JP2012166917A - Elevator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control vibrations transmitted upon the drive of a hoist of an elevator at a lower cost with high precision.SOLUTION: The elevator includes: the hoist; a support member supporting the hoist; an excitation force computing means computing an excitation force applied from the hoist to the support member; a vibration quantity computing means computing a vibration quantity at each position of the support member where vibrations of a plurality of vibration modes are generated by the drive of the hoist on the basis of the computed result obtained by the excitation force computing means; a damping force computing means computing an optimum value of a damping force applied to the support member by multiplying the vibration quantity at each position, which is computed by the vibration quantity computing means, by a feedback gain which is obtained by applying the optimum control theory to the vibration model showing the vibration state of the support member; and at least one damping device arranged on the support member to apply the damping force computed by the damping force computing means to the support member.

Description

  Embodiments of the present invention relate to an elevator that moves a car up and down by driving a hoisting machine.

  Conventionally, there is a case where room noise is generated when vibration of an elevator hoisting machine is transmitted from a plurality of transmission paths to a living room via a guide rail of a car, a hoisting machine support member, or a machine room floor. In particular, when an elevator is installed in a building, vibration due to driving of the hoisting machine may be transmitted to a living room adjacent to the elevator, causing noise problems.

  In order to reduce room noise caused by elevator hoisting machine vibration, a vibrator is installed between the guide rail support device and the guide rail, and then transmitted from the hoisting machine support member via the guide rail. There is one that detects vibration and generates vibration having a phase opposite to that of the hoisting machine from the vibrator to suppress vibration transmitted from the hoisting machine.

In addition, a vibration detection device and an active vibration suppression device are installed on the hoisting machine support member, and the control device winds a vibration having a phase opposite to that of the detected vibration through the active vibration suppression device based on the vibration detected by the vibration sensor. There is one which suppresses vibration by giving it to the upper machine support member.
These methods require at least one vibration detection device, but this vibration detection device is expensive, which increases the cost of the control system.

  In addition, in the control of an ultrasonic motor, a correction value is added to the monitor voltage in accordance with the number of rotations of the motor, and the motor drive frequency is controlled in accordance with the change in this value. Some motors are driven at an optimum driving frequency even if the motor changes, and the noise of the motor is prevented.

  In addition, there is a type that uses a clock signal that uses the rotational speed of a Boligon motor to switch the rotational speed of the motor in response to a change in resolution so that the resolution can be easily switched.

JP 2003-60285 A JP 2007-297180 A Japanese Patent Laid-Open No. 4-87579 JP-A-3-290608

  In general, vibration of an elevator hoisting machine is generated when accelerating and decelerating the lifting / lowering speed of a car, and the vibration frequency changes according to the traveling speed of the car, that is, the rotational speed of the hoisting machine. Generally, a supporting member of a hoisting machine is composed of a combination of a plurality of channel materials such as H-shaped steel, and a hoisting machine main body and a rope deflecting sheave are arranged on the supporting member.

  The vibration of each channel material constituting the support member is not a vibration having a finite resonance frequency expressed by a normal multi-degree-of-freedom vibration, but has a theoretically infinite resonance frequency as a continuum, and its equation of motion is a wave motion. It is necessary to express it with an equation.

  For this reason, there are a plurality of resonance frequencies and respective resonance modes in a frequency of several tens to several hundreds of Hz mainly detected from the hoist. Accordingly, as the hoisting machine is driven, a plurality of vibration frequencies of each channel material are excited and the amplitude thereof increases.

  In the above-described method of suppressing the vibration component of the vibration mode that occurs at one mass point of the continuum, if there is only one vibration mode, the vibration component may be suppressed, so that the vibration suppression effect is obtained. large. However, when a damping force is applied to the vibration component of the vibration mode generated at one mass point from the vibration modes generated from a large number of mass points like a continuum, the vibration component can be suppressed. However, on the contrary, the vibration component of the vibration mode generated in other mass points resonates greatly, or there are many vibration modes that are not subject to vibration control, so the vibration and noise in the room adjacent to the machine room are effective. Can not be reduced. In addition, since a plurality of vibration detection devices are required to control the amount of vibration at a portion with large vibration in each vibration mode, the cost increases.

  The problem to be solved by the present invention is to provide an elevator that suppresses vibration transmitted along with the driving of the hoisting machine at low cost with high accuracy.

  According to the embodiment, the hoisting machine, the supporting member that supports the hoisting machine, the exciting force calculating means that calculates the exciting force that acts on the supporting member from the hoisting machine, and the exciting force Vibration amount calculation means for calculating the vibration amount of each part of the support member that generates vibrations in a plurality of vibration modes by driving the hoisting machine, based on the calculation result by the calculation means, and vibration representing the vibration state of the support member Damping force calculation that calculates the optimum value of the damping force applied to the support member by multiplying the amount of vibration calculated at each location by the feedback gain obtained by applying the optimal control theory to the model. And at least one vibration damping device that is installed on the support member and applies the vibration suppression force calculated by the vibration suppression force calculation unit to the support member.

The side view which shows an example of the structure of the winding machine installed in the machine room of the elevator in embodiment, and its periphery. The side view which shows an example of the structure of the winding machine installed in the machine room of the elevator in embodiment, and its periphery. The figure which shows an example of a function structure of the control apparatus attached to the hoisting machine of the elevator in embodiment. The flowchart which shows an example of the processing operation of the vibration suppression control of the elevator in embodiment. The figure which shows an example of the 3 mass point model of the hoisting machine support member of the elevator in embodiment. The figure which shows an example of the frequency-frequency characteristic by the vibration suppression control using the LQR control of the elevator in embodiment. The figure which shows an example of the form of ON / OFF switching of damping control based on the elevator car position in the embodiment.

Hereinafter, embodiments will be described with reference to the drawings.
FIG. 1 and FIG. 2 are side views showing an example of a hoisting machine installed in a machine room of an elevator and its peripheral structure in the embodiment.
As shown in FIG. 1, the elevator's machine room in the embodiment has a machine room floor 1 that serves as a partition for forming a machine room above the hoistway. For example, at four required locations on the machine room floor 1, the foundation steel frame 2 and the foundation member 3 are erected in a state where they are connected.

  The base member 3 is supported by a support member 5 generally called a machine base with a vibration-proof rubber 4 interposed therebetween. In the present embodiment, two support members 5 are supported so as to be aligned in parallel with respect to two of the four base members 3.

Further, the support member 5 supports a support member 7, which is a machine head shorter than the support member 5, via a vibration isolating rubber 6. In the present embodiment, two support members 7 are supported so as to be aligned in parallel with respect to each of the two support members 5.
The support member 5 is also called a lower support member, and the support member 7 is also called an upper support member.

  In the present embodiment, the hoisting machine 8 is installed so as to span the two upper support members 7. A main rope 9 is bridged over a sheave (not shown) connected to the rotating shaft of the hoisting machine 8. A car (not shown) is suspended from one end of the main rope 9 through the opening 1 a of the machine room floor 1. A balance weight (not shown) is suspended from the other end of the main rope 9 through another opening 1 a of the machine room floor 1. The machine room is separated from the room 11 by the room wall 10.

  Therefore, the vibration generated by the driving of the hoisting machine 8 is generated in the machine room via the upper support member 7, the anti-vibration rubber 6, the lower support member 5, the anti-vibration rubber 4, the base member 3, and the basic steel frame 2 of the machine room floor 1. It is structured to transmit to the floor 1 or the living room 11 near the machine room.

As shown in FIG. 1, in the present embodiment, a plurality of vibration detection devices 20 for an excitation test that is performed in advance are temporarily installed.
As shown in FIG. 1, the vibration detection device 20 is installed in the vicinity of both ends of the lower support member 5 supported by each base member 3 from the start to the end of the vibration test.
In addition, as shown in FIG. 1, as a vibration suppression control system for suppressing vibration and noise to the living room 11 by driving the hoisting machine 8, at least at an arbitrary position of the lower support member 5 where the vibration detection device 20 is installed. One damping device 21 is installed.

  When the vibration detection device 20 is an acceleration sensor, the vibration detection device is installed at several tens of locations and detects a vibration amount when the hoisting machine 8 is driven as a vibrator. In the case of a continuous body, there are multi-order vibration modes. Therefore, it is desirable that the vibration detection device 20 be installed at a place where all the vibration modes of resonance are generated, but at least vibration with large resonance is generated. A mode may be selected and installed.

  As shown in FIG. 2, the vibration detection device 20 may be installed in the vicinity of the installation location of the hoisting machine 8 in the upper support member 7. In this case, the installation form of the vibration damping device 21 may be any form in which at least one vibration damping device 21 is installed at an arbitrary position of the upper support member 7 where the vibration detection device 20 is installed. Hereinafter, the vibration control procedure in the case where the vibration suppression target is the lower support member 5 shown in FIG. 1 will be described.

  In a pre-excitation test, the excitation force time history data of the hoisting machine 8 and the time history response data of a plurality of vibration detection devices 20 installed at locations where the resonance vibration value is greater than or equal to the reference value in the plurality of vibration modes And the vibration model of the hoist support member is identified from these data. Details of identification of the vibration model will be described later.

FIG. 3 is a diagram illustrating an example of a functional configuration of a control device attached to the elevator hoist according to the embodiment.
In the present embodiment, after the vibration test is completed, the vibration detection device 20 is removed, and the control device 22 is attached to the vibration suppression device 21.
The control device 22 creates a vibration model that approximately represents the vibration state of the multi-order vibration mode generated in the continuum calculated from the result of the vibration test performed in advance, and uses a state variable vector obtained from the vibration model. Thus, the optimum damping force is applied to the vibration component of the multi-order vibration mode using the feedback gain obtained based on the optimal control theory.

  The damping force applied to the damping device 21 by the control device 22 uses the feedback gain calculated by applying the optimum control theory to the identified vibration model, and the optimum damping force based on the vibration amount predicted from the vibration model. Since the force is calculated, the vibration detection device 20 is not necessary for the vibration suppression control after the vibration test.

  The predicted vibration amount of each part used for the control device 22 is calculated by inputting the excitation force from the hoisting machine 8 into the vibration model. The excitation force acting on the support member from the hoisting machine 8 is The output torque of the hoisting machine is obtained based on the information obtained from the current detection device of the machine 8, and the excitation force is calculated from the output torque.

As the vibration damping device 21, in addition to an active vibration damping device, various types of actuators that are conventionally used are used. The installation location of the vibration damping device 21 may be limited due to the structure of the support members 5 and 7 of the hoisting machine 8, but vibrations can be obtained by performing a simulation using a vibration model of a multi-order vibration mode. Can be effectively controlled.
Further, one of the plurality of vibration detection devices 20 may be installed, for example, on the upper part of the hoisting machine near the installation of the hoisting machine 8 or on a cover that covers the hoisting machine 8.

  The control device 22 calculates, for example, three vibration amounts on the lower support member 5 on which the vibration detection device 20 is installed, and multi-order vibration modes generated in the support members 5 and 7 when the hoisting machine 8 is driven. For example, a general-purpose microcomputer or DSP (digital signal processor) is used.

  As shown in FIG. 4, when the control device 22 incorporates in the vibration model three places where the vibration value of resonance on the lower support member 5 on which the vibration detection device 20 is installed is equal to or higher than the reference value, The A / D conversion unit 23, the excitation force calculation unit 24, the vibration amount calculation unit 25, the high-pass filter 26, the gain adjustment unit 27, and the damping force calculation unit 28, which are current sensors, are converted into analog signals. A D / A conversion unit 29 for conversion and an amplification unit 30 as necessary are included.

FIG. 4 is a flowchart illustrating an example of the processing operation of the vibration damping control of the elevator in the embodiment.
First, when detecting the current information of the hoisting machine 8 (step S1), the A / D converter 23 of the control device 22 converts this current information into a digital vibration signal (step S2).

  The excitation force calculator 24 calculates the excitation force based on the digital vibration signal from the A / D converter 23 (step S3). The vibration amount calculation unit 25 holds the vibration model in the internal memory, and predicts the vibration amount of each location by inputting the calculated excitation force value to the vibration model (step S4).

  The high pass filter 26 extracts a vibration component having a predetermined frequency, for example, 50 Hz or more, from the vibration component of the vibration amount at each location predicted by the vibration amount calculation unit 25 (step S5). The gain adjusting unit 27 holds a feedback gain obtained from a continuous vibration model having a multi-order vibration mode in an internal memory, and the feedback gain is equal to or higher than a predetermined frequency at each location extracted by the high-pass filter 26. A control signal is generated by multiplying the vibration component of the control signal, and the generated control signal is output to the damping force calculation unit 28 (step S5).

  The damping force calculation unit 28 corresponds to the vibration component whose phase is adjusted so as to cancel the vibration component due to the multi-order vibration mode generated in the continuum using the control signal obtained from each gain adjustment unit 27. A drive signal, that is, a vibration damping force vibration signal is generated (step S8).

The D / A conversion unit 29 performs D / A conversion on the drive signal generated by the damping force calculation unit 28 (step S9) and supplies it to the damping device 21 via the amplification unit (AMP) 30 (step S10). . The vibration damping device 21 generates a drive signal that actually cancels the vibration component due to the multi-order vibration mode based on the signal from the control device 22, and controls the lower support member 5 to be vibration-damped. Vibration is applied (step S11).
Thereby, the vibration from the hoisting machine 8 is canceled, and the vibration and noise transmitted from the hoisting machine 8 to the living room 11 through the support members 5 and 7 and the machine room floor 1 can be significantly suppressed.

  Next, a process of creating an approximate vibration model of a multi-order vibration mode generated in a continuum and calculating a feedback gain for setting in the gain adjustment unit 27 of the control device 22 will be described.

  For example, a continuous body in which the hoisting machine 8 is installed on the lower support member 5 constitutes a mass system having a multi-order vibration mode, but here, for convenience of explanation, a three mass point model of the lower support member 5 is used. As an example, create an approximate vibration model.

FIG. 5 is a diagram illustrating an example of a three mass point model of an elevator hoist support member in the embodiment.
Xi (i = 1 to 3) shown in FIG. 5 is the vertical displacement of each mass point. This three mass point model can be considered as an approximate vibration model in which each mass point is connected to each other by a damper or an elastic member. In general, the vibration model can be calculated as follows.

The state variable vector X can be defined by the following equation (1) from the vibration speed dXi and the displacement Xi.

Therefore, when the state equation is expressed using the above state variable vector X, the following equation (2) is obtained.

  In equation (2), A is a matrix (A matrix) representing the state (the current velocity and displacement state of each mass point), B is a matrix (B matrix) representing the position where the damping force is applied, and C is the state A transformation matrix from a variable vector to an output Y. U in the equation (2) is a value of the damping force applied to the damping device 21 and also serves as a control input in damping control.

Therefore, when the A matrix and the B row example are expressed by determinants,

Then,
A ₁₁ = −c / M, A ₁₂ = −K / M,

And u = {f ₁ f ₂ f ₃ }
It becomes. c is a parameter representing the damper. K is a parameter representing the elastic member. M is a parameter representing mass.

Here, f _i (i = 1 to 3) is a vibration damping force (control input) when the vibration damping device 21 is installed at the i-th mass point. Here, as shown in FIG. A case where the vibration damping device 21 is installed near the second mass point of 5, that is, near the mass point closer to the living room wall 10 will be described.

In the present embodiment, an optimal control theory (LQR (Linear-quadratic state-feedback Regulator) control) that minimizes the value of the following equation (4) of the evaluation function using the state equation of Equation (2) described above, for example. The control system for vibration suppression control is designed based on this. The LQR control is control for calculating a feedback gain K that minimizes the evaluation function from the weight matrices Q and R using the state variable vector.

u = −R ⁻¹ B ^T PX = −KX Formula (4)
Here, the control input u of Expression (3) can be determined based on the above Expression (4) from P obtained from the Riccati equation. In Expression (3), Q represents a weight matrix for the state variable vector X, and R represents a weight matrix for the control input u. Therefore, the state feedback gain K can be obtained from the above equation (4).

  However, here, unlike a general vibration model, each component of the output Y of the state space equation shown in Equation (2) can be predicted without a vibration amount detection device, and the control input shown in Equation (4) can be predicted. The calculation of u is performed with the output Y instead of the state variable vector X.

  In the present embodiment, an excitation test is performed in advance using the hoisting machine as a vibrator, and time history data of the exciting force and acceleration response of the hoisting machine 8 is collected. The state space equation of the vibration model can be calculated by predicting the transfer function of the system by the system identification method using the input / output data obtained in the vibration test.

  Specifically, the excitation force at time t is u (t), and the acceleration response is y (t). A time invariant linear system having u (t) as an input and y (t) as an output is expressed by the following equation (5).

y (t) = G (z, θ) u (t) + H (z, θ) e (t) (5)
In equation (5), G (z, θ) is a transfer function of the plant. H (z, θ) e (t) in equation (5) is observation noise. In the equation (5), e (t) is white noise, and θ is a vector composed of all parameters of the vibration model. In Expression (5), z is a shift operation, and the transfer function G (z, θ) of the plant is expressed by Expression (6) below.

Therefore, the above equation (5) can be expressed as the following equation (7).

  When the parameter vector is the following equation (8) and the regression vector is the following equation (9), the above equation (7) is the following equation (10).

_{θ = [a 1, ...,} a n, b 1, ..., b m] T ... (8)
ψ (t) = (− y (t−1), −y (t−2),..., −y (t−n), −u (t−1), −u (t−2),. -U (t-m)) ^T ... Formula (9)
y (t) = ψ ^T (t) θ + e (t) Equation (10)
Evaluation function using least squares method

The estimated value of θ that minimizes is given by the following equation (11).

  In this embodiment, calculation is repeated until the evaluation function is minimized, and the state space equation of the vibration model is identified.

Since the state variable vector X and the output Y have the relationship X = [C ^T C] ⁻¹ C ^T Y from the equation (2), the equation (4) indicating the optimum control input u calculated by the control device 22 is as follows. Equation (12) is obtained.

^{u = K [C T C]} -1 C T Y ... (12)
Regarding the design of the feedback gain, the weight matrix Q for the state variable vector X is similarly designed for the output Y.

FIG. 6 is a diagram illustrating an example of frequency-frequency characteristics by vibration suppression control using LQR control of an elevator according to the embodiment.
FIG. 6 shows the case where vibration control is not performed on the support member 5 that generates vibration components in the multi-order vibration mode, and the amount of vibration at each location is predicted from the excitation force, and the optimal control input is calculated. It is a figure which shows the amount of vibrations (G / N) with respect to a control input when performing vibration suppression control.

  That is, when there is no vibration suppression control, the vibration modes of each order are resonating greatly. On the other hand, when the vibration control is performed by predicting the vibration amount of each part from the excitation force as described above, the vibration mode of each order is suppressed, and the vibration of the entire support member of the hoisting machine is suppressed. A highly accurate vibration control effect can be obtained.

  That is, in this embodiment, after the vibration test is completed, the vibration amount at each location is predicted from the vibration force of the hoisting machine based on the vibration model identified from the data of the vibration test performed in advance. Without the need to install a vibration detection device at each location where the vibration value of the resonance is equal to or greater than the reference value, it is possible to calculate the optimum control input for suppressing the vibration and suppress the vibration with high accuracy.

  As described above, in the present embodiment, identification is performed from data of an excitation test in which the vibration of the multi-order vibration mode generated in the lower support member 5 or the upper support member 7 that supports the hoisting machine 8 is generated in advance. The damping force is calculated by multiplying the feedback gain obtained by applying the optimum control theory to the vibration model and the vibration amount of each part predicted from the exciting force, and this damping force is calculated by the damping device 21. Gives to the support members 5 and 7, it is possible to suppress vibrations at a plurality of locations of the support member. Thereby, when the hoisting machine 8 accelerates or decelerates, the vibration noise of the living room 11 to which the vibration from the hoisting machine 8 is transmitted through the support members 5 and 7 and the machine room 1 can be greatly suppressed.

  Further, it is desirable that the damping force applied from the control device 22 to the damping device 21 is always suppressed by the control device 22 calculating in real time and performing damping control. The damping force calculation unit 28 holds information indicating the rotation speed of the hoisting machine 8 at which the excitation force to the support member is less than the reference value, and the damping force calculation unit 28 detects the rotation speed of the hoisting machine. When the detected value from the device is a value corresponding to the excitation force less than the predetermined reference value in the information held as described above, the output of the control amount to the vibration control device 21 may be stopped. Good.

FIG. 7 is a diagram illustrating an example of a form of ON / OFF switching of vibration suppression control based on the elevator car position in the embodiment.
Further, in the vibration test performed in advance, the damping force calculation unit 28 holds information indicating the position of the car, where the excitation force to the support member is less than the reference value. When the detected value of the position of the car is a position corresponding to an excitation force less than a predetermined reference value in the information held as described above, as shown in FIG. 7, the control amount to the vibration damping device 21 is controlled. May be stopped.

According to each of these embodiments, it is possible to provide an elevator that can suppress vibration transmitted along with the driving of the hoisting machine at low cost with high accuracy.
Although several embodiments of the invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 1 ... Machine room floor, 1a ... Opening part, 2 ... Foundation steel frame, 3 ... Foundation member, 4, 6 ... Anti-vibration rubber, 5, 7 ... Support member, 8 ... Hoisting machine, 9 ... Main rope, 10 ... Living room Wall, 11 ... Living room, 20 ... Vibration detection device, 21 ... Damping device, 22 ... Control device, 23 ... A / D conversion unit, 24 ... Excitation force calculation unit, 25 ... Vibration amount calculation unit, 26 ... High pass filter , 27... Gain adjustment unit, 28... Damping force calculation unit, 29... D / A conversion unit, 30.

Claims (7)

A hoisting machine,
A support member for supporting the hoisting machine;
An excitation force calculating means for calculating an excitation force acting on the support member from the hoisting machine;
From the calculation result by the excitation force calculation means, a vibration amount calculation means for calculating the vibration amount of each part of the support member that generates vibrations in a plurality of vibration modes by driving the hoisting machine;
The damping force applied to the support member by multiplying the vibration amount at each location calculated by the vibration amount calculation means by a feedback gain obtained by applying optimal control theory to the vibration model representing the vibration state of the support member. A damping force calculating means for calculating an optimum value;
An elevator comprising: at least one damping device that is installed on the support member and applies a damping force calculated by the damping force calculation means to the support member. The vibration model of the support member is
Excitation force time history data of the hoisting machine obtained in advance using the hoisting machine as a vibrator, and times of a plurality of vibration detection devices provided on the support member during the shaking test 2. The elevator according to claim 1, wherein the elevator is a vibration model identified from historical response data, where the vibration amount is a reference value or more in each vibration mode. The excitation force calculating means includes
The output torque of the hoisting machine is calculated based on the current of the hoisting machine, and the excitation force that the hoisting machine acts on the support member is calculated from the output torque. The elevator according to 1. The vibration amount calculating means includes
The vibration amount is calculated by predicting the vibration amount at each location by inputting the excitation force calculated by the excitation force calculating means into a vibration model of the support member. Elevator. The damping force calculation means includes:
2. A control amount obtained by applying an optimal control theory using a state variable vector consisting of feedback of a calculation result by the vibration amount calculation means is calculated as a control amount by the vibration damping device. The elevator described in 1. The damping force calculation means includes:
Holds information indicating the relationship between the rotational speed of the hoist and the excitation force,
When the detected value of the rotational speed of the hoisting machine is a value corresponding to the excitation force less than a predetermined reference value in the stored information, the output of the control amount to the vibration damping device is stopped. The elevator according to claim 1. The damping force calculation means includes:
Holds information indicating the relationship between the position of the car and the excitation force,
When the detected value of the position of the car is a position corresponding to the excitation force less than a predetermined reference value in the held information, the output of the control amount to the vibration damping device is stopped. The elevator according to claim 1.

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