CN85102314A - The method and apparatus that slows down that the elevator system backkick backlash is vacillated and collided - Google Patents

Abstract

Collision in the elevator system speed reduction gearing 11 at the engaging gear of power/drive performance state during to the transition of regeneration/servo-actuated operative condition, can separate with upcoming by the actual separation of the monitoring gear teeth, correspondingly temporarily reduce the torque of motor, change that speed is poor relatively thereby lower waiting between input shaft and the output shaft, collision is alleviated.Amplitude difference between the signal that the separation of tooth can be directly proportional by sensing and input shaft and output shaft rotating speed (by changes such as gear ratios), or measure by the change in polarity of detection-sensitive motor drive current.Can change the resistor in the speed controller 40,43 with the switch of relay control, change the function of operational amplifier 45, make it to change over integrator, thereby reduce the torque of motor from first order time delay circuit.

Description

The method and apparatus that slows down that the elevator system backkick backlash is vacillated and collided

Background of invention

The present invention particularly, is the control mechanism that prevents the elevator craning cage vibrations about the control method and the apparatus of elevator system that the motor-driven cage of a tool is arranged.

Japanese patent gazette 58-20872 number (U. S. application be on December 10th, 1975 the 639th, No. 336) discloses an apparatus, by speed and current feedback circuit, accurately controls elevator and drives motor speed.

Though generally all use the reducing gear of worm tooth crop rotation elevator lifting apparatus, this reducing gear not only driving efficiency is low, and tends to cause unnecessary power dissipation, so all use the device that reduces starter of the binary shafts of helical wheel instead in trend in recent years.

In Fig. 1 to 4, narrated the elevator speed control device commonly used that utilizes the gear that reduces starter of the binary shafts.In the block scheme of Fig. 1, a tool speed command signal producer 1 is arranged, produce speed command signal 1a; One tool adder 2 by with speed command signal (1a) and an actual speed feedback signal 10a contrast, produces an error or offset signal 2a; Speed controller 3 produces torque command signal 3a, and main effect is the output signal that amplifies adder 2; An adder 4 produces an offset signal with torque command signal 3a and current feedback signal 9a contrast; A torque controller 5 is arranged, produce ignition signal 5a corresponding to adder 4 outputs; Thyratron inverter 6 is according to ignition angle, produces variable DC voltage output, and ignition angle is by ignition signal 5a control, the thyratron conv have a pair of three-phase full-wave that forms by thyratron just/the reverse rectifying circuit; DC machine armature 7 by converter Control; A motor magnetic shunt 8; Produce the armature current probe 9 of the feedback current signal that is directly proportional with motor torque; Produce the tachogenerator 10 of feedback speed signal; Retarder 11; Prolong the input shaft 11A that motor shaft forms; With the fixing power sheave 12 of reducer output shaft 11I; Main stranded cable is on sheave; Cage 14 is connected with an end of stranded cable; There is a counterweight 15 to be connected on the other end of stranded cable.The running of system shown in Figure 1 belongs to conventionally form fully, even do not get across here, also need not remake and is described in detail.

Retarder section-drawing among Fig. 2 shows: the first helical wheel 11B is fixing on input shaft 11A.On a parallel tween drive shaft 11C, second helical wheel 10D and gear 11B engagement is installed, and the 3rd helical wheel 11E is installed in the above.The 4th helical wheel 11G and gear 11E engagement are installed on a parallel tween drive shaft 11F, and the 5th helical wheel 11H is installed in the above.Parallel output shaft 11I goes up the 6th helical wheel 11J and gear 11F engagement is installed.

Speed signal waveform 10a when Fig. 3 (a) expression cage is made no-load and upwards moved; The waveform of the corresponding cage acceleration/accel of Fig. 3 (b) expression; The waveform 3a of Fig. 3 (c) expression respective torque command signal.

S among Fig. 3 (c) ₁The power running zone of expression motor armature, S ₂The regeneration operating of expression armature or the zone of braking.At time t ₁The time, motor torque becomes power running from regeneration operating.At time t ₂The time motor become regeneration operating from power running.In these times, the intermeshing of the helical wheel in the retarder is owing to backlash changes.As a result, the collision shown in Fig. 3 (b) arrow is passed on the cage 14, has damaged passenger's comfort.

Time t in Fig. 4 presentation graphs 3 ₁The amplification form in zone.Fig. 4 (a) expression input shaft rotational speed 11Aa is transformed into the rotation of tween drive shaft 11C, and becomes the rotating speed 11Ca of this tween drive shaft.The acceleration/accel 11Ab of Fig. 4 (b) expression input shaft is transformed into the acceleration/accel 11Cb of tween drive shaft, so become no load cage 14 when friction brake discharges, the acceleration/accel of upward movement under the counterweight effect.The waveform of Fig. 4 (c) expression torque command signal 3a and motor torque T.Engagement between Fig. 4 (d) expression helical wheel 11B and the 11D changes, and just the tooth 11Da of the tooth 11Ba of helical wheel 11B and helical wheel 11D separates, and contacts next tooth 11Db.

Suppose the static cage 14 beginning upward movements of no load, at time t ₁In the past, the tooth 11Da of the tooth 11Ba of helical wheel 11B and helical wheel 11D was permanently connected to.At time t ₁₁The time, motor produces positive torque T.When the acceleration/accel of input shaft 11A surpassed the acceleration/accel of tween drive shaft 11C, tooth 11Ba and tooth Da broke away from.The result descends the rotating speed 11Ca of this tween drive shaft and acceleration/accel 11Cb.When tooth 11Ba contacted with tooth 11Db afterwards, the size of the energy of collision was decided by the difference of the speed relatively △ V between helical wheel 11B and the 11D.When this speed difference was big, collision produced abnormal vibrations, has just damaged passenger's comfort.

This collision is obviously again because of other gear pair, and 11E, 11G and 11H, 11J and changed are though this paper has only proposed gear 11B and 11D.

The invention summary

An object of the present invention is to propose a kind of method and apparatus of control, the collision that the buffer gear cold backlash causes prevents that this impulsive force is communicated on the cage of elevator, thereby greatly improves passenger's comfort.For reaching this purpose, device of the present invention can detect because the position that the gear mesh that the retarder backlash causes changes, and react, change to the time that motor transmits to reduce the torque command signal, thereby the speed relatively that lowers gear when reducer gear runs foul of each other is poor, just △ V is the collision that can relax gear.

Draw and sketch

Fig. 1 is the block scheme of elevator system control device commonly used.

Fig. 2 is the view in transverse section of Fig. 1 retarder.

Fig. 3 (a)-3(c) is the key diagram of the running of Fig. 1 control device.

Fig. 4 (a)-4(d) is the further explanatory drawings of Fig. 3.

Fig. 5 explains its main element for the schematic drawing of elevator system control device of the present invention.

Fig. 6 is the circuit diagram of Fig. 5.

Fig. 7 is the circuit diagram of speed controller of the present invention.

Fig. 8 (a)-8(d) is the scheme drawing of key drawing 5-7.

Fig. 9 is the circuit diagram of the present invention with respect to another embodiment of Fig. 6.

Figure 10 is the circuit diagram of the differential element among Fig. 9.

Figure 11 is the circuit diagram of the present invention with respect to another embodiment of Fig. 6.

Figure 12 is the block scheme of the further implementation method of explanation the present invention.

Embodiment in this specification sheets describes in detail

About the embodiment of Fig. 5-8, in order to narrate for simplicity, can suppose to be fixed in the retarder 11 the helical wheel 11B on the input shaft 11A, engage with 11J on being fixed on output shaft 11T.

Fig. 5 and 6 expressions, one tool control device, comprising following each component part:

Speed monitoring device 20; Generation is corresponding to the output 20a of input shaft 11A rotating speed;

Speed monitoring device 21; Generation is corresponding to the output 21a of sheave or output shaft 11I rotating speed;

Other has resistor 22-29; Operational amplifier 30,31; Diode 32,33; Transistor 34; Speed difference with mercury contact (Fig. 7 is seen in the contact) detects relay 35; Positive electricity power supply 36; And negative electricity power supply 37.The function of operational amplifier and resistor 22-24 mainly is a device as a comparison.Operational amplifier 31, the function of resistor 25-28 and diode 32 and 33 is mainly and makes absolute value circuit.

Fig. 7 represents speed controller, and the contact 35a commonly used and the 35b of speed monitoring relay 35 wherein arranged; Resistor 40-43; Potential device 44 and operational amplifier 45.

In the running, speed monitoring device 20 and 21 produces output 20a and the 21a corresponding to input shaft 11A rotating speed and output shaft 11I rotating speed respectively.The resistance R R of resistor 22,23 can be selected with following formula: R ₂₂/ R ₂₃=K, wherein K is the reduction ratio of helical wheel 11B and 11J.When the tooth of gear 11B and 11J contacts with each other, in the time of shown in Fig. 4 (d), two of operational amplifier 30 have the input of certainty ratio resistance to equate that the output 30a of amplifier is zero.Yet as mentioned above, as helical wheel 11B, when the tooth of 11J left mutually, input shaft 11A changed with respect to the speed of output shaft 11I, then in two inputs of operational amplifier 30 residual quantity is arranged, its output 30a just will demonstrate one on the occasion of or negative value.Easy speech, resistor 22,23 constitutes level shifting circuits, makes output 20a, the electrical level match of 21a.

The output 31a of operational amplifier 31 because diode 32,33 is arranged, therefore, regardless of the polarity of exporting 30a, can not show negative value on input end.

As gear 11B, the tooth of 11J intermeshes, and when the output 30a of operational amplifier 30 was zero, the output 31a of operational amplifier 31 also was zero, and transistor 34 is the property led not.Because speed difference control relay 35 cuts off, contact 35a, 35b(sees Fig. 7) closure.Under this class situation.Operational amplifier 45 plays first order time delay circuit, and offset signal 2a is exaggerated, and becomes torque command signal 3a.

Afterwards at gear 11B, when the tooth of 11J separates, made input shaft and output shaft 11A, the relative velocity of 11J changes, the value of the output 30a of operational amplifier 30 become on the occasion of or negative value, the output 31 of operational amplifier 31 become on the occasion of.Transistor 34 just conducts electricity.So 35 energisings of speed difference control relay disconnect contact 35b, operational amplifier 45 just plays integrator now.Meanwhile, contact 35a disconnects, and resistor 40 is got involved, so torque command signal 3a changes with the resistance ratio between the resistor 40,43.

Above-mentioned running is referring to Fig. 8, and hypothesis speed difference control relay 35 is at t among the figure ₁₁Shi Tongdian is at t ₁₂In time, disconnect.The initial moment command signal is represented with 3a1.Another initial moment command signal represents with 3a2, contact 35a at this moment, and 35b disconnects, 35 energisings of speed difference control relay.The ratio of slope of torque command signal 3a2 can change with resistor 40.Torque command signal 3a3 is that relay is at t ₁₂The time steady reset signal after disconnecting.

When detecting gear 11B, when the tooth of 11J leaves, produce torque command signal 3a2, the acceleration/accel 11A of motor armature and input shaft 11A is lowered.Input shaft 11A is with respect to the relative velocity △ V of output shaft 11I ₁Corresponding attenuating is compared with Fig. 4, is rapid decline.Contact the backlash that causes again by the tooth of the tooth of gear 11B and gear 11J and impact and just weaken, the result has improved passenger's comfort.

What Fig. 9 and 10 represented is modification of the present invention, the output 20a of speed difference monitor 20,21, and 21a passes through from differentiator 50,51, produces Acceleration Signal 50a, 51a.Remaining function is also with top described consistent.As shown in figure 10, differentiator 50(and 51) an operational amplifier 50A, potential device 50B and resistor 50C-50E are arranged.

Figure 11 is another kind of modification, between operational amplifier in this form 31 and resistor 29, inserts for example SN74LSI23N of Texas, USA instrument company product of a monostable element 60().When this element raise in input, its output kept high level in the regular hour.

Though mention use DC motor in each example of being lifted in the above, also can use alternating current dynamo.

Figure 12 is a block scheme, sets forth the further implementation method of the present invention.In this method, a power current transformer 102 and a regenerative converter 103 are arranged, be connected in parallel on the feeder line 101 of three-phase alternating-current supply.A smoothing capacitor 104 and a transistor inverter 105, parallel connection is connected across in the output connection of two current transformers.There is an induction machine 106 to be connected with phase inverter 105.The flow direction that direct current (DC) Id between an observation circuit two current transformers of 127 monitorings and the phase inverter is arranged.This observation circuit has one to accept monitor 128 DC current input wires, the input wires of accepting bias voltage signal 130 that will mention hereinafter, the resistor 131,132 of connection input wires, and a comparator element 135.This comparator element has a wiring to accept to pass through the signal of resistor 131 or 132, and another wiring is by resistor 133 ground connection.When the direction of DC current Id negative from just changing to, or from negative change to timing (more precisely, promptly when electric current reach one specific approach zero on the occasion of or during negative value), output signal of observation circuit 127 generations.Also have 136, one timers 137 of an absolute value circuit in this circuit,,, produce the drive signal of schedule time length with the output-response of absolute value circuit such as a mS mV.Also has a mercury contact relay 138 by the output drive of timer 137.The normally closed contact 35a and the 35b of the speed controller in relay 138 control charts 7.Speed in the present embodiment, the variation of acceleration/accel and torque command, with exciting of relay 138 change the same, all with Fig. 8 (a), 8(b) with 8(c) shown in identical.When drive manner when power running changes regeneration operating into, the flow direction of DC current is by changing zero point.Direction of current observation circuit 127 monitors this variation, produces an output, triggers timer 137 by absolute value circuit 136.Timer produces a schedule time length T ₁Output.This time approximates gear 11B, and the tooth of 11J breaks away from mutually and rebulids the required time of contact, so just at T ₁Time underexcitation relay 138 is shown in Fig. 8 (d).So disconnected contact 35a and the 35b among Fig. 7, the corresponding torque command signal that has reduced between input shaft and the output shaft, acceleration/accel and speed are poor, thereby as mentioned above, have reduced the collision when remeshing between wheel tooth.

Remove as previously described, make outside the ratio of slope of torque command signal 3a2 changes owing to change the value of resistance 40, the bias voltage signal that is communicated on the terminals 130 among Figure 12 also can make it to change, with the actuation duration of change relay 138.For example, can set up bias voltage signal, when making electric current I d convergence null value, " triggering in advance " amount of a desirable limit be arranged, draw time-delay and switch time-delay with sense common in the equalizer circuit.

Claims (17)

1, a kind of elevator system, has a drive motor (7), a sheave (12), cable (13) is arranged on it, and cable one end hangs a tool elevator craning cage (15), and the other end hangs counterweight (14), a speed reduction gearing (11) is arranged, first helical wheel (11B) that is fixed on the motor output shaft (11A) is wherein arranged, and second helical wheel (11J) that is fixed on the sheave input shaft (11I) is arranged, this second gear and the running of first gear mesh.Other has a kind of method, between power/driving and regeneration/Fu drive manner during transition, can lower because the collision that backlash causes, and this method step is as follows:

Separating of a, monitoring first gear and second gear, and

B, with separating monitoring reaction, reduce motor to the output shaft torque transmitted, the speed relatively between corresponding minimizing output shaft and the input shaft is poor, thereby the collision when weakening wheel tooth and meshing.

2, as the method for claim the first, separating monitoring is realized in order to method down:

A, produce separately and input shaft rotating speed and proportional first signal of output shaft rotating speed and secondary signal;

B, the ratio decay that above-mentioned signal is changed with the speed reduction gearing transmitting ratio are to produce third and fourth signal.When the rotating speed of input shaft and output shaft was identical, this two signals amplitude of vibration equated, and

Difference on the amplitude between c, above-mentioned third and fourth signal of sensing.

3, as claim the first method, and the method for separating monitoring is the change in polarity of detection-sensitive motor received current.

4, a kind of elevator system, has a drive motor (7), one tool sheave (12), cable (13) is arranged on it, and cable one end suspension lifting machine cage (15) hangs a counterweight (14) on the other end, a speed reduction gearing (11) is arranged, first helical wheel (11B) that is fixed on the motor output shaft (11A) is wherein arranged, and second helical wheel (11J) that is fixed on the sheave input shaft (11I) is arranged, this second gear and the running of first gear mesh.Other has a kind of apparatus, between power/driving and regeneration/Fu fortune biography mode during transition, can lower because the collision that backlash causes, and this apparatus comprises:

The device that a, monitoring first gear separate with second gear, and

B, with separating monitoring reaction, reduce motor to the output shaft torque transmitted, the speed relatively between corresponding minimizing output shaft and the input shaft is poor, thereby the device of the collision when weakening wheel tooth and remeshing.

5, as the apparatus of 4 of claims the, and the separating monitoring device comprises the following:

A, produce separately the device (20,21) with input shaft rotating speed and proportional first signal of output shaft rotating speed and secondary signal;

B, a kind of device (22,23) can be used the ratio decay that above-mentioned signal is changed with the speed reduction gearing transmitting ratio, and producing third and fourth signal, when the rotating speed of input shaft and output shaft was identical, the amplitude of vibration of this two signal equated, and

The device (30) of the amplitude of vibration difference between c, above-mentioned third and fourth signal of sensing.

6,, and comprise the device of detection-sensitive motor received current change in polarity in the separating monitoring apparatus as the apparatus in four of the claims the.

7, as the apparatus in four of the claims the, and in described speed reduction gearing, comprise some parallel shafts, comprising described input shaft and output shaft, and there are some helical wheels to be fixed on the directly mutually paired separately ingear axle, comprise first gear and second gear on the axle.

8, as the apparatus in four of the claims the, and the device that reduces torque comprises the following:

A, an operational amplifier (45) that produces output torque command signal (3a);

B, make speed deviation signal (2a) and amplifier input bonded assembly device;

C, mutually the polyphone and and the impedance means of amplifier parallel connection (40,43), and

(35a 35b) has steerable the connection with impedance means, makes the drive manner of amplifier become the integrator running from first order time-delay running for d, relay switch apparatus.

9, as the apparatus in five of the claims the, and the device that reduces torque comprises the following:

A, an operational amplifier (45) that produces output torque command signal (3a);

B, make speed deviation signal (2a) and amplifier input bonded assembly device;

C, mutually the series connection and and the impedance means of amplifier parallel connection (40,43), and

(35a 35b) has steerable the connection with impedance means, makes the drive manner of amplifier become the integrator running from first order time-delay running for d, relay switch apparatus.

10, as the apparatus in 6 of the claims the, and the device that reduces torque comprises the following:

A, an operational amplifier (45) that produces output torque command signal (3a),

B, make speed deviation signal (2a) and amplifier input bonded assembly device;

C, mutually the series connection and and the impedance means of amplifier parallel connection (40,43), and

(35a 35b) has steerable the connection with impedance means, makes the drive manner of amplifier become the integrator running from first order time-delay running for d, relay switch apparatus.

11, as the apparatus in 9 of the claims the, wherein

Resistor in a, the attenuating device (22,23), the weighting with the ratio of gear multiplication variation.And

Comparator (30) is arranged in b, the sensing device, also comprises in addition:

Diode of c, green phase reverse polarity (32,33) and a mouth bonded assembly of comparator absolute value circuit (31), and

D, by absolute value circuit field application relay (35), with the master cock device.

12, as the apparatus in 11 of the claims the, other has a monostable element (60), is connected between absolute value circuit and the relay.

13, as the apparatus in 5 of the claims the, other has differential attachment (50,51) to be connected between signal generation apparatus and the attenuating device.

14, as the apparatus in 6 of the claims the, motor wherein is an inductive ac motor (106), described elevator system has a tool current transformer (102 in addition, 103), to exchange received current and change average anode current into, a smoothing capacitor (104) is arranged, be connected across in the output of current transformer, there is a tool phase inverter to connect the output of current transformer, the direct current output of current transformer is become infeed motor and exchange output, in addition, in the apparatus as 6 of claims the, the mouth of sensitive member and current transformer is connected.

15, as the apparatus in 14 of the claims the, and sensing device comprises the following:

A, a tool current monitor (128),

B, a tool comparator (135), its first input end connects an output of current monitor, and its second input end grounding;

C, an absolute value circuit (136) connect a mouth of comparator, and

D, a relay by the absolute value circuit output drive.

16, as the apparatus in 15 of the claims the, a device (130) is arranged in addition, a bias voltage signal is sent to the first input end of comparator, upcoming gear is separated can be monitored.

17, as the apparatus in 15 of the claims the, torque wherein reduce have in the device following:

A, an operational amplifier (45) that produces output torque command signal (3a),

B, make speed deviation signal (2a) and amplifier input bonded assembly device,

C, mutually the polyphone and and the impedance means of amplifier parallel connection (40,43), and

(35a 35b) has steerable the connection with impedance means, makes the drive manner of amplifier become the integrator running from first order time-delay running, and above-mentioned switching device is controlled by above-mentioned relay for d, relay switch apparatus.

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