CN109095328A - A kind of vibration insulating system and its control method of high-speed elevator cage horizontal vibration - Google Patents
A kind of vibration insulating system and its control method of high-speed elevator cage horizontal vibration Download PDFInfo
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- CN109095328A CN109095328A CN201811135854.5A CN201811135854A CN109095328A CN 109095328 A CN109095328 A CN 109095328A CN 201811135854 A CN201811135854 A CN 201811135854A CN 109095328 A CN109095328 A CN 109095328A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/02—Cages, i.e. cars
- B66B11/026—Attenuation system for shocks, vibrations, imbalance, e.g. passengers on the same side
- B66B11/028—Active systems
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- Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
- Cage And Drive Apparatuses For Elevators (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a kind of vibration insulating systems of high-speed elevator cage horizontal vibration, including active damper, active control system；The active damper includes actuator, fixed plate, vibration acceleration detection meter, integrated control device；There are two the actuator is total, it is divided into the direction x actuator and the direction y actuator, the direction x actuator is fixedly connected with fixed plate, the direction y actuator is fixedly connected with fixed plate, vibration acceleration detection meter is fixed in fixed plate center, vibration acceleration detection meter is electrically connected with integrated control device, and integrated control device is fixed in fixed plate.Compared with an elevator needs to install four traditional active guide shoes, active damper according to the present invention only needs one, it is placed in cage bottom, it can realize the inhibition to compartment system horizontal vibration, and active control system is simple, failure rate is low, convenient to carry out, advantageously reduces energy consumption and control cost.
Description
Technical field
The present invention relates to screw type elevator field of shock absorption, specifically a kind of vibration damping of high-speed elevator cage horizontal vibration
System and its control method.
Background technique
High speed towed elevator is influenced due to being motivated by Rail irregularities, and carriage can generate apparent horizontal vibration,
And as the increase oscillation intensity for promoting speed also increases with it, riding comfort and safety are seriously affected.Due to traditional
Passive control can only provide lesser damping force, be unable to satisfy the vibration damping demand of express elevator, it is therefore desirable to pass through active control
Method inhibit carriage vibration.
Traditional car vibrations active control is made an issue of in guide shoe, based on adaptive fuzzy control and is based on Generalized Prediction
PID control, by between each guide wheel and carriage apply active controlling force (implementation method is hydraulic or electromagnetism), make each guide shoe
The horizontal acceleration at place is zero, to realize the active control to car vibrations.The shortcomings that with upper controller are as follows: 1, actuator
Structure is complicated (containing three actuator in each guide shoe), high failure rate；2, control algolithm is complicated；3, hardware cost is high, a sedan-chair
Compartment needs to install four active guide shoes, and installation is inconvenient, poor universality；4, energy consumption is high, does not meet the policy requirements of energy-saving and emission-reduction.
Summary of the invention
The present invention is exactly to provide a kind of high-speed elevator cage horizontal vibration to solve deficiencies of the prior art
Vibration insulating system and its control method, it is according to the present invention compared with an elevator needs to install four traditional active guide shoes
Active damper only needs one, is placed in cage bottom, can realize the inhibition to compartment system horizontal vibration, and actively control
System processed is simple, and failure rate is low, convenient to carry out, advantageously reduces energy consumption and control cost.
The technical scheme adopted by the invention to solve the technical problem is that:
A kind of vibration insulating system of high-speed elevator cage horizontal vibration, including active damper, active control system；
The active damper includes actuator, fixed plate, vibration acceleration detection meter, integrated control device；
There are two the actuator is total, it is divided into the direction x actuator and the direction y actuator, the direction x actuator and fixed plate
It is fixedly connected, the direction y actuator is fixedly connected with fixed plate, and vibration acceleration detection meter is fixed in fixed plate center, vibration
Acceleration tester and integrated control device are electrically connected, and integrated control device is fixed in fixed plate；
The active damper connects active control system；
The active control system, including power module, microprocessor, guide rail detection module, control loop, active damping
Device, memory；The guide rail detection module includes guide rail non-flatness measurement device, A/D converter circuit；The control loop includes
DA conversion circuit and amplifying circuit, control circuit.
The vibration acceleration detection is calculated as acceleration transducer；The actuator is made of linear motor and pouring weight,
Linear motor and integrated control device are electrically connected, and pouring weight is fixedly connected with the mover of linear motor.
The guide rail non-flatness measurement device includes laser vertical instrument, PSD sensor, and there are four the laser vertical instruments,
Described to be located on the ground of well pit there are two laser vertical instrument, other two laser vertical instrument cooperates swashing for the ground of pit
Light vertical instrument is located at hoistway top surface, and the PSD sensor is mounted on the outside of the four rolling of carriage.
A kind of control method of the vibration insulating system of high-speed elevator cage horizontal vibration, the process of the control method is:
The direction x and y vibration acceleration threshold ax0 and ay0 are preset in the microprocessor, pass through guide rail non-flatness measurement
Device detection guide rail unevenness information is added by the vibration acceleration detection meter detection direction the elevator x and y vibration of active damper
Speed ax1 and ay1；
Set by being greater than when the elevator x and y direction vibration acceleration that the vibration acceleration detection meter of active damper detects
When fixed threshold value:
Microprocessor (2) is according to elevator model state space equationIt is filled with guide rail non-flatness measurement
The guide rail unevenness information for setting detection calculates the prediction direction elevator x and y vibration acceleration ax2 and ay2, while solving the direction x and y
Predict error delta ax and the △ ay of vibration of elevator acceleration and elevator running vibration acceleration；
According to acceleration error △ ax and △ ay calculated, microprocessor uses the BP neural network of linear prediction model
The weight matrix of pid algorithm modification control information U, and then control information U is adjusted, this information is through DA conversion circuit and puts
Big circuit forms electric signal, controls the direction x actuator and the movement of the direction y actuator in active damper.
X is car status vector in the elevator model state space equation, is embodied asWherein x is the displacement of carriage in the x direction, unit m, y be carriage in y-direction
Displacement, unit m, θxIt is carriage around the rotational angle in the direction x, unit rad, θyIt is carriage around the rotational angle in the direction y,
Unit is rad, θzIt is carriage around the rotational angle in the direction z, unit rad,Represent the direction x speed, unit m/s,Represent the side y
To speed, unit m/s,It represents around the direction x rotational angular velocity, unit rad/s,It represents around the direction y rotational angular velocity, unit
rad/s,It represents around the direction z rotational angular velocity, unit rad/s；
Control variable U=[Fcx,Fcy]T, actuator x direction controlling power is Fcx, y direction controlling power is Fcy, unit is N；
Disturbance variable W=[Fx,Fy,Tx,Ty,Tz]T, FxFor the excitation of the direction x, FyFor the excitation of the direction y, TxFor θxDirection excitation,
TyFor θyDirection excitation, TzFor θzDirection excitation, unit is N；
Output vector Y=[ax2 ay2]T, ax2To predict the direction x vibration acceleration, unit m/s2, ay2To predict the direction x
Vibration acceleration, unit m/s2；
Wherein:
It is state equation system
Matrix number；Car mass is m, around x-axis rotary inertia Jx, around y-axis rotary inertia Jy, guide wheel 1,2 and guide wheel 3,4 are horizontal to mass center
It is equidistant respectively l1And l2, unit m, guide wheel 1,3 and guide wheel 2,4 arrive the equal respectively l of mass center vertical range3And l4, single
Position is m；K is stiffness coefficient, and c is damped coefficient.Guide wheel 1 recited above, guide wheel 2, guide wheel 3, guide wheel 4 respectively correspond in Fig. 4
Guide wheel1、Guide wheel2、Guide wheel3、Guide wheel4。
Calculating process of the invention
(1) the vibration acceleration detection meter detection direction elevator x and y vibration acceleration ax1 and ay1；
(2) the guide rail unevenness information and elevator car systems that microprocessor is detected according to guide rail non-flatness measurement device
State equation
Acquire ax2 and ay2；
(3) error delta ax=ax2-ax1 is calculated；△ ay=ay2-ay1；
(4) error back substitution is carried out according to BP neural network algorithm, adjusts weight, specific calculating is as follows:
The input of BP neural network NN is
Neural network hidden layer input and output are
In formulaFor hidden layer weighting coefficient, f [] is activation functions, f []=tanh (x).
The input and output of the output layer of neural network are
In formulaFor output layer weighting coefficient, g [] is activation functions, g []=0.5 [1+tanh (x)].
The performance indicator is taken to be
J1=0.5 [yr(k+1)-y(k+1)]2=0.5z2(k+1) (7)
By the weighting coefficient of steepest descent method corrective networks, i.e., adjustment is searched for by negative gradient direction of the J to weighting coefficient, and
Additional one makes the Inertia for searching for fast convergence global minimal, then has
Due toIt is unknown, use best estimatorInstead of y (k+1), then linear prediction model can be used
BP neural network design PID controller.If controlled device can be described with following linear model:
Y (k) in formula, u (k) are the output and control input signal of system, and v (k) is that the independent same distribution of zero-mean is random
Interference, d are system lag, ai、biFor unknown or slow time-varying.
Equation can must be recognized by formula (10)
In formula
Go out parameter vector with least square method On-line EstimationA step of forecasting output in this way can be calculated by following formula:
Following a step of forecasting output can be obtained:
It can thus be concluded that the weighting coefficient calculation formula of BP neural network NN output layer is
Hidden layer weighting coefficient calculation formula are as follows:
Wherein
G ' []=g (x) [1-g (x)]
F ' []=[1-f2(x)]/2
(5) for the control formula of Increment Type Digital Hydraulic PID are as follows:
U (k+1)=u (k)+KP[e(k+1)-e(k)]+KIe(k+1)+KD[e(k+1)-2e(k)+e(k-1)]
Control information U adjusted can be acquired；
The beneficial effects of the present invention are:
1, compared with an elevator needs to install four traditional active guide shoes, active damper according to the present invention is only needed
One is wanted, cage bottom is placed in, can realize the inhibition to compartment system horizontal vibration, and active control system is simple, therefore
Barrier rate is low, convenient to carry out, advantageously reduces energy consumption and control cost.
2, the present invention using linear prediction model the guide rail that arrives of the real-time processing detection of BP neural network pid control algorithm not
Pingdu information and actual vibration acceleration information are conducive to quick, real-time adjustment control information.
3, the BP neural network pid algorithm of linear prediction model employed in control system of the present invention has PID control
The intelligent processing capacities such as the advantages of algorithm is simple, robustness is good, high reliablity and artificial neural network learning, memory, it is especially suitable
Vibration damping for high-speed elevator cage system works.
Detailed description of the invention
Fig. 1 is Control system architecture block diagram of the invention；
Fig. 2 is active damper structure scheme of installation of the invention；
Fig. 3 is the direction x actuator configurations axonometric drawing；
Fig. 4 is elevator car systems horizontal vibration illustraton of model；
Fig. 5 is guide rail non-flatness measurement system structure of device schematic diagram；
Fig. 6 is the PID control system structure based on BP neural network；
Fig. 7 is BP neural network structure；
Fig. 8 is for the direction x BP neural network PID control and without control vibration acceleration contrast images；
Fig. 9 is for the direction y BP neural network PID control and without control vibration acceleration contrast images.
In figure: 1- guide rail detection module, 101- guide rail non-flatness measurement device, 102-AD conversion circuit, 2- microprocessor,
3- power module, 4- memory, 5- active damper, the direction 501-x actuator, 5011- mover, 5012- pouring weight, 5013- are straight
Line motor, 502- fixed plate, 503- vibration acceleration detection meter, the direction 504-y actuator, 505- integrated control device, 6- control
Circuit processed, 601- control circuit, 602-DA conversion circuit and amplifying circuit, 1011- laser vertical instrument, 1012-PSD sensor,
1013- idler wheel, 1014- carriage, 1015- guide rail.
Specific embodiment
For a better understanding of the present invention, a specific embodiment of the invention is explained in detail with reference to the accompanying drawing.
By taking 4m/s express elevator as an example, 5 intelligent control algorithm of express elevator active shock of this research institute proposition is verified
Feasibility and validity, parameter is as shown in the table.
Table high-speed elevator cage system parameter
Its cage bottom center acceleration is controlled using the BP neural network PID controller of linear prediction model
System, wherein the structure of neural network (NN) is 3-3-3, and learning rate η=0.3, inertia coeffeicent α=0.3, weighting coefficient is initial
Value takes the random number on section [- 0.5,0.5], sampling period Ts=0.05s.
The direction x horizontal vibration simulation result
The cage bottom center direction x under arbitrary excitation is vibrated using the pid control algorithm based on BP neural network
Acceleration is controlled, and gained vibration acceleration image is as shown in Figure 8.
Car vibrations acceleration mean value, root-mean-square value and maximum value are as shown in table 2 in calculated result on the direction x.Using BP
Three data reduce 57.1%, 58.3% and 61.9% respectively after Neural Network PID Control.The result shows that in the x direction,
It can inhibit car vibrations after controlling using BP neural network PID control method car vibrations very well.
Vibration acceleration mean value, root-mean-square value and maximum value on the direction x under 2 different situations of table
The direction y horizontal vibration simulation result
The cage bottom center direction y under arbitrary excitation is vibrated using the pid control algorithm based on BP neural network
Acceleration is controlled, shown in gained vibration acceleration image graph 9.
Car vibrations acceleration mean value, root-mean-square value and maximum value are as shown in table 3 in calculated result on the direction y.Using BP
Three data reduce 56.6%, 55.9% and 56.0% respectively after Neural Network PID Control.The result shows that in y-direction,
It can inhibit car vibrations after controlling using BP neural network PID control method car vibrations very well.
Vibration acceleration mean value, root-mean-square value and maximum value on the direction y under 3 different situations of table
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (5)
1. a kind of vibration insulating system of high-speed elevator cage horizontal vibration, characterized in that including active damper, active control system
System；
The active damper includes actuator, fixed plate, vibration acceleration detection meter, integrated control device；
There are two the actuator is total, it is divided into the direction x actuator and the direction y actuator, the direction x actuator is fixed with fixed plate
Connection, the direction y actuator are fixedly connected with fixed plate, and vibration acceleration detection meter is fixed in fixed plate center, and vibration accelerates
Degree detection meter is electrically connected with integrated control device, and integrated control device is fixed in fixed plate；
The active damper connects active control system；
The active control system, including power module, microprocessor, guide rail detection module, control loop, active damper,
Memory；The guide rail detection module includes guide rail non-flatness measurement device, A/D converter circuit；The control loop includes that DA turns
Change circuit and amplifying circuit, control circuit.
2. a kind of vibration insulating system of high-speed elevator cage horizontal vibration according to claim 1, characterized in that the vibration
Acceleration detection is calculated as acceleration transducer；
The actuator is made of linear motor and pouring weight, and linear motor and integrated control device are electrically connected, pouring weight and straight
The mover of line motor is fixedly connected.
3. a kind of vibration insulating system of high-speed elevator cage horizontal vibration according to claim 1, characterized in that the guide rail
Non-flatness measurement device includes laser vertical instrument, PSD sensor, and there are four the laser vertical instruments, and described there are two laser lead
Straight instrument is located on the ground of well pit, and the laser vertical instrument on the ground of other two laser vertical instrument cooperation pit is located at hoistway
Top surface, the PSD sensor are mounted on the outside of the four rolling of carriage.
4. a kind of control method of the vibration insulating system of high-speed elevator cage horizontal vibration according to claim 1, feature
It is that the process of the control method is:
The direction x and y vibration acceleration threshold ax0 and ay0 are preset in the microprocessor, pass through guide rail non-flatness measurement device
Guide rail unevenness information is detected, the vibration acceleration detection meter detection direction the elevator x and y vibration acceleration of active damper is passed through
Ax1 and ay1；
When the elevator x and y direction vibration acceleration that the vibration acceleration detection meter of active damper detects is greater than set
When threshold value:
Microprocessor (2) is according to elevator model state space equationIt is examined with guide rail non-flatness measurement device
The guide rail unevenness information of survey calculates the prediction direction elevator x and y vibration acceleration ax2 and ay2, while solving x and y direction prediction
Error delta ax and the △ ay of vibration of elevator acceleration and elevator running vibration acceleration；
According to acceleration error △ ax and △ ay calculated, microprocessor uses the BP neural network PID of linear prediction model
The weight matrix of algorithm modification control information U, and then control information U is adjusted, this information is through DA conversion circuit and amplification
Circuit forms electric signal, controls the direction x actuator and the movement of the direction y actuator in active damper.
5. a kind of control method of the vibration insulating system of high-speed elevator cage horizontal vibration according to claim 4, feature
It is that X is car status vector in the elevator model state space equation, is embodied asWherein x is the displacement of carriage in the x direction, unit m, y be carriage in y-direction
Displacement, unit m, θxIt is carriage around the rotational angle in the direction x, unit rad, θyIt is carriage around the rotational angle in the direction y,
Unit is rad, θzIt is carriage around the rotational angle in the direction z, unit rad,Represent the direction x speed, unit m/s,Represent the side y
To speed, unit m/s,It represents around the direction x rotational angular velocity, unit rad/s,It represents around the direction y rotational angular velocity, unit
rad/s,It represents around the direction z rotational angular velocity, unit rad/s；
Control variable U=[Fcx,Fcy]T, actuator x direction controlling power is Fcx, y direction controlling power is Fcy, unit is N；
Disturbance variable W=[Fx,Fy,Tx,Ty,Tz]T, FxFor the excitation of the direction x, FyFor the excitation of the direction y, TxFor θxDirection excitation, TyFor
θyDirection excitation, TzFor θzDirection excitation, unit is N；
Output vector Y=[ax2 ay2]T, ax2To predict the direction x vibration acceleration, unit m/s2, ay2For the vibration of the prediction direction x
Acceleration, unit m/s2；
Wherein:
It is State Equation Coefficients square
Battle array；Car mass is m, around x-axis rotary inertia Jx, around y-axis rotary inertia Jy, guide wheel 1,2 and guide wheel 3,4 arrive mass center horizontal distance
Equal is respectively l1And l2, unit m, guide wheel 1,3 and guide wheel 2,4 arrive the equal respectively l of mass center vertical range3And l4, unit is
m；K is stiffness coefficient, and c is damped coefficient.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113979267A (en) * | 2021-10-26 | 2022-01-28 | 日立楼宇技术（广州）有限公司 | Elevator control method, elevator control device, elevator controller and storage medium |
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| CN113979267A (en) * | 2021-10-26 | 2022-01-28 | 日立楼宇技术（广州）有限公司 | Elevator control method, elevator control device, elevator controller and storage medium |
| CN113979267B (en) * | 2021-10-26 | 2023-11-24 | 日立楼宇技术（广州）有限公司 | Elevator control method, device, elevator controller and storage medium |
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