CN1088179A - Elevator device - Google Patents
Elevator device Download PDFInfo
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- CN1088179A CN1088179A CN 93119053 CN93119053A CN1088179A CN 1088179 A CN1088179 A CN 1088179A CN 93119053 CN93119053 CN 93119053 CN 93119053 A CN93119053 A CN 93119053A CN 1088179 A CN1088179 A CN 1088179A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
A kind of elevator model system is provided in a speed control system, and electrical motor by according to one thus the vibration suppression signal that determines of the output etc. of model controlled, eliminate the vibration component of elevator car thus, and use this fluctuation signal to realize the control of vibration suppression, to realize having the comfortable operation of low vertical shake.
Description
The present invention relates to a kind of elevator device, relate in particular to a kind of elevator device that has vibration suppression device, described vibration suppression device can provide comfortable operation.
At JP-A No.60-254201(JP-BNo.3-30161, Japanese patent application 59-110264 number) a kind of control system is disclosed in, it comprise one be used to make a controlled object according to an operational ton command value controlled operating mechanism, a detector that is used to detect the controlling quantity of controlled object, with one be added with the controlling quantity detected value of self-detector and the control operation parts of controlling quantity command value, described control operation parts are used for output function amount command value, wherein with the deviation signal of a controlling quantity command value and a controlling quantity detected value as input, and the difference of controlling quantity estimated valve and controlling quantity is added into operational ton command value parts improving obstacle overcome ability thus, and described deviation is carried out computing by a model to an operational ton command value to be made it to become a detected value and obtain.That is, propose a kind of like this scheme, described control operation parts are in mouth output one difference as the operational ton command value (B-A) of control amplifier, and the A value is by a transfer function G who needs
X(S) obtain by a controlling quantity detected value, and B is by transfer function { G
X(S) G
LH(S)+1 } obtain, described transfer function is by equaling transfer function G
X(S) and transfer function G
LH(S) the transfer function G of product
X(S) G
LH(S) add 1 and obtain G
LH(S) simulated by the transfer function G of operational ton command value at the mouth of control amplifier to the controlling quantity detected value
L(S), described control amplifier is added with a controlling quantity detected value and a controlling quantity command value, and improves disturbance response thus under the prerequisite of not change directive value response.
According to JP-A No.52-43246,61-203081,61-27882,62-211277 etc. propose a kind of like this scheme, and the vibration component of a lift car is directly detected.And this composition be fed to a speed control unit to suppress the vibration of car thus.
Yet, according to above-mentioned prior art, because the obstacle of vibration composition has been sneaked into operating order value as the incoming signal of model, comprised as the controlling quantity estimated valve of the operating result by model the controlling quantity command value is estimated the composition of income value and interference component estimated the composition of income value.Correspondingly, as not being used as a command value to eliminate the interference in the controlling quantity detection part by the value that gets with the difference signal of controlling quantity detected value.That is to say, even if consider controlling quantity estimated valve and the controlling quantity detected value mutual homophase of happening to idealizedly, a composition that causes producing interference suppression signal is represented as (controlling quantity estimated valve-controlling quantity detected value), it is different from the value that is used as interference suppression signal, and gain revise and similar means will become essential.Further, the homophase if controlling quantity estimated valve and controlling quantity detected value are not happened to, except that being mixed into interference suppression signal, so that be difficult to realize effectively inhibition to vibrating owing to having produced other harmful effect and mixing corresponding to the signal content the reference signal of interference component (phase place and the different compositions that change of size) with phase difference etc.And, in order to regulate gain, phase place etc., must provide two to regulate parts, in the one parts, make controlling quantity estimated valve and the controlling quantity detected value homophase of happening to, in another, can regulate the gain, phase place of the difference of a controlling quantity estimated valve and controlling quantity detected value etc. in the parts.Correspondingly, because the connection effect between these parts, described adjusting is difficulty very.
On the other hand, according to second kind of prior art above-mentioned, thereby provide different devices this composition to be used with the inhibition of control to vibration as signal with the vibration component that directly detects a lift car, but many problems are arranged in actual applications, for example, how to guarantee the reliability of acceleration pick-up itself, when electric wire being received with sensor on the control setup in the machine room time, how to eliminate stack noise thereon or the like on the top flooring of hundreds of rice.
One object of the present invention is to solve the problems referred to above of prior art, and an elevator device that can weaken the uncomfortable vibration of car is provided.
According to an aspect of the present invention, elevator device has one to be added with the elevator model that elevator speed is instructed, and a compensating signal corresponding to model output offered the device of speed control loop, thereby come the control motor by the vibration suppression signal that determines according to the output of model etc.
Described vibration suppression signal is added with the elevator model that an elevator speed is instructed by use, and the generations such as device that the output of described model offered the speed control loop.Thereby the speed control that is used to the vibration suppression signal weakens the noise that harmful effect for example sneaked into by the external world thereby need not the special expensive elevator speed control that can realize low vertical vibration.And the quantity of the adjusting parts of phase place and gain can reduce to only with 1.
Referring now to accompanying drawing method by way of example embodiments of the invention are described, wherein
Fig. 1 shows the integrally-built scheme drawing that adopts a kind of elevator of the present invention.
Fig. 2 is a scheme drawing of having explained principle of work of the present invention.
Fig. 3 is the analog result figure that has shown the present invention's effect.
Fig. 4 shows a kind of specific embodiments of signal converter 24.
Fig. 5 is a scheme drawing of explaining the present invention's principle of work.
Fig. 6 shows a kind of specific embodiments of signal converter 24.
Fig. 7 shows a kind of specific embodiments of single inverter 24.
Fig. 8 shows another kind of embodiment.
Fig. 9 is a scheme drawing of explaining the present invention's principle of work.
Figure 10 shows another kind of embodiment, and
Figure 11 shows another embodiment.
Hereinafter with reference to the embodiment of accompanying drawing detailed description according to the vibration suppression control system of a kind of elevator of the present invention, Fig. 1 shows the block scheme of the general idea that adopts a kind of elevator device of the present invention.
Among Fig. 1, reference number 1 is represented a speed command; The 2nd, be used to detect the speed detector of the actual speed of an elevator device, preferably thereby one is directly connected in motor rotary shaft or brakes the pulse coder that drum (not shown) friction-driven detects electromotor velocity by a hauling block 6 or, the detection actual speed signal that reference number 3 representative obtains through the output of actual speed detector is handled, the 4th, be used for obtaining the comparator of difference between speed command and detection actual speed signal; 5 is a for example proportional integral (PI) device or similar devices that are used to constitute a speed control system of control operation parts, and 7 is one to be used for vibration suppression instruction 9 and adder as torque instruction 8 additions of the output of control operation parts 5; 10 is for example inverters of a supply convertor, a changer or similar device; 11 is for example induction motor (IMies of an electrical motor, a direct current electrical motor or similarly be used to drive the device of elevator, and 12 is main ropes; The 13rd, car; The 14th, bob-weight; 35 is compensation ropes; 36 is tension pulleys; 15 is elevator rigid model systems that comprised an inertial system and an electric system, comprises a car in the described inertia system system, and the mechanical system of cable wire etc. is considered to desirable rigid body; Described electric system comprises a drive system, a control system etc.; 16 is comparator models, obtain speed command 1 and take from difference between the estimation electromotor velocity 17 of elevator rigid model system with it, described elevator rigid model system comprises an inertial system, comprise a car in this inertial system, the mechanical system of cable wire etc. is considered to a desirable rigid body; The 18th, a control operation partial model of simulation control operation parts 5; The 19th, the supply convertor model of analog power changer 10; The 20th, the motor model of simulating motor 11; 21 is inertial system models, and comprising a car, the mechanical system of cable wire etc. is considered to ideal rigid body; The 22nd, be used to obtain the comparator of a speed fluctuations signal 23, described fluctuation signal 23 is to detect actual speed signal 3 and deviation by elevator rigid model system 15 resulting estimating speeds 17; The 24th, import this speed fluctuations signal 23 to form the signal converter of vibration suppression signal 9 thus.
In a kind of like this structure, its principle of work is described referring now to Fig. 2.Among Fig. 2, an example of reference number S1 representation speed instruction 1; S3 is an example that detects actual speed signal 3; S17 is an example of the estimating speed 17 that obtained by elevator rigid model system 15; S23 is an example that detects the deviation signal of actual speed signal 3 and estimating speed 17; S9 is an example of vibration suppression signal 9, and described vibration suppression signal is the output of signal converter 24.Like this, a speed fluctuations that is accompanied by the vibration of mechanical system during speeding/slow down in speed is superimposed on and detects on the actual speed S3, but because the mechanical system model is a rigid body, the oscillating component that is caused producing by the vibration of mechanical system will not be superimposed upon on the estimating speed S17.Therefore, according to the deviation signal S23 between S3 and S17, in fact the oscillating component of mechanical system can be deducted, then, signal 23 is transmitted through signal converter 24 with the hysteresis factors of compensation in supply convertor 10 or electrical motor 11, and finish to the adjusting of phase or as among the signal S9, finishing adjusting to gain, and signal S23 is provided for adder 7 one ends to constitute a kind of like this control system thus as a less important loop, and generation of vibration is eliminated by this instruction composition on speed detector 2.
Fig. 3 shows effect of the present invention by the example of an analog result.Condition as simulation, a driving motor not only produces a propulsive effort, and it highly is 230 meters at building, patronage in the car is zero, car is under the situation of topnotch operation, finish promoting when driving, described electrical motor also produces a torque fluctuation, and described fluctuation is carried out simulation and the vertical shake that produces in the car is calculated.Do not carry out anyly according to compensation deals of the present invention, the acceleration/accel of the vertical shake of car is about ± 0.025 meter per second
2If, and having carried out compensation deals, the acceleration/accel of the vertical shake of car is about ± 0.007 meter per second
2Thereby the acceleration/accel that can understand vertical shake is improved to and is about original 1/3, according to this system, if the vibration component in mechanical system only can be detected in an elevator drive motor component, because the external world does not have interference signal source or factor to be added on this model, thereby in fact vibration component can be used as speed fluctuations signal 23 and is acquired, and then the fluctuation that motor portion produces can be suppressed, this is because signal converter 24 has suitably compensated by the hysteresis behaviour of adder 7 to electrical motor 11, thereby the uncomfortable vertical shake that desire suppresses to be suspended on the car under it also is possible.
Further saying, according to the method for using this elevator model system 15, is estimated signal 17 corresponding to a speed command owing to will carry out estimated signals, and it is slow that its frequency-response data can be considered to.Thereby also having such effect promptly when using a microcomputer to come component model, the microcomputer of any costliness with high speed processing ability is all optional.
Fig. 4 shows a kind of exemplary embodiments of the structure of signal converter 24.Among Fig. 4, considered in the parts, in structure, be provided with the generation of one a leading in phase/hysteresis regulating element and a gain-adjusted element with the fluctuation that suitably is suppressed at the motor part branch by the hysteresis behaviour of adder 7 to electrical motor 11.Fig. 5 shows by the example of adder 7 to the frequency-response data of electrical motor 11, wherein the characteristic of elevator device (phase place and gain) also the variation with the inputted vibration frequency change.Fundamental vibration with wireline system is example, to being positioned at the technology that realizes the present invention on the frequency band before or after the 1.2Hz, in the case, phase delay from adder 7 to speed between generation is before or after-35 °, thereby, if about 35 ° leading in phase is set in the signal converter 24 to compensate described 35 ° phase delay, then the adding of the fluctuation composition of speed can provide enough actv. vibration suppressions.And then, if described condition has changed when car position changes or similar variation takes place, for example, secondary vibration with wireline system is an example, will produce the vibration near 7HZ usually, with this understanding, if the correction of phase place and gain can change according to drive condition, for example, the leading in phase amount can change to about 100 °, then can be suppressed effectively according to the variation change of drive condition or the moving chatter phenomena of a plurality of resonance that produces.
Among Fig. 6, be provided with a high-pass filter, its function is identical with Fig. 4's, be used to suppress the low-frequency fluctuation that reduces to produce because of the constant gain of control system, thereby can get rid of owing to using a less important loop to feed back the bad influence that a deviation signal produces, thereby another effect is provided, promptly when guaranteeing a common vibration suppressioning effect, can have obtained a good transient state response.
Also having another effect is to regulate easily, and this is because if in order to produce a vibration suppression signal 9, phase place, gain etc. only is conditioned in above-mentioned signal converter 24, then regulates and will work well.
With regard to another embodiment, its comparatively desirable method as shown in Figure 7, in signal converter 24, be provided with a bandpass filter with the composition outside the blocking-up frequency band fo, fo is the expected value of vibration suppression, therefore the operation that is used to add the main channel of a fluctuation signal is that frequency band beyond the vibration suppression expected value is invalid for frequency, almost eliminates the main channel harmful effect of other frequency band is become possibility thereby make.
Say further, there are being a plurality of mechanical system resonance frequencys to need under the situation of vibration suppression, if it is as shown in Figure 3 such, provide a plurality of and respectively the signal actv. changer 24-1 of frequency band and 24-2 and signal are added passage, if and to these frequency bands suppress respectively control, then another effect can realize, promptly overcome by a plurality of coasting body system for example the different frequency that produces of elevator vibration and realize stablizing comfortable operation.
More desirable method is, if a plurality of bandpass filters that allow the vibration suppression signal of different target frequency to pass through are set among signal converter 24-1 and the 24-2 being used for these frequencies are controlled respectively, then can add passages and prevent harmful effect other frequency band by a plurality of signals.
Though elevator rigid model system 15 shown in Figure 1 and signal converter 24 are seemingly with common speed control system apart arrangement, if use with same method such as comparator 22 and 4, control operation parts 5 they are built up in a microcomputer that is used for elevator control with software, can constitute one and can effectively resist the control system of interference etc.Certainly, even if they be be independent of the control operation parts for example the analogous circuit of a proportional integral (PI) device etc. wait and constitute speed control system, vibration suppressioning effect of the present invention also can not lose, and in this case, speed to common debatable processing under software conditions is also unrestricted, thereby another effect that produces is that the oscillation frequency that is used for vibration suppression can extend to a high-frequency region.
Further, for the deviation between detection model and actual speed, use one at motor shaft end or detect the actual speed of an elevator device by the speed detector of friction-driven at the periphery of a hauling block among Fig. 1.Correspondingly, described actual speed can with the same being used of actual speed signal that is used for base speed control, thereby the signal that is sent to a control circuit or control line to enough be lacked to reduce the possibility of noise mixing, consequently make formation one system become possibility with the high reliability that is applicable to an elevator.
Further, if with the actual speed of car actual speed as the deviation that is used to calculate the estimating speed 17 that obtains by model system 15, if from a long signal wire (SW) being filled to the viewpoint of machine room, in fact the noise of described system can slightly weaken, but the vibration suppression composition of car can be as shown in Figure 9 be detected at all regions of access to elevators, this is with different in the detection of a motor component occasion, thereby can be expected at the vibration suppressioning effect that obtains car on the All Ranges of access to elevators.This be because, good be shown specifically in the drawings such, consider the position of car, when detecting vibration component, for non-situation about directly detecting in motor component and situation about directly detecting in car components, its complexity is different, and because there is a zone under the situation about in motor component, detecting, wherein vibration component almost can't be detected near 220 meters, and this can be found out significantly by result of calculation.
Thereby, if one that be detected in motor component and the signal of the effectively high impedance of noise normally used, but and one on signal break-make that car position is detected ground near for example selected use 220 meters of a zone, vibration on the described zone almost can not detect in motor component, another effect of the present invention that Here it is, that is, make formation one be applicable to that the whole highly-reliable system of an elevator becomes possibility.Among Fig. 9, for floor be lower than middle one deck those the layer, result calculated has been left out.
Further, by the viewpoint that changes gain, gain K among Fig. 4 and Fig. 6 changes according to the position of car or the quantity of passenger's (not shown), thereby handle a vibration suppression control system reposefully, the complexity of vibration detection (promptly, detect gain) will be according to position or passenger's the quantity and shown in Figure 5 the changing of car, as expressing among Fig. 9 by the frequency-response data of adder 7 to electrical motor 11.Adopt this method, vibration suppression can irrespectively be controlled reposefully with the operating conditions of elevator, thereby can obtain comfortable operation.Particularly specifically, if can be listed in advance on the table with the diverse location of car or passenger's the corresponding K value of varying number, if and described table is to retrieve according to the position of lift car or passenger's quantity, then can in a short time, finish treating process, and can expand the zone that to control vibration suppression.And then, if under each occasion calculating K values all, then another effect of the present invention is, need spend the long slightly time to be used for calculating although it is so, still, the storage of form can be removed from.
In addition, the inertial system model 21 of elevator rigid model system 15 can change its inertia composition according to the position of elevator car or passenger's quantity among Fig. 1.This variation has produced estimating speed 17 and has detected the error of non-vibration composition of the speed of 3 of actual speeds, and a unnecessary composition has been sneaked into the fluctuation signal 23 of speed as a biasing composition.Thereby according to the present invention, the inertia composition of the inertial system model 21 of elevator rigid model system 15 is done to such an extent that change with the variation of car position or passengers quantity.Thereby this is that another effect need not promptly to consider that the drive condition of elevator can realize stable vibration suppression.
And then, embodiment according to Fig. 1, when if elevator rigid model system 15 only estimates that a friction that comprises the speed that is produced by speed command becomes the composition of branchs, just only have one when being called as the composition of fundametal compoment, always do not require on model, to carry out the simulation of strictness.Thereby supply convertor model 19 and motor model 20 are not also made very meticulously, and as long as the approximate degree that postpones to one-level.Consequently, not only can save the required storage space of model, and can simplify its operation, thereby its industrial effect is to use the microcomputer of a costliness to become possibility.
In addition, if the actual speed that detect to detect operation and the time gap of the deviation of estimating speed 17 are done to such an extent that be shorter than the time gap that detection one is used in the value in the comparator 4, then vibration suppression signal 9 can be provided for control system in the time gap of a weak point, and the frequency band of vibration suppression can expand to a high frequency region, thereby another effectiveness that has is its vibration suppression effect to high-frequency vibration of expansion.
Figure 10 shows another embodiment of the present invention.All identical 24 unit and Fig. 1 from speed command 1 to signal converter.In this embodiment, except that elevator rigid model system 15, also provide the elevator high level model system of the unit that comprises a simulant elevator mechanical system.Described elevator high level model system 25 is by being used for the estimating speed 27 of comparison one in motor component and the comparator model 28 of speed command 1, model 29 is handled in a control, one supply convertor model 30, one motor model 31, one car model, 32, one bob-weight models 33 and a hauling block model 34 are formed.And, by using rigid model an estimating speed 17 that obtains and the difference that detects actual speed not to obtain a speed fluctuations signal 23, but by use estimating speed 17 that rigid model obtains and in elevator high level model system 25 difference of an estimating speed 26 of car obtain described speed fluctuations signal 23.Described speed fluctuations signal 23 is suppressed signal 9 by feed-in one signal converter 24 to draw a fluctuation, and described inhibition signal 9 is provided for an adder 7 to finish vibration suppression thus.Then, because the estimating speed 26 of car is used to deduct a speed fluctuations signal in elevator high level model system 25,, do not exist car when a certain position, can't detect the situation of wave component as situation about detecting in the motor component.Thereby can be how and expection reaches the stablizing effect that suppresses vibration regardless of the position of car.
In addition, in this embodiment, the actual speed of car is used as one and is superimposed with the speed signal of fluctuation signal thereon and directly detects, and the estimating speed 26 dispensing with bootstrap one signal control of access plate of the car that produces on the control desk in machine room can be used, thereby when signal is changed, needn't worry that the external world sneaks into any noise composition in speed signal, and it not only has can form the effect that a car vibrations with high reliability suppresses system, but also have a commercial availability, promptly needn't use to be used to detect the speed of car or the special hardware of acceleration/accel (for example a speed sensor or an acceleration pick-up).
In the embodiment of Figure 10, the mechanical system of high level model system 25 is by three part car models 32, and bob-weight model 33 and hauling block model 34 are formed.This design is in order to simplify the compensation cable system of an actual mechanical system, thereby in fact it can not be encompassed in all chatter phenomenas of mechanical system resonance frequency in the actual mechanical system, but it can estimate the fundamental sum subresonance of wireline system at least, thereby we can say and can obtain enough effectiveness to suppress these in the comfortable vibration that becomes particular challenge in service.In addition, in this simple model as the consequence of a simplified structure, estimate that in microcomputer the computing of the vibration of car can finish at short notice, thereby also have a commercial availability promptly to need not to provide the microcomputer of any costliness can estimate the chatter phenomena of car calculating.
In addition, if the total system of mechanical system is reduced in high level model system 25 car is only arranged, in fact the estimable resonance frequency on the mechanical system is restricted to the fundamental vibration that wireline system is only arranged, but the time of calculating can shorten, thereby it also has an effectiveness, even microcomputer can be shared other work, such as the processing of another elevator device.
If in elevator rigid model system the inertia of inertial system model 21 can be along with car in existing patronage and changing, if or the spring constant or the damping coefficient that change with rope lengths, and the car weight that changes with patronage in the car changes in the mechanical system of high level model system 25 subtly along with the condition (position of car or passenger's number) of actual machine, can improve the accuracy rate of the estimated valve 26 of the estimating speed 17 that obtains by elevator rigid model system 15 or car, and can obtain an accurate fluctuation thus and suppress signal 9 to improve the effect of the vibration that suppresses car.
One check is finished within signal converter 24, and as a common elevator device, whether its output (it is the signal corresponding to vibration suppression instruction 9) exceeds size or the frequency pre-estimated with check, and, if do not exceed.Then in its output, a boundary value is set, otherwise output itself is prevented from, or produces and report to the police.Like this, have one to finish the function of two important things, guarantee safety exactly and reach its basic purpose, promptly improve comfortable operation for an elevator device.
In addition, in the elevator rigid model system 15 and elevator high level model system 25 of Figure 10, calculate estimating speed 17 and 27 with form speed fluctuations signal 23 the time do to such an extent that be shorter than the time gap that detects described detection actual speed 3 at interval.This is to suppress signal 9 in order to fluctuate to feed back to the speed control loop on a small quantity, thereby can realize a response fast, thereby can obtain its enough effect to suppress vibration.
In order to realize the effect of vibration suppression, a kind of effective method is according to a kind of function, suppress signal 9 for the fluctuation that changes along with the operating conditions of elevator with method shown in Figure 1, in Figure 10, will in signal converter 24, compensate from the frequency-response data of adder 7 to electrical motor 11.Yet, comprise owing to described speed when calculating estimating speed 26 that non-direct detection gets but estimation obtains in the high level model system under the situation of Figure 10 embodiment fluctuation composition, thereby produce a small time delay.In this embodiment, because coexisting, the phase shift that this time delay causes compensated in the signal converter 24.Correspondingly, the structure of Figure 10 can obtain enough effects suppress the vibration.
In addition, if supply convertor model 30 in the high level model system 25 and motor model 31 also postpone by one-level or similar means are simplified, obviously computing time can be shortened by 15 combineds action of elevator rigid model system.Consequently, can handle the work of two models concurrently by using not expensive microcomputer, and can realize by an enforceable hardware configuration realize to the vibration inhibition.
Use is made in the bandpass filter in the signal converter, and the inhibition vibration work that is not equal in the frequency band of a specific modulated frequency can be suppressed in such structure, and promptly high level model system 25 is not always or to be difficult to be the model of a precision.Provide an effect from the viewpoint of the reliability of guaranteeing elevator device.
Figure 11 shows another embodiment of the present invention.From speed command 1 to tension pulley 36 unit all with Figure 10 identical.In this embodiment, except an elevator rigid model system 15 is provided, one comprises that the elevator high level model system 25 of having simulated the elevator mechanical system unit also is provided, and one equals to detect an actual speed 3 and a fluctuation signal 38 from the difference of the estimating speed 17 of rigid model system 15, with one equal that both obtain as the speed fluctuations signal from the estimating speed 26 of high level model system 25 with from the fluctuation signal 37 of the difference of the estimating speed 17 of rigid model system 15, described two fluctuation signals carry out break-make control to obtain a speed fluctuations signal 23 by switch 39, and described speed fluctuations signal is offered one of adder 7 end by a signal converter 24.
, for example, consider the situation of car here near 220 meters shown in Fig. 9, at this moment, system 39 dozens of change-overs swith to the fluctuation signal 37 that serves as speed fluctuations signal 23.When car is positioned at any other position described switch beat to fluctuation signal 38 on one side.If the fluctuation signal source is in this way according to the position of car and switch, then can avoid when a certain position of car, can't detecting a fluctuation composition (if vibrate when car produces during near 220 meters, to be difficult to detect its state by fluctuation signal 38), and also can use a signal with high as far as possible reliability.Correspondingly, can realize comfortable operation and guarantee that is required to have the reliability of the elevator device of special high reliability simultaneously.
As the embodiment that has done to describe among the embodiment in front,, have one from the frequency-response data of adder 7 to electrical motor 11 corresponding to an oscillation frequency.In addition, owing to, have the variation of a gain by two fluctuation signals of the control of the switch in this embodiment.Correspondingly, in signal converter 24, provide the function of a kind of control phase and gain also to provide stable control for suppressing vibration thus.
In addition, because fluctuation signal is used for the embodiment of Figure 11 by alternately, always must not finish the work of two parallel signals at the same time.Thereby for example, only a signal that is used as fluctuation signal is calculated according to the position of car in feed forward.Therefore, can omit a unnecessary work disposal process, thereby have a function, if the load reduction on a processing unit can use not expensive microcomputer.
As above narration, according to the present invention, the harmful effect that is difficult to bear with coming from the outside mixes such as noise, and it can control the chatter phenomena of a car when avoiding adopting a specific additional device that causes expense to rise.Correspondingly, can weaken the uncomfortable vertical shake of the car that causes by tethered system.In addition, can simplify the adjusting of the gain, phase place etc. of vibration suppression signal.
Claims (34)
1, an elevator device, comprise a car, one is used to drive the drive unit for lift of described car, a speed instruction device, one apparatus for checking lift speed and one according to speed command with detect the deviation of elevator speed control the speed control loop of described actuating device; It is characterized in that, the elevator model that is added with described speed command is offered described speed control loop, and provide a device corresponding to the compensating signal of the output of described model to described speed control loop.
2, a kind of elevator device, comprise a car, one is used to drive the drive unit for lift of described car, a speed instruction device, one apparatus for checking lift speed and one is controlled the speed control loop of described actuating device according to speed command and the deviation that detects elevator speed; It is characterized in that, comprise that also one has the elevator model of speed command, it is used for exporting when a mechanical system on being positioned at described car is considered to ideal rigid body the estimating speed of described actuating device, thereby is provided for described speed control loop from detected the velocity deviation of the output of described model and described actuating device.
3, elevator device according to claim 2 is characterized in that, the described described detection speed that is used for obtaining described deviation signal is the electromotor velocity of described drive unit for lift.
4, elevator device according to claim 2 is characterized in that, the described described detection speed that is used to obtain described difference signal is the car speed of described elevator.
5, elevator device according to claim 1 and 2 is characterized in that, also comprises the device that changes the incoming signal of delivering to described speed control loop according to the condition of service of described elevator.
6, elevator device as claimed in claim 5 is characterized in that, the condition of service of described elevator refers to the position of car or passenger's quantity.
7, a kind of elevator device according to claim 5 is characterized in that, described changeable device comprises the device of the gain of controlling described deviation signal.
8, a kind of elevator device as claimed in claim 5 is characterized in that, described changeable device comprises the device that is used to control one of described deviation signal phase value.
9, a kind of elevator device as claimed in claim 1 or 2 is characterized in that, the constant of described elevator model changes along with the quantity of passenger in the described car.
10, a kind of elevator device as claimed in claim 2 is characterized in that, the speed that is used to calculate the described actuating device of described deviation is shorter than the time gap that the speed of described speed control loop detects detection time at interval.
11, according to a kind of elevator device of claim 2, it is characterized in that, the electromotor velocity of described drive unit for lift and the speed of described car are transferred with switch, thereby make one of them according to the selected detection speed as described actuating device of the condition of service of described elevator.
12, elevator device as claimed in claim 11 is characterized in that, the described detection speed of described actuating device according to the position of described car by switch selectively.
13, elevator device as claimed in claim 1 or 2 is characterized in that, described elevator model comprises the approximate device of motor component work that power source conversion parts and is had the described actuating device of one-level delay.
14, elevator device as claimed in claim 2 is characterized in that, when described deviation signal is not less than a predetermined value, forbids described deviation signal is offered described speed control loop.
15, elevator device as claimed in claim 2 is characterized in that, described deviation signal is provided for described speed control loop by a high-pass filter.
16, elevator device as claimed in claim 2 is characterized in that, described deviation signal is provided for described speed control loop by a bandpass filter.
17, elevator device as claimed in claim 2 is characterized in that, described deviate signal is provided for described speed control loop by a plurality of passages.
18, elevator device as claimed in claim 17 is characterized in that, described input channel comprises and being used for only by a plurality of filters of different particular frequencies compositions mutually.
19, elevator device as claimed in claim 2 is characterized in that, described elevator rigid model system is made of the software of a microcomputer.
20, a kind of elevator device, comprise a car, one is used to drive the drive unit for lift of described car, one speed instruction device, one apparatus for checking lift speed, and one control the speed control loop of described actuating device according to speed command and the deviation that detects elevator speed, it is characterized in that, also comprise one first elevator model, described speed command is admitted to described first elevator model is used for exporting described actuating device when the mechanical system that comprises described car etc. is considered to ideal rigid body a estimating speed, second elevator model that is added with described speed command comprises the elevator mechanical system of the estimating speed that is used to export described car, and, provide the device of a compensation input to described speed control loop according to the output of described first and second models.
21, elevator device as claimed in claim 20 is characterized in that, described second elevator model comprises one by car, the mechanical system model that actuating device and counterweight three parts are formed and the spring system of a main rope.
22, elevator device as claimed in claim 20 is characterized in that, described second elevator model comprises one by the signal section of car and be positioned at the mechanical system model that the spring system of the main rope between described car and actuating device is formed.
23, elevator device as claimed in claim 20, it is characterized in that, the deviation signal of the output of described first and second models is provided for described speed control loop, and described system comprises that also the condition of service according to described elevator changes the device of described deviation signal.
24, elevator device as claimed in claim 23 is characterized in that, the condition of service of described elevator is the position of described car or passenger's number.
25, elevator device as claimed in claim 23 is characterized in that, described modifier comprises the device of the gain that is used to control described deviation signal.
26, elevator device as claimed in claim 23 is characterized in that, described modifier is controlled a phase value of described deviate signal.
27, elevator device as claimed in claim 23 is characterized in that, described first or the constant of second elevator model can change according to the position of described car or the patronage in the described car.
28, elevator device as claimed in claim 23 is characterized in that, interbody spacer was shorter than the time gap that the speed of described speed control loop detects in the estimating speed that is used to calculate the described actuating device of described deviation detected.
29, elevator device as claimed in claim 23 is characterized in that, described deviation signal is offered described speed control loop.
When described deviation signal is not less than a predetermined value or comprise a frequency content beyond the predetermined value, strict restriction or forbid described deviation signal is offered described speed control loop.
30, a kind of elevator device, comprise a car, one is used to drive the drive unit for lift of described car, a speed instruction device, an apparatus for checking lift speed, control the speed control loop of described actuating device with one according to speed command and the deviation that detects elevator speed, it is characterized in that, comprise that also one has first elevator model of speed command, it is used for exporting the estimating speed of described actuating device when the mechanical system that comprises car is considered to an ideal rigid body, second elevator model that has described speed command, comprise the elevator mechanical system of the estimating speed that is used to export described car, and be used for providing first deviation signal and second deviation signal between described first model and described detection speed any the device of described first model output between exporting with described second model to described speed loop.
31, elevator device as claimed in claim 30 is characterized in that, comprises that also position according to described car is used for switchably importing the device of selected described first and second deviation signals.
As claim 20 or 30 described elevator devices, it is characterized in that 32, described first or second elevator model comprises that being used for approximate supply convertor parts and has the motor component of the described actuating device that one-level postpones.
33, elevator device as claimed in claim 30 is characterized in that, also comprises the device that is used for preventing from described deviation signal is offered described speed control loop when described deviation signal is not less than a predetermined value.
34, a kind of control system comprises that a controlling quantity command device and is used to handle a controlled object and makes it to be controlled according to a controlling quantity command value that is provided by described command device and the deviation of a controlling quantity value of feedback; It is characterized in that, comprise that also one has the controlled object model of described controlling quantity command value, and be used for compensating the device that input offers control system with one according to the output of described model.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4284167A JP2892891B2 (en) | 1992-10-22 | 1992-10-22 | Elevator equipment |
| JP284167/92 | 1992-10-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1088179A true CN1088179A (en) | 1994-06-22 |
| CN1035050C CN1035050C (en) | 1997-06-04 |
Family
ID=17675054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN93119053A Expired - Lifetime CN1035050C (en) | 1992-10-22 | 1993-10-22 | Elevator system |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP2892891B2 (en) |
| KR (1) | KR940009042A (en) |
| CN (1) | CN1035050C (en) |
| GB (1) | GB2271865B (en) |
| HK (1) | HK140996A (en) |
| SG (1) | SG43807A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100357169C (en) * | 2004-02-02 | 2007-12-26 | 因温特奥股份公司 | Method for the design of a regulator for vibration damping at an elevator car |
| CN104042415A (en) * | 2013-03-14 | 2014-09-17 | 丰田车体株式会社 | Control Device Of Lifting Device For Vehicle |
| CN114348824A (en) * | 2021-12-31 | 2022-04-15 | 日立电梯（中国）有限公司 | Elevator car noise reduction method and system and elevator |
| CN114348824B (en) * | 2021-12-31 | 2024-06-04 | 日立电梯（中国）有限公司 | Elevator car noise reduction method and system and elevator |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5635689A (en) * | 1995-02-17 | 1997-06-03 | Otis Elevator Company | Acceleration damping of elevator resonant modes and hydraulic elevator pump leakage compensation |
| US5750945A (en) * | 1996-06-03 | 1998-05-12 | Otis Elevator Company | Active elevator hitch |
| TW448126B (en) * | 1996-06-12 | 2001-08-01 | Toshiba Corp | Elevator speed control apparatus |
| JP3937363B2 (en) * | 1997-09-09 | 2007-06-27 | 東芝エレベータ株式会社 | Elevator speed control device |
| JP5550313B2 (en) * | 2009-11-24 | 2014-07-16 | 東芝エレベータ株式会社 | Double deck elevator system |
| US9394138B2 (en) | 2010-11-30 | 2016-07-19 | Otis Elevator Company | Method and system for dampening noise or vibration using a motor |
| WO2023203274A1 (en) * | 2022-04-21 | 2023-10-26 | Kone Corporation | Control of travel speed of an elevator car |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI72016C (en) * | 1983-08-17 | 1987-03-09 | Kone Oy | FOERFARANDE OCH ANORDNING FOER STABILISERING AV EN LIKSTROEMSMOTOR I EN HISS. |
| JPH0729745B2 (en) * | 1984-12-17 | 1995-04-05 | 株式会社東芝 | Elevator speed control method |
| CN1020882C (en) * | 1985-04-18 | 1993-05-26 | 三菱电机株式会社 | Elevator control aggregate |
| EP0306922B1 (en) * | 1987-09-08 | 1995-01-25 | Kabushiki Kaisha Meidensha | Control system for controlling revolution speed of electric motor |
| FI79506C (en) * | 1988-02-16 | 1990-01-10 | Kone Oy | Procedure for setting a position controller in an elevator |
| JP2595828B2 (en) * | 1991-04-22 | 1997-04-02 | 株式会社日立製作所 | Elevator equipment |
-
1992
- 1992-10-22 JP JP4284167A patent/JP2892891B2/en not_active Expired - Lifetime
- 1992-11-16 KR KR1019920021491A patent/KR940009042A/en active IP Right Grant
-
1993
- 1993-10-13 GB GB9321121A patent/GB2271865B/en not_active Expired - Fee Related
- 1993-10-13 SG SG1996001112A patent/SG43807A1/en unknown
- 1993-10-22 CN CN93119053A patent/CN1035050C/en not_active Expired - Lifetime
-
1996
- 1996-08-01 HK HK140996A patent/HK140996A/en not_active IP Right Cessation
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100357169C (en) * | 2004-02-02 | 2007-12-26 | 因温特奥股份公司 | Method for the design of a regulator for vibration damping at an elevator car |
| CN104042415A (en) * | 2013-03-14 | 2014-09-17 | 丰田车体株式会社 | Control Device Of Lifting Device For Vehicle |
| CN114348824A (en) * | 2021-12-31 | 2022-04-15 | 日立电梯（中国）有限公司 | Elevator car noise reduction method and system and elevator |
| CN114348824B (en) * | 2021-12-31 | 2024-06-04 | 日立电梯（中国）有限公司 | Elevator car noise reduction method and system and elevator |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2271865B (en) | 1996-03-13 |
| JPH06135644A (en) | 1994-05-17 |
| HK140996A (en) | 1996-08-09 |
| SG43807A1 (en) | 1997-11-14 |
| GB9321121D0 (en) | 1993-12-01 |
| JP2892891B2 (en) | 1999-05-17 |
| CN1035050C (en) | 1997-06-04 |
| GB2271865A (en) | 1994-04-27 |
| KR940009042A (en) | 1994-05-16 |
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Expiration termination date: 20131022 Granted publication date: 19970528 |