vertical drive elevator case.
During this test operation, vibration control circuit 114 detects in the predetermined space elevator case position according to the speed detection signal by speed detector 130 outputs.Vibration control circuit 114 also receives from the signal corresponding to elevator case position of proportional integral (PI) device 112 outputs.To the signal of this reception, vibration control circuit 114 carries out a fast Fourier transformation (F.F.T), so that obtain the gain that is caused frequency by the vibration of elevator case 60.By the gain of obtaining, control circuit 114 is found out peak gain frequency corresponding to peak value vibration as removing frequency.Because from the speed detection signal of speed detector 130 output is an impulse singla, rope lengths can by the pulse count of the speed detection signal that adds up and subsequently its end value of integration try to achieve.According to speed detection signal, correspondingly can detect the position of cooresponding elevator case.After this, just elevator case position and removal frequency are stored in the inside memory of vibration control circuit 114.
After this, adopt fast Fourier transformation that next elevator case position is repeated elevator case position probing and removes frequency computation part.These processes all will repeat all desired locations of elevator case.Elevator case position of being tried to achieve and the removal frequency of correspondingly having obtained all deposit in the table.
If elevator is in the operation of normal condition, finished install and comprise dead work according to the table of the removal frequency of the case of the elevator separately position of trying to achieve by the measurement of eigentone after, subtracter 111 deducts the speed detection signal Wr ' of speed detector 130 from speed command signal Wr*, and consequential signal is delivered to proportional integral (PI) device 112.In proportional integral (PI) device 112, signal is carried out proportional integral (PI), then it is delivered to notch filter 113.In notch filter 113, the gain from the characteristic frequency of proportional integral (PI) device 112 output signals is decayed, then deliver in the motor drive circuit of inertial system 120 as torque control current command signal.
In the case, according to the speed detection signal of velocity checking circuits 130, vibration control circuit 114 detects current elevator case position.In addition, vibration control circuit 114 uses the table that has deposited in advance corresponding to the removal frequency of each elevator case position during test operation, read corresponding to the removal frequency that detects elevator case position.On the other hand, the load by the 140 pairs of elevator casees of detectors of load that are configured in elevator case 60 bottoms detects.According to detected elevator case load, vibration control circuit 114 is revised and is calculated and remove frequency, so that obtain the eigentone f corresponding to elevator case position
0Then it changes the transfer function G of notch filter 113 according to the bandwidth of eigentone of obtaining and removal frequency
N(S) constant ω
0
Because eigentone changes with the position of elevator case 60 weight of rope lengths and elevator case (just with), so if only with notch filter 113, the constant that vibration control circuit 114 is just revised the transfer function of notch filter 113 according to the position and the weight of elevator case.Therefore, the oscillation frequency that occurs on rope and the sleeve spring just obtains the actv. decay, thereby has suppressed the vibration that the elevator case occurs.
According to another embodiment of the invention, be used for calculating the elevator actual speed Wr of the position of elevator case 60, by detecting as position signal along the sensor of installing on the elevator case vertical motion path at vibration control circuit 114.In the case,, just can control inertial system 120, to suppress to occur in the vibration on the elevator case 60 by reading the removal frequency in the memory.
From the description of top as seen, the present invention is by trying to achieve each position of elevator to the running velocity integration of elevator case and the natural frequency on each correspondence position being noted during elevator is installed, and when elevator is in normal operating state, detect the position of elevator case and automatically change eigentone, thereby provide changing effective inhibition of relevant vibration with elevator case quality and rope lengths.
Although described most preferred embodiment of the present invention for illustrative purposes, those of skill in the art should be understood that under the prerequisite that does not exceed the scope and spirit of the present invention that appended claims announces, can carry out various modifications, interpolation and replacement.
Claims (6)
1, a kind of device that is used to control elevator speed comprises:
A subtracter is used for deducting speed detection signal from speed command signal;
A proportional integral (PI) device is used for the output signal of described subtracter is carried out proportional integral (PI);
A notch filter is used for removing specific frequency content from the output signal of described proportional integral (PI) device, and exports the described signal that does not contain described characteristic frequency composition, as torque control current command signal; And
Vibration control apparatus is used for changing a constant of the transfer function of described notch filter according to the position and the described elevator case load that are assemblied in the elevator case of elevator.
2, according to the device of claim 1, wherein said vibration control apparatus is a microcomputer, it is suitable for receiving speed detection signal, the load detection signal of the described elevator case load of expression and the output signal that comes from the proportional integral (PI) device that expression is contained in elevator top sheave speed, and is suitable for changing described constant and altered constant being delivered in the notch filter according to described received signal.
3, a kind of method of controlling the speed of elevator, it comprises the following steps:
A) determine that current operation is used to measure test operation or the normal running corresponding to the eigentone separately of elevator case position;
B) if described current operation is described test operation, controlling the speed that is contained in a CD-ROM drive motor in the described elevator without notch filter when, the removal frequency of the eigentone of the rope of each position that is contained in the elevator case in the elevator and sleeve spring is deposited in the table.
C), then, change a constant of described notch filter transfer function according to being assemblied in the current location of the elevator case on the elevator and the current load of described elevator case if current operation is described normal running;
Described step (b) comprising:
Detect elevator case position with predetermined spacing;
Carry out fast Fourier transformation by the difference signal that is expressed as speed command signal that each position of described elevator case produces and speed detection signal being carried out the signal that proportional integral (PI) obtains, try to achieve eigentone; And
From described natural frequency, find out one and remove frequency, and described removal frequency and cooresponding each elevator case position are deposited in the described table together the position of each elevator case;
Described step (c) comprising:
Detect described current elevator case position and described current elevator case load;
Read former pre-exist in the table and corresponding to the removal frequency of current elevator case position;
According to the load of current elevator case, revise and calculate described removal frequency corresponding to current elevator case position;
According to the bandwidth of the removal frequency of the frequency of described correction and calculating and described original storage, change the described constant of described transfer function.
4, according to a kind of method of claim 3, wherein said step (a) comprises the step of each elevator case position being carried out integration to described speed detection signal.
5, according to a kind of method of claim 3, wherein said step (a) comprises according to by the position detection signal that is contained in the position-detection sensor output on the motion path, the step that each elevator case position is detected.
6, according to a kind of method of claim 3, wherein to the described removal frequency of each elevator case position corresponding to a peak gain frequency of from the eigentone of each elevator case position, selecting.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019920008093A KR950006389B1 (en) | 1992-05-13 | 1992-05-13 | Elevator vibration controlling method |
| KR8093/1992 | 1992-05-13 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1078958A true CN1078958A (en) | 1993-12-01 |
Family
ID=19333042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 93105457 Pending CN1078958A (en) | 1992-05-13 | 1993-05-13 | Be used to control the apparatus and method of elevator speed |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR950006389B1 (en) |
| CN (1) | CN1078958A (en) |
| GB (1) | GB2266976B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1327603C (en) * | 2002-11-26 | 2007-07-18 | 三菱电机株式会社 | Speed controller of motor |
| CN100383429C (en) * | 2002-03-12 | 2008-04-23 | 东芝电梯株式会社 | Oscillation adjuster and oscillation adjusting method |
| CN105227824A (en) * | 2014-06-30 | 2016-01-06 | 深圳市大疆创新科技有限公司 | A kind of The Cloud Terrace parameter regulation means, device and tripod head equipment |
| WO2016000193A1 (en) * | 2014-06-30 | 2016-01-07 | 深圳市大疆创新科技有限公司 | Support parameter adjustment method, device and support device |
| CN109941855A (en) * | 2017-12-21 | 2019-06-28 | 株式会社日立制作所 | The control device and control method of lift appliance |
| CN110844726A (en) * | 2018-08-21 | 2020-02-28 | 奥的斯电梯公司 | Determining elevator car position using vibration |
| CN111262496A (en) * | 2020-04-30 | 2020-06-09 | 南京达风数控技术有限公司 | Method for online suppressing resonance of servo control system and servo control system |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19612570C2 (en) * | 1996-03-29 | 2003-08-28 | Bosch Rexroth Ag | Device for damping the vibrations of a rope-mass system |
| JPH1053378A (en) * | 1996-06-07 | 1998-02-24 | Otis Elevator Co | Elevator speed control circuit |
| JP3937363B2 (en) * | 1997-09-09 | 2007-06-27 | 東芝エレベータ株式会社 | Elevator speed control device |
| FI974228A (en) * | 1997-11-13 | 1999-05-14 | Kone Corp | A method for eliminating the torque oscillation of a frequency controlled AC motor |
| JP4762483B2 (en) * | 2001-04-10 | 2011-08-31 | 三菱電機株式会社 | Elevator vibration reduction device |
| US6963184B2 (en) | 2002-09-26 | 2005-11-08 | 3M Innovative Properties Company | Adaptable spatial notch filter |
| DE10314724A1 (en) | 2003-03-31 | 2004-11-04 | Demag Cranes & Components Gmbh | Method for reducing the polygon effect in a chain drive, in particular in a chain hoist, and chain drive therefor |
| EP2646357B1 (en) | 2010-11-30 | 2022-01-12 | Otis Elevator Company | Method and system for active noise or vibration control of systems |
| EP3044638B1 (en) * | 2013-09-11 | 2021-07-14 | Volvo Construction Equipment AB | Self adjusting generator speed control |
-
1992
- 1992-05-13 KR KR1019920008093A patent/KR950006389B1/en not_active IP Right Cessation
-
1993
- 1993-05-10 GB GB9309541A patent/GB2266976B/en not_active Expired - Fee Related
- 1993-05-13 CN CN 93105457 patent/CN1078958A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100383429C (en) * | 2002-03-12 | 2008-04-23 | 东芝电梯株式会社 | Oscillation adjuster and oscillation adjusting method |
| CN1327603C (en) * | 2002-11-26 | 2007-07-18 | 三菱电机株式会社 | Speed controller of motor |
| CN105227824A (en) * | 2014-06-30 | 2016-01-06 | 深圳市大疆创新科技有限公司 | A kind of The Cloud Terrace parameter regulation means, device and tripod head equipment |
| WO2016000193A1 (en) * | 2014-06-30 | 2016-01-07 | 深圳市大疆创新科技有限公司 | Support parameter adjustment method, device and support device |
| JP2017504818A (en) * | 2014-06-30 | 2017-02-09 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Method and apparatus for adjusting pan head parameter and pan head device |
| CN105227824B (en) * | 2014-06-30 | 2018-06-15 | 深圳市大疆灵眸科技有限公司 | A kind of holder parameter regulation means, device and tripod head equipment |
| US10060576B2 (en) | 2014-06-30 | 2018-08-28 | Sz Dji Osmo Technology Co., Ltd. | Method, device, and apparatus for gimbal parameter adjustment |
| CN109941855A (en) * | 2017-12-21 | 2019-06-28 | 株式会社日立制作所 | The control device and control method of lift appliance |
| CN110844726A (en) * | 2018-08-21 | 2020-02-28 | 奥的斯电梯公司 | Determining elevator car position using vibration |
| CN111262496A (en) * | 2020-04-30 | 2020-06-09 | 南京达风数控技术有限公司 | Method for online suppressing resonance of servo control system and servo control system |
Also Published As
| Publication number | Publication date |
|---|---|
| KR950006389B1 (en) | 1995-06-14 |
| KR930023252A (en) | 1993-12-18 |
| GB2266976B (en) | 1995-05-24 |
| GB9309541D0 (en) | 1993-06-23 |
| GB2266976A (en) | 1993-11-17 |
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