EP1342691B1 - Einrichtung zur Schwingungsdämpfung für eine Aufzugskabine - Google Patents

Einrichtung zur Schwingungsdämpfung für eine Aufzugskabine Download PDF

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Publication number
EP1342691B1
EP1342691B1 EP03003724A EP03003724A EP1342691B1 EP 1342691 B1 EP1342691 B1 EP 1342691B1 EP 03003724 A EP03003724 A EP 03003724A EP 03003724 A EP03003724 A EP 03003724A EP 1342691 B1 EP1342691 B1 EP 1342691B1
Authority
EP
European Patent Office
Prior art keywords
frame
actuator
vibrations
acceleration sensors
sensor
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.)
Expired - Lifetime
Application number
EP03003724A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1342691A1 (de
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
Original Assignee
Inventio AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Inventio AG filed Critical Inventio AG
Priority to EP03003724A priority Critical patent/EP1342691B1/de
Publication of EP1342691A1 publication Critical patent/EP1342691A1/de
Application granted granted Critical
Publication of EP1342691B1 publication Critical patent/EP1342691B1/de
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 guided on guide rails by means of guide elements, a cab body frame, which measured transversely to the direction of vibrations of mounted on the frame acceleration sensors and used to control at least one arranged between the frame and guide elements actuator, the same time works with the occurring vibrations and opposite to the direction of the vibrations.
  • a disadvantage of this device is that the elevator car itself must have a rigid structure, so that the ride comfort can be ensured by the vibration control.
  • the invention aims to remedy this situation.
  • the invention as characterized in claim 1 solves the problem of avoiding the disadvantages of the known device and to propose a vibration control, which takes into account the elastic properties of the frame with the cabin body.
  • An elevator car (frame and cabin body) has a very elastic structure, especially in the horizontal direction.
  • the first structural resonance is in the 10 Hz range for elevator cabins with optimized frame rigidity and cabin isolation, and otherwise the structural resonance is even deeper.
  • the distance to the frequencies to be damped is very small and limits the effect of the active vibration damping, since it can not dampen the structural resonance itself. This becomes possible only when there is a sufficiently good measurement of the state of the cabin deformation, in particular of the phase position.
  • the largest elastic deformation is a shearing of a cabin frame 5 carrying a cabin frame in the x direction.
  • 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, with a supporting cable, not shown, which is guided for example via a traction sheave.
  • guide elements are arranged, which guide the frame along arranged in the elevator shaft guide rails.
  • the signals of the acceleration sensors must be integrated twice, which is associated with drift or measurement errors.
  • the signal of the fiber gyro must be integrated once, which is also associated with drift or measurement errors.
  • the optical measuring device (laser) is quite expensive.
  • a spatial arrangement without interference is difficult.
  • DMS very small strains can be measured.
  • the Measurement of the Verschtation takes place directly, without the help of further sensors. DMS technique for measuring the displacement is promising.
  • lower yoke 1 and upper yoke 2 shift in parallel by an amount x.
  • a laser 11a is fixed, which preferably generates infrared light and emits a sharply focused beam 11d vertically downwards.
  • an optical prism 11b is fixed, which reflects the light beam 11d parallel and laterally offset upward. The displacement varies by twice the amount x of the frame's warp.
  • a photosensitive line sensor or a line camera 11c is mounted on the upper yoke 2.
  • the line camera 11c generates a signal which is proportional to the frame displacement x and which can be used in a control system to reduce the frame displacement.
  • the deformations on the lower bearings 6 and / or on the upper bearings 7 of the cab body 5 can be measured.
  • the measurement can be done in one, two or all three axes.
  • As an alternative to measuring the deformation of the bearings 6, 7 of the cab body 5 additional, arranged on the cab body 5 acceleration sensors are possible.
  • the number of necessary acceleration sensors is equal to the number of additional degrees of freedom that need to be controlled.
  • the bearings 6, 7 are suitable locations for arranging the actuators.
  • the actuators can be arranged in parallel or in series with the elastic bearings 6, 7 designed as vibration isolation or completely replace them, these actuators being in one, two or in all three Axes can act.
  • Very well suited for this purpose are the so-called active engine mounts as they are used in motor vehicles for mounting the engine.
  • US Pat. No. 4,699,348 discloses an active motor bearing which consists of a passive rubber spring and an electromagnetic actuator.
  • the main purpose of the actuator is to dampen the low-frequency resonant vibrations, while the soft rubber spring with low damping acts as good vibration isolation in the higher-frequency range.
  • the control system for damping the shearing motion of the frame shown in FIG. 3 consists of the main components controller and controlled system, which is composed of the actuator or the actuators, the frame with cabin body and the sensor or the acceleration sensors.
  • the sensor signal y is proportional to the frame shift. It is subtracted in a summing unit from the setpoint u, which is normally 0. This results in the control error e.
  • This is processed in the controller and generates a control signal m. 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 actuating forces between guide rollers or guide rails and cab frames.
  • the controller is designed so that the greatest gain is at the first natural frequency, for example 10 Hz, of the frame with the cab body.
  • the controller has a bandpass characteristic, where the gain approaches zero at very low and high frequencies, so that no static forces can build up that could cause the frame and cab body to rotate.
  • the active actuators are actuated by the actuating signal m in such a way that actuating forces F1, F3, F5, F7 arise, which counteract the frame displacement.
  • the control signal m is first forwarded to a respective active actuator A1, A3, A5, A7 provided current amplifier V1, V3, V5, V7, which in turn feeds the active actuator A1, A3, A5, A7.
  • the individual current functions I (m) must be selected in accordance with the signal flow scheme shown in FIG. 4, wherein the current I1, I3, I5, I7 in the active actuator A1, A3, A5, A7 the normally proportional to the current force F1, F3, F5 , 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 Einrichtung zur Schwingungsdämpfung für eine Aufzugskabine Expired - Lifetime EP1342691B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP03003724A EP1342691B1 (de) 2002-03-07 2003-02-19 Einrichtung zur Schwingungsdämpfung für eine Aufzugskabine

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP02405174 2002-03-07
EP02405174 2002-03-07
EP03003724A EP1342691B1 (de) 2002-03-07 2003-02-19 Einrichtung zur Schwingungsdämpfung für eine Aufzugskabine

Publications (2)

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

Family

ID=27838192

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03003724A Expired - Lifetime EP1342691B1 (de) 2002-03-07 2003-02-19 Einrichtung zur Schwingungsdämpfung für eine Aufzugskabine

Country Status (13)

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

Families Citing this family (19)

* 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 (ja) * 2006-12-13 2008-06-19 Mitsubishi Electric Corporation エレベータ装置
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 (en) * 2008-07-03 2010-01-07 Rotary Lift, A Division Of Dover Industrial Products, Inc. Vehicle guidance system for automotive lifts
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
EP3000758B1 (en) * 2014-09-25 2019-04-17 KONE Corporation Method for balancing 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

Family Cites Families (12)

* 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 (en) * 1991-07-16 1998-05-05 Clement A. Skalski Elevator horizontal suspensions and controls
US5117946A (en) * 1991-08-02 1992-06-02 Otis Elevator Company Elevator cab guidance assembly
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
DE59606928D1 (de) * 1995-03-10 2001-06-28 Inventio Ag Einrichtung und Verfahren zur Schwingungsdämpfung an einer Aufzugskabine
US6364064B1 (en) * 2000-03-08 2002-04-02 Inventio Ag Piezoceramic elevator vibration attenuator

Also Published As

Publication number Publication date
US20030226717A1 (en) 2003-12-11
CA2421162C (en) 2010-11-09
CN1443702A (zh) 2003-09-24
ATE350328T1 (de) 2007-01-15
BR0300432A (pt) 2004-08-17
EP1342691A1 (de) 2003-09-10
SG105570A1 (en) 2004-08-27
JP4413505B2 (ja) 2010-02-10
CA2421162A1 (en) 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
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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