EP1547955B1 - Steuerungseinheit für die aktive Schwingungsdämpfung der Vibrationen einer Aufzugskabine - Google Patents

Steuerungseinheit für die aktive Schwingungsdämpfung der Vibrationen einer Aufzugskabine Download PDF

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Publication number
EP1547955B1
EP1547955B1 EP20040029142 EP04029142A EP1547955B1 EP 1547955 B1 EP1547955 B1 EP 1547955B1 EP 20040029142 EP20040029142 EP 20040029142 EP 04029142 A EP04029142 A EP 04029142A EP 1547955 B1 EP1547955 B1 EP 1547955B1
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EP
European Patent Office
Prior art keywords
controller
car
actuator
signal
acceleration
Prior art date
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Ceased
Application number
EP20040029142
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English (en)
French (fr)
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EP1547955A1 (de
Inventor
Josef Husmann
Elena Cortona
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Inventio AG
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Inventio AG
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Publication date
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Priority to EP20040029142 priority Critical patent/EP1547955B1/de
Publication of EP1547955A1 publication Critical patent/EP1547955A1/de
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    • 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
    • B66B7/023—Mounting means therefor
    • B66B7/027—Mounting means therefor for mounting auxiliary devices
    • 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
    • B66B7/041—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes including active attenuation system for shocks, vibrations
    • B66B7/042—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes including active attenuation system for shocks, vibrations with rollers, shoes
    • 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

Definitions

  • the present invention relates to a method and apparatus for detecting instability of a controller used to actively dampen vibrations on an elevator car in an elevator installation.
  • EP-B-0731051 describes an elevator installation in which the ride quality is actively controlled using a plurality of electromagnetic linear actuators.
  • Such a system in commonly referred to as an active ride control system.
  • sensors mounted on the car measure the vibrations occurring transverse to the direction of travel. Signals from the sensors are input to a controller which computes the activation current required to suppress the sensed vibrations for each linear actuator.
  • These activation currents are supplied to the linear actuators which actively dampen the vibrations and thereby the ride quality for passengers traveling within the car is enhanced.
  • the controller comprises a position controller with position feedback and an acceleration controller with acceleration feedback.
  • the position controller is rather slow and its output is limited to a level so as not to cause overheating of the actuators. This procedure is described further in our co-pending Application entitled "Thermal Protection of Electromagnetic Motors".
  • the output from the acceleration controller is not restricted and can produce large amplitude, resonance forces at the actuators.
  • the objective of the present invention is to detect instability of the active ride control system and to shut the system down if this happens. Although the vibration level will rise, it will not approach the level inherent in the unstable active ride control system.
  • the objective is met by providing an apparatus and method according to the appended claims.
  • FIG. 1 is a schematic illustration of an elevator installation incorporating an active ride control system according to the EP-B-0731051.
  • An elevator car 1 is guided by roller guide assemblies 5 along rails 15 mounted in a shaft (not shown).
  • Car 1 is suspended elastically in a car frame 3 for passive oscillation damping.
  • the passive oscillation damping is performed by several rubber springs 4, which are designed to be relatively stiff in order to isolate sound or vibrations having a frequency higher than 50Hz.
  • the roller guide assemblies 5 are laterally mounted above and below car frame 3.
  • Each assembly 5 includes a mounting bracket and three rollers 6 carried on levers 7 which are pivotally connected to the bracket. Two of the rollers 6 are arranged laterally to engage opposing sides of the guide rail 15. The levers 7 carrying these two lateral rollers 6 are interconnected by a linkage 9 to ensure synchronous movement. The remaining, middle roller 6 is arranged to engage with a distal end of the guide rail 15.
  • Each of the levers 7 is biased by a contact pressure spring 8 towards the guide rail 15. This spring biasing of the levers 7, and thereby the respective rollers 6, is a conventional method of passively dampening vibrations.
  • Each roller guide assembly 5 further includes two electrical actuators 10 disposed to actively move the middle lever 7 in the y direction and the two interconnected, lateral levers 7 in the x direction, respectively.
  • the signals derived from the positions sensors 11 and accelerometers 12 are fed into a controller box 14 mounted on top of the car 1.
  • the controller box 14 contains the power electronics necessary to drive the actuators 10 and the closed loop feedback controller 19 processing the signals from the sensors 11 and 12 to operate the actuators 10 in directions such to oppose the sensed oscillations. Thereby, damping of the oscillations acting on frame 3 and car 1 is achieved. Oscillations are reduced to the extent that they are imperceptible to the elevator passenger.
  • FIG. 2 shows a signal flow diagram of the active ride control system for the elevator installation of FIG. 1 incorporating instability detection according to the present invention.
  • External disturbances act of the car 1 and frame 3 as they travel along the guide rails 15. These external disturbances generally comprise high frequency vibrations due mainly to the unevenness of the guide rails 15 and relatively low frequency forces 16 produced by asymmetrical loading of the car 1, lateral forces from the traction cable and air disturbance or wind forces.
  • the disturbances are sensed by the positions sensors 11 and accelerometers 12 which produce signals that are fed into the controller 19.
  • the sensed position signals are compared with reference values P ref at summation point 17 to produce position error signals e p .
  • the position error signals e p are then fed into a position feedback controller 20 which produces an output signal F p which is restricted to a maximum absolute value F max by a limiter 22.
  • the value of F max depends on the temperature T act of the electrical actuators 10 and on their ability to endure thermal stress. This temperature limitation is fully described in our co-pending Application "Thermal Protection of Electromagnetic Motors".
  • the output F pL from the limiter 22 is fed into summation point 23.
  • the signals from the accelerometers 12 are inverted at a summation point 18 and fed into an acceleration feedback controller 21 as acceleration error signals e a .
  • the output F a from the acceleration controller 21 is combined with the output F pL from the limiter 22 at summation point 23.
  • the resulting controller signal F is used as the input for a power amplifier to produce current for the actuators 10 to counteract the disturbance forces and thus reduce vibrations on the car 1.
  • the output F a of the acceleration controller 21 contains a broad band of frequencies and the amplitude of the higher frequency signals can be relative large. To detect instability it is not sufficient to look at the amplitude of the signal; time duration has also to be weighted. A good measurement of stability is the moving root mean square or RMS value. It is a measure for the energy or power that is contained in a signal and time duration weighting can be chosen freely.
  • the moving RMS value can be compared with a maximum admissible value and if it exceeds the admissible value an error flag is set true.
  • the error signal will then deactivate the active ride control system and the elevator car will continue its operation with passive vibration damping. Deactivate can mean switch off or to gradually reduce the current supplied to the actuator 10.
  • the output signal F a of the acceleration controller is squared in block 24.
  • the squared signal has always a positive sign.
  • the squared signal is filtered through a first order low pass filter.
  • the time constant of the low pass filter has to be defined by knowledge of the system and based on experience.
  • the square root of the filtered signal is calculated. Since the signal is a vector signal, which contains several values, the maximum value is chosen in block 27 and therefore the output from block 27 represents the signal with the largest RMS amplitude. It is compared against a maximum admissible value F a_max in block 28. If the largest RMS signal is greater than the admissible value, an error flag Err_Fa is set true and the active ride control system is switched off. The admissible value again is derived by knowledge of the system and based on experience. The active ride control system is reactivated after a predetermined time period.
  • guide assemblies 5 may incorporate guide shoes rather then rollers 6 to guide the car 1 along the guide rails 15.

Landscapes

  • Cage And Drive Apparatuses For Elevators (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)

Claims (8)

  1. Vorrichtung zur Dämpfung von Schwingungen einer Aufzugskabine (1), wobei die Aufzugskabine (1) durch Führungselemente (6) entlang Führungsschienen (15) geführt wird, mit Folgendem:
    mehreren an der Kabine (1) angebrachten Sensoren (11, 12) zur Messung von Schwingungen quer zu einer Fahrtrichtung;
    mindestens einem Stellantrieb (10), der zwischen der Kabine (1) und den Führungselementen (6) angeordnet ist;
    und einer Rückkopplungs-Steuerung (19) mit Rückführung, die auf Signale von den Sensoren (11, 12) reagiert, um ein Steuerungsausgangssignal zur Erregung des Stellantriebs (10) zu erzeugen,
    dadurch gekennzeichnet, dass die Steuerung (19) einen Vergleicher (28) enthält, um das Stellglied (10) vorübergehend zu deaktivieren, wenn eine gewählte Komponente (Fa, Fp, F) eines Steuersignals (F) größer ist als ein vorbestimmter Wert, wodurch das Einsetzen von Instabilität verhindert wird.
  2. Vorrichtung nach Anspruch 1, bei der die mehreren Sensoren (11, 12) einen Positionssensor (11) und einen Beschleunigungsmesser (12) umfassen, die Steuerung (19) eine Positionssteuerung (20) und eine Beschleunigungssteuerung (21) umfasst, die auf die Signale von dem Positionssensor (11) bzw. dem Beschleunigungsmesser (12) reagieren, und Ausgaben (Fp, Fa) von den Steuerungen (20, 21) kombiniert werden, um das Steuerungsausgangssignal zu liefern.
  3. Vorrichtung nach Anspruch 2, bei der die gewählte Komponente des Steuersignals (F) eine Ausgabe (Fa) aus der Beschleunigungsteuerung (21) ist.
  4. Vorrichtung nach Anspruch 3, bei der die Ausgabe (Fa) aus der Beschleunigungssteuerung (21) durch eine Einheit (24, 25, 26, 27) zur Bestimmung des quadratischen Mittelwerts hindurchgeführt wird und ein bestimmter Maximalwert in den Vergleicher (28) eingegeben wird.
  5. Vorrichtung nach einem der Ansprüche 2 bis 4, bei der die Steuerung (19) weiterhin einen Begrenzer (22) umfasst, um die Ausgabe (Fp) aus der Positionssteuerung (21) auf einen von der Temperatur des Stellantriebs (10) abhängigen Maximalwert (Fmax) zu begrenzen.
  6. Verfahren zur Reduzierung von Oszillationen einer Aufzugskabine (1), die durch Führungselemente (6) entlang Schienen (15) geführt wird, mit folgenden Schritten:
    Messen von Oszillationen der Kabine (1) quer zu einer Fahrtrichtung; und
    Bereitstellen eines Steuerungsausgangssignals zur Erregung mindestens eines zwischen der Kabine (1) und den Führungselementen (6) angeordneten Stellantriebs (10) als Reaktion auf die gemessenen Oszillationen,
    gekennzeichnet durch
    Deaktivieren des Stellantriebs (10), wenn eine Komponente eines Steuerungssignals (F) größer ist als ein vorbestimmter Wert und dadurch Verhindern des Einsetzens von Instabilität.
  7. Verfahren nach Anspruch 6, bei dem der Schritt des Messens von Oszillationen Messen einer Position und einer Beschleunigung der Kabine (1) umfasst und der Schritt des Deaktivierens des Stellantriebs (10) erfolgt, wenn eine Beschleunigungskomponente (Fa) des Steuerungssignals (F) größer ist als der vorbestimmte Wert (Fa max).
  8. Verfahren nach Anspruch 7, weiterhin mit dem Schritt des Beschränkens einer Positionskomponente (Fp) des Steuerungssignals (F) auf einen Maximalwert (FpL) in Abhängigkeit von der Temperatur des Stellantriebs (10).
EP20040029142 2003-12-22 2004-12-09 Steuerungseinheit für die aktive Schwingungsdämpfung der Vibrationen einer Aufzugskabine Ceased EP1547955B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20040029142 EP1547955B1 (de) 2003-12-22 2004-12-09 Steuerungseinheit für die aktive Schwingungsdämpfung der Vibrationen einer Aufzugskabine

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP03405919 2003-12-22
EP03405919 2003-12-22
EP20040029142 EP1547955B1 (de) 2003-12-22 2004-12-09 Steuerungseinheit für die aktive Schwingungsdämpfung der Vibrationen einer Aufzugskabine

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EP1547955A1 EP1547955A1 (de) 2005-06-29
EP1547955B1 true EP1547955B1 (de) 2006-11-08

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2482049C2 (ru) * 2008-02-26 2013-05-20 Отис Элевейтэ Кампэни Способ управления положением кабины лифта и лифтовая система

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009143450A2 (en) 2008-05-23 2009-11-26 Thyssenkrupp Elevator Capital Corporation Active guiding and balance system for an elevator

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CA2072240C (en) * 1991-07-16 1998-05-05 Clement A. Skalski Elevator horizontal suspensions and controls
DE59606928D1 (de) * 1995-03-10 2001-06-28 Inventio Ag Einrichtung und Verfahren zur Schwingungsdämpfung an einer Aufzugskabine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2482049C2 (ru) * 2008-02-26 2013-05-20 Отис Элевейтэ Кампэни Способ управления положением кабины лифта и лифтовая система

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