EP1342691A1 - Dispositif pour atténuer les vibrations sur une cabine d'ascenseur - Google Patents

Dispositif pour atténuer les vibrations sur une cabine d'ascenseur Download PDF

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Publication number
EP1342691A1
EP1342691A1 EP03003724A EP03003724A EP1342691A1 EP 1342691 A1 EP1342691 A1 EP 1342691A1 EP 03003724 A EP03003724 A EP 03003724A EP 03003724 A EP03003724 A EP 03003724A EP 1342691 A1 EP1342691 A1 EP 1342691A1
Authority
EP
European Patent Office
Prior art keywords
frame
actuator
vibrations
sensors
measured
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03003724A
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German (de)
English (en)
Other versions
EP1342691B1 (fr
Inventor
Josef Husmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inventio AG
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Inventio AG
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Filing date
Publication date
Application filed by Inventio AG filed Critical Inventio AG
Priority to EP03003724A priority Critical patent/EP1342691B1/fr
Publication of EP1342691A1 publication Critical patent/EP1342691A1/fr
Application granted granted Critical
Publication of EP1342691B1 publication Critical patent/EP1342691B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/02—Guideways; Guides
    • B66B7/04—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes
    • B66B7/046—Rollers
    • 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

Definitions

  • the invention relates to a device for damping vibrations of a frame guided on guide rails by means of guide elements and carrying a car body, vibrations occurring transversely to the direction of travel being measured by acceleration sensors attached to the frame and used to regulate at least one actuator arranged between the frame and guide elements, which at the same time works with the vibrations occurring and opposite to the direction of the vibrations.
  • the disadvantage of this device is that the elevator car itself must have a rigid structure so that the ride control can be ensured by the vibration control.
  • the invention seeks to remedy this.
  • the invention as characterized in claim 1, solves the problem of avoiding the disadvantages of the known device and proposing a vibration control that takes into account the elastic properties of the frame with the cabin body.
  • An elevator car (frame and car body) has a very elastic structure, especially in the horizontal direction.
  • the first structure resonance is in the range of 10 Hz in elevator cars with optimized rigidity of the frame and the car insulation, and otherwise the structure resonance is even lower.
  • the distance to the frequencies to be damped is very small and limits the effect of the active vibration damping, since it cannot dampen the structure resonance itself. This is only possible if there is a sufficiently good measurement of the state of the cabin deformation, in particular the phase position.
  • the greatest elastic deformation is a shear in the x-direction of a cabin frame carrying a cabin body 5.
  • the frame consists of a lower yoke 1, an upper yoke 2, a first side plate 3 and a second side plate 4.
  • the upper yoke 2 is connected, for example, to a suspension cable, not shown, which is guided, for example, over a traction sheave.
  • Guide elements are arranged on the upper yoke 2 or on the lower yoke 1, which guide the frame along guide rails arranged in the elevator shaft.
  • the signals from the acceleration sensors have to be integrated twice, which is associated with drift or measurement errors.
  • the signal of the fiber gyroscope must be integrated once, which is also associated with drift or measurement errors.
  • the optical measuring device (laser) is quite complex. In addition, a spatial arrangement without interference is difficult. Very small strains can be measured with modern strain gauges DMS. The Shear is measured directly without the help of additional sensors. DMS technology for measuring shear is promisingly applicable.
  • lower yoke 1 and upper yoke 2 shift parallel to one another by an amount x.
  • a laser 11a is attached to the upper yoke, which preferably generates infrared light and emits a sharply focused beam 11d vertically downwards.
  • an optical prism 11b is attached, which reflects the light beam 11d parallel and laterally offset upwards.
  • the dislocation dimension changes by twice the amount x the shear of the frame.
  • a photosensitive line sensor or a line camera 11c is attached to the upper yoke 2 as a detector. The horizontal displacement of the reflected light beam 11d is thus measured.
  • the line camera 11c generates a signal which is proportional to the frame shift x and which can be used in a control system to reduce the frame shift.
  • the deformations on the lower bearings 6 and / or on the upper bearings 7 of the cabin body 5 can be measured.
  • the measurement can take place in one, two or all three axes.
  • additional acceleration sensors arranged on the car body 5 are possible.
  • the number of acceleration sensors required is equal to the number of additional degrees of freedom that must be regulated.
  • the bearings 6, 7 are highly suitable locations for the arrangement of the actuators.
  • the actuators can be arranged in parallel or in series with the elastic bearings 6, 7 designed as vibration isolation or can replace them completely, these actuators in one, two or in all three Axes can act.
  • the so-called active engine mounts such as those used in motor vehicles for mounting the engine are very well suited for this purpose.
  • US Pat. No. 4,699,348 discloses an active motor bearing which consists of a passive rubber spring and an electromagnetic actuator.
  • the actuator is primarily intended to dampen the low-frequency resonance vibrations, while the soft rubber spring with low damping acts as good vibration isolation in the higher-frequency range.
  • the control system shown in FIG. 3 for damping the shear movement of the frame consists of the main components controller and controlled system, which is composed of the actuator or actuators, the frame with the car body and the sensor or the acceleration sensors.
  • Interfering forces z acting on the frame and the cabin body which are caused by the frame guide, the wind and the cables, cause, among other things, a shear x of the cabin frame.
  • the sensor signal y is proportional to the frame shift. It is subtracted from the setpoint u in a summing unit, which is normally 0. This results in the control error e.
  • This is processed in the controller and an actuating signal m is generated. In the simplest case, it is a proportional controller, but much more complex controller functions are possible.
  • the actuator consists, for example, of four active actuators mentioned above. These generate positioning forces between guide rollers or guide rails and the cabin frame.
  • the controller is designed so that the greatest gain is at the first natural frequency, for example 10 Hz, of the frame with the cabin body.
  • the controller has a bandpass characteristic in which the amplification goes to zero at very low and high frequencies, so that no static forces can be built up that could cause the frame and the car body to rotate.
  • the active actuators are controlled by the actuating signal m in such a way that actuating forces F1, F3, F5, F7 arise which counteract the frame shift.
  • the control signal m is first passed on to a current amplifier V1, V3, V5, V7 provided for each active actuator A1, A3, A5, A7, which in turn then feeds the active actuator A1, A3, A5, A7.
  • the individual current functions I (m) must be selected in accordance with the signal flow diagram shown in FIG. 4, the current I1, I3, I5, I7 in the active actuator A1, A3, A5, A7 being the actuating force F1, F3, F5, which is normally proportional to the current , F7 generated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
  • Elevator Control (AREA)
EP03003724A 2002-03-07 2003-02-19 Dispositif pour atténuer les vibrations sur une cabine d'ascenseur Expired - Lifetime EP1342691B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP03003724A EP1342691B1 (fr) 2002-03-07 2003-02-19 Dispositif pour atténuer les vibrations sur une cabine d'ascenseur

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP02405174 2002-03-07
EP02405174 2002-03-07
EP03003724A EP1342691B1 (fr) 2002-03-07 2003-02-19 Dispositif pour atténuer les vibrations sur une cabine d'ascenseur

Publications (2)

Publication Number Publication Date
EP1342691A1 true EP1342691A1 (fr) 2003-09-10
EP1342691B1 EP1342691B1 (fr) 2007-01-03

Family

ID=27838192

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03003724A Expired - Lifetime EP1342691B1 (fr) 2002-03-07 2003-02-19 Dispositif pour atténuer les vibrations sur une cabine d'ascenseur

Country Status (13)

Country Link
US (1) US6959787B2 (fr)
EP (1) EP1342691B1 (fr)
JP (1) JP4413505B2 (fr)
KR (1) KR100935566B1 (fr)
CN (1) CN1201997C (fr)
AT (1) ATE350328T1 (fr)
AU (1) AU2003200817B2 (fr)
BR (1) BR0300432B1 (fr)
CA (1) CA2421162C (fr)
DE (1) DE50306148D1 (fr)
HK (1) HK1058511A1 (fr)
MY (1) MY131485A (fr)
SG (1) SG105570A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3000758A1 (fr) * 2014-09-25 2016-03-30 Kone Corporation Procédé et agencement d'ascenseur

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2002083543A1 (ja) * 2001-04-10 2004-08-05 三菱電機株式会社 エレベータのガイド装置
JP4107480B2 (ja) * 2002-07-29 2008-06-25 三菱電機株式会社 エレベータの振動低減装置
US7503433B2 (en) * 2003-04-07 2009-03-17 Chiu Nan Wang Elevator
MY138827A (en) * 2004-02-02 2009-07-31 Inventio Ag Method for vibration damping at an elevator car
US7828122B2 (en) * 2005-09-09 2010-11-09 Mitsubishi Electric Corporation Vibration damping device for an elevator
WO2008072315A1 (fr) * 2006-12-13 2008-06-19 Mitsubishi Electric Corporation Dispositif d'ascenseur
CN101568484B (zh) * 2006-12-20 2013-01-02 奥蒂斯电梯公司 电梯阻尼器组件
DE102007025545A1 (de) * 2007-05-31 2008-12-04 TÜV Rheinland Industrie Service GmbH Kompensationseinrichtung
US9114954B2 (en) 2008-05-23 2015-08-25 Thyssenkrupp Elevator Corporation Active guiding and balance system for an elevator
WO2010002968A1 (fr) * 2008-07-03 2010-01-07 Rotary Lift, A Division Of Dover Industrial Products, Inc. Système de guidage de véhicule pour dispositifs de levage automobiles
US8378254B2 (en) * 2009-09-11 2013-02-19 Honda Motor Co., Ltd. Adaptive vehicle manufacturing system and method
CN102933484B (zh) * 2010-06-07 2015-06-10 三菱电机株式会社 电梯的轿厢
CN102167250A (zh) * 2011-05-12 2011-08-31 南京信息工程大学 一种大型电梯轿厢保持水平装置及其控制方法
US9828211B2 (en) 2012-06-20 2017-11-28 Otis Elevator Company Actively damping vertical oscillations of an elevator car
US10532908B2 (en) * 2015-12-04 2020-01-14 Otis Elevator Company Thrust and moment control system for controlling linear motor alignment in an elevator system
JP6591923B2 (ja) * 2016-03-30 2019-10-16 株式会社日立製作所 エレベーター装置
US10144616B2 (en) 2016-06-10 2018-12-04 Otis Elevator Company Cab for vertical travel with controllable orientation for non-vertical travel
CN111217223B (zh) * 2020-01-18 2021-09-03 北京联合通力电梯有限公司 一种新型电梯滚轮导靴

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0525812A2 (fr) * 1991-08-02 1993-02-03 Otis Elevator Company Assemblage de guidage d'une cabine d'ascenseur
EP0731051A1 (fr) * 1995-03-10 1996-09-11 Inventio Ag Dispositif et procédé d'atténuation des vibrations sur une cabine d'ascenseur

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4030570A (en) * 1975-12-10 1977-06-21 Westinghouse Electric Corporation Elevator system
DE3314335A1 (de) * 1983-04-20 1984-10-31 Tillmann 6108 Weiterstadt Freudenberg Motorlager
FI884380A (fi) * 1988-09-23 1990-03-24 Kone Oy Foerfarande och anordning foer daempandet av vibrationer i en hisskorg.
US5308938A (en) * 1990-07-18 1994-05-03 Otis Elevator Company Elevator active suspension system
US5294757A (en) * 1990-07-18 1994-03-15 Otis Elevator Company Active vibration control system for an elevator, which reduces horizontal and rotational forces acting on the car
US5322144A (en) * 1990-07-18 1994-06-21 Otis Elevator Company Active control of elevator platform
CA2072240C (fr) * 1991-07-16 1998-05-05 Clement A. Skalski Elements horizontaux de suspension et commandes d'ascenseur
KR0182335B1 (ko) * 1993-10-07 1999-04-15 사또 후미오 엘리베이터의 제진장치
US5368132A (en) * 1993-11-03 1994-11-29 Otis Elevator Company Suspended elevator cab magnetic guidance to rails
US6364064B1 (en) * 2000-03-08 2002-04-02 Inventio Ag Piezoceramic elevator vibration attenuator

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0525812A2 (fr) * 1991-08-02 1993-02-03 Otis Elevator Company Assemblage de guidage d'une cabine d'ascenseur
EP0731051A1 (fr) * 1995-03-10 1996-09-11 Inventio Ag Dispositif et procédé d'atténuation des vibrations sur une cabine d'ascenseur

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3000758A1 (fr) * 2014-09-25 2016-03-30 Kone Corporation Procédé et agencement d'ascenseur
CN105460751A (zh) * 2014-09-25 2016-04-06 通力股份公司 方法和电梯配置
US9624073B2 (en) 2014-09-25 2017-04-18 Kone Corporation Method and elevator arrangement

Also Published As

Publication number Publication date
US20030226717A1 (en) 2003-12-11
CA2421162C (fr) 2010-11-09
CN1443702A (zh) 2003-09-24
ATE350328T1 (de) 2007-01-15
BR0300432A (pt) 2004-08-17
SG105570A1 (en) 2004-08-27
JP4413505B2 (ja) 2010-02-10
CA2421162A1 (fr) 2003-09-07
HK1058511A1 (en) 2004-05-21
KR100935566B1 (ko) 2010-01-07
CN1201997C (zh) 2005-05-18
BR0300432B1 (pt) 2011-05-31
DE50306148D1 (de) 2007-02-15
AU2003200817A1 (en) 2003-09-25
EP1342691B1 (fr) 2007-01-03
MY131485A (en) 2007-08-30
KR20030074217A (ko) 2003-09-19
JP2003285980A (ja) 2003-10-07
US6959787B2 (en) 2005-11-01
AU2003200817B2 (en) 2007-08-23

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