JP2014152020A - Vibration reducing device for elevator and elevator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vibration reducing device for an elevator capable of reducing vibration of a frequency component of a disturbance frequency from transverse vibration of a cage, and to provide an elevator including the vibration reducing device .SOLUTION: The vibration reducing device for an elevator includes: actuators 13a, 13b adding a damping force to a cage 1 of the elevator; acceleration sensors 11a, 11b which are vibration sensors measuring the transverse vibration of the cage 1; and damping controllers 12a, 12b as controlling parts which extract a frequency component of a disturbance frequency settled with the guide span being the distance between an upper roller guide 9a and a lower roller guide 9b that are provided in the cage and the elevating speed of the elevator, from transverse vibration of the cage 1 measured by the acceleration sensor 11a, 11b, and which controls actuators 13a, 13b in such a manner that the frequency component of the transverse vibration of the cage 1 is canceled, based on the extracted frequency component.

Description

  The present invention relates to an elevator vibration reducing device and an elevator including the same.

  Upper roller guides are provided symmetrically on the upper left and right sides of the elevator car, and lower roller guides are provided symmetrically on the lower left and right sides of the car. The roller guide is in contact with a guide rail vertically provided on the building wall of the hoistway, and the elevator repeatedly moves up and down as the roller guide is guided on the guide rail.

  For this reason, the upper roller guide and the lower roller guide are vibrated due to a slight bend caused by a processing error of the guide rail or a disturbance such as a step caused by an installation error of a joint between the guide rails. Vibration is transmitted to the car through the car frame. As a result, lateral vibration is generated in the elevator, and the riding comfort of the elevator is reduced.

  In conventional elevator vibration reduction devices, an actuator is installed in the roller guide, and the actuator is controlled according to the signal from the vibration sensor installed in the car frame, and the actuator applies vibration damping force to reduce the lateral vibration of the car. Is known (see, for example, Patent Document 1). In addition, regarding the technology of a double deck elevator with a pair of upper and lower cars, the car frame may resonate and bend and vibrate due to vibrations transmitted from the roller guides. There is known a technique for reducing the resonance of the car frame and improving the riding comfort of the elevator by providing a vibration absorbing device composed of a spring device that is deformed by an intermediate frame between the upper and lower cars (for example, patents) Reference 2).

JP 2001-122555 A JP 09-208162 A

  However, in a conventional elevator vibration reducing device, the distance between the upper roller guide and the lower roller guide (hereinafter referred to as “guide span”), the ascending / descending speed of the car, the natural frequency of the car and the guide Due to disturbances such as rail bending, the lateral vibration of the car may increase, making it difficult to sufficiently reduce the vibration of the frequency component of the disturbance frequency, and the ride comfort of the elevator is reduced. .

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an elevator vibration reduction device that can reduce the lateral vibration of a car and an elevator including the same.

  An elevator vibration reduction device according to the present invention is provided in an car from an actuator that applies a damping force to an elevator car, a vibration sensor that measures lateral vibration of the car, and a lateral vibration of the car that is measured by the vibration sensor. The frequency component of the disturbance frequency determined by the guide span that is the distance between the upper roller guide and the lower roller guide and the elevator lifting speed is extracted, and the frequency component of the transverse vibration of the car is canceled based on the extracted frequency component. And a controller for controlling the actuator.

  According to the elevator vibration reducing apparatus of the present invention, the control unit extracts the frequency component of the disturbance frequency from the lateral vibration of the elevator measured by the vibration sensor, and the frequency of the lateral vibration of the car based on the extracted frequency component. Since the actuator is controlled so that the components are canceled out, the lateral vibration of the car at the disturbance frequency can be reduced by the damping force applied by the actuator.

It is sectional drawing which shows the state by which the double deck elevator concerning Embodiment 1 of this invention was suspended by the hoistway. It is a block diagram which shows the control structure of the vibration reduction apparatus of the elevator concerning Embodiment 1 of this invention. It is a figure which shows the characteristic of the narrow-band amplification filter concerning Embodiment 1 of this invention. It is a figure which shows an example of the simulation result of the cage | basket | car lateral vibration by the bending of a guide rail. It is a figure which shows the relationship between the vibration and frequency of the conventional elevator. It is a figure which shows the vibration reduction effect of the vibration reduction apparatus of the elevator concerning Embodiment 1 of this invention. It is a block diagram which shows the modification of the control structure of the vibration reduction apparatus of the elevator concerning Embodiment 1 of this invention. It is sectional drawing which shows the state by which the double deck elevator concerning Embodiment 2 of this invention was suspended by the hoistway. It is a block diagram which shows the control structure of the vibration reduction apparatus of the elevator concerning Embodiment 2 of this invention. It is sectional drawing which shows the state by which the modification of the double deck elevator concerning Embodiment 2 of this invention was suspended by the hoistway. It is sectional drawing which shows the state by which the double deck elevator concerning Embodiment 3 of this invention was suspended by the hoistway. It is sectional drawing which shows the state by which the modification of the double deck elevator concerning Embodiment 3 of this invention was suspended by the hoistway.

Embodiment 1 FIG.
First, an elevator vibration reducing device according to a first embodiment of the present invention and the configuration of an elevator car including the same will be described. FIG. 1 is a cross-sectional view showing a state in which an elevator car 1 according to a first embodiment of the present invention is installed on a rail vertically provided with a plurality of guide rails.

  In FIG. 1, a car 1 of a double deck elevator is suspended from a lower end of a rope 2 suspended from a hoisting machine (not shown) provided at the upper end of a hoistway. The car 1 includes a car frame 3 and a pair of upper and lower car rooms, an upper car room 7 and a lower car room 6.

  The car frame 3 includes an upper frame 3a, an intermediate frame 3b, a lower frame 3c, and two vertical pillars 3d. The lower frame 3c supports the lower car chamber 6 via a vibration isolating rubber 5, and the intermediate frame 3b. Supports the upper cab 7 via a vibration isolating rubber 5. Further, on the left and right of the upper ends of the upper car room 7 and the lower car room 6, the steady rubber 8 is provided between the vertical column 3d. Further, upper roller guides 9a are provided symmetrically on the upper and lower sides of the upper frame 3a, and lower roller guides 9b are provided symmetrically on the lower and right sides of the lower frame 3c. Each of the roller guides 9a and 9b is in contact with a guide rail 10 vertically provided on the building wall of the hoistway, and the car 1 repeats raising and lowering as the roller guides 9a and 9b are guided on the guide rail 10. .

  Further, the car 1 is provided with a vibration reducing device including acceleration sensors 11a and 11b, vibration control controllers 12a and 12b, and actuators 13a and 13b. The acceleration sensors 11a and 11b, which are vibration sensors, are installed on the upper frame 3a and the lower frame 3c, respectively, and the actuators 13a and 13b are installed on the upper roller guide 9a and the lower roller guide 9b, respectively.

  The acceleration sensors 11a and 11b, which are vibration sensors, detect the vibrations of the upper frame 3a and the lower frame 3c as lateral vibrations of the car 1, respectively, and the acceleration signals of the upper frame 3a and the lower frame 3c as vibration signals indicating the lateral vibrations of the car 1. Are transmitted to the vibration suppression controllers 12a and 12b, respectively. The vibration control controllers 12a and 12b calculate the vibration control force necessary to reduce the lateral vibration of the car frame 3 from the acceleration signals from the acceleration sensors 11a and 11b. The damping controllers 12a and 12b supply damping currents to the actuators 13a and 13b, respectively, based on the calculation results. The actuators 13a and 13b add a damping force to the car 1 by applying a damping force to the car frame 3 in accordance with the supplied damping current.

  Next, details of the actuator control method by the vibration damping controllers 12a and 12b will be described. FIG. 2 is a block diagram illustrating a control configuration of the vibration reducing apparatus according to the first embodiment of the present invention. In the following, first, the vibration suppression controller 12b will be described.

  In FIG. 2, the vibration suppression controller 12 b includes a wideband bandpass filter 14, an integrator 15, a gain 16, a storage unit 20 a, a narrowband amplification filter 17, and a power supply 18. Using the acceleration signal input from the acceleration sensor 11b and the signal input from the elevation speed detection means 19, a damping current is output to the actuator 13b to perform damping control. Although not shown in FIG. 1, the lifting / lowering speed detecting means 19 detects the lifting / lowering speed of the car 1, and detects the rotational speed of the hoisting machine with an encoder, resolver, etc., and detects the detected rotational speed. Etc.

  From the acceleration signal, which is a vibration signal detected by the acceleration sensor 11b, a low-frequency component and a high-frequency component that are unnecessary for vibration suppression control are removed by the broadband band-pass filter 14. The removal of the low frequency component is to prevent the low frequency component from being excessively amplified and the required control force is increased, and the removal of the high frequency component causes vibration in the high frequency vibration mode of the car 1. This is to prevent the vibration damping control from becoming unstable.

  Accordingly, the characteristic of the wideband bandpass filter 14 is selected such that the amplification factor of the pass frequency band is ideally 1 and as close to zero as possible in the low-frequency and high-frequency non-passive low bands. Further, the pass frequency band is widely selected so that the frequency of the vibration mode of the reduced car 1 is all included in the pass band. For example, it can be set to 0.5 to 30 Hz. This is selected to include humans because the frequency of lateral vibration of the car 1 that is easy to detect and generally reduced is distributed between 1 and 10 Hz. However, the above frequency is merely an example, and is not limited to this frequency.

  The acceleration signal from which the unnecessary frequency band is removed by the wideband bandpass filter 14 is integrated and calculated by the integrator 15. This is because it is known as a well-known fact to those skilled in the art that the acceleration signal is integrated to become a speed signal, and vibration can be controlled by applying a force inversely proportional to the speed.

  The speed signal output from the integrator 15 is amplified by the gain 16 at an amplification factor Kp times. In order to improve the damping performance, the absolute value of the amplification factor Kp may be increased as much as possible. However, if the value is too large, a problem arises that the high-frequency vibration mode is excited and the control becomes unstable. . Therefore, the amplification factor Kp is set in a range where the high frequency vibration mode is not excited. The amplification factor Kp is set to be a negative value in order to control the actuator 11b so that a frequency component, which will be described later, of the lateral vibration of the car is canceled.

  The narrowband amplification filter 17 is configured as a filter having an amplification factor of approximately 1 at frequencies other than a specific amplification frequency band and an amplification factor exceeding 1 in the amplification frequency band. Amplifies and outputs only the frequency components in the frequency band centered on the frequency. For example, a narrow band amplification filter represented by a transfer function Fp (s) as shown in Expression (1) can be used.

  In Expression (1), s is a Laplace operator, and ωp is the center frequency of the passband. Also, ζ1 and ζ2 are constants set according to a request so as to satisfy ζ1> ζ2, and the peak height of the passband is represented by ζ1 / ζ2.

  Hereinafter, the setting of ζ1 and ζ2 will be described. 3A and 3B are diagrams showing frequency characteristics in a design example of the narrow-band amplification filter 17. FIG. 3A shows the relationship between the amplification factor and the frequency, and FIG. 3B shows the relationship between the phase and the frequency. Is shown. ζ1 and ζ2 are set so that the amplification factor in the amplification frequency band is increased and a sufficient phase margin is secured. For example, when ζ1 = 1 and ζ2 = 0.25 are set so that the amplification factor at the center frequency of the amplification frequency band is four times, the narrowband amplification filter 17 has frequency characteristics as shown in FIG. As shown in FIG. 3, it can be confirmed that the amplification factor is 4 at the frequency to be amplified, and that the amplification factor is 1 in the low frequency band and the high frequency band.

  The center frequency ωp [rad / sec] can be set by the guide span L [m] and the elevation speed V [m / sec] as shown in the equation (2).

  The amplification frequency band here refers to a frequency band in which the amplification factor is ½ or more of the amplification factor at the center frequency.

  The storage means 20a stores the guide span L as a constant in advance. The signal output from the gain 16 is amplified in the amplification frequency band according to the equation (1) based on the information of the guide span L taken out from the storage unit 20a and the elevation speed V detected by the elevation speed detection means 19. Will be.

  The power supply 18 supplies a damping current to the actuator 13b according to the amplified signal. Then, by applying a vibration damping force to the car frame 3 by the actuator 13b, the lateral vibration of the car 1 is reduced.

  2 and 3, the vibration damping controller 12b installed on the lower frame 3c side has been described. However, the vibration damping controller 12a installed on the upper frame 3a side has the same configuration and performs the same processing. .

  Here, the lateral car vibration generated in the car 1 will be described. In this paper, the car transverse vibration means vibration in a direction perpendicular to the direction in which the car 1 moves up and down. The car lateral vibration is generated when the roller guides 9a and 9b are vibrated due to slight bending of the guide rail 10 or installation errors. FIG. 4 shows an example of a result of simulating car lateral vibration caused by bending of the guide rail 10. In FIG. 4, the horizontal axis indicates the maximum elevator speed, and the vertical axis indicates the maximum value of the car transverse vibration. The car transverse vibration of the double deck elevator when the disturbance of the data of the same measured rail bending is input. FIG. 5 is a diagram comparing a single-deck elevator car lateral vibration (broken line in FIG. 4) with a solid line in FIG. Note that the double deck elevator and the single deck elevator used for the calculation have approximately the same vibration mode frequency in the frequency band of 1 to 3 Hz, which is particularly problematic in terms of ride comfort.

  As shown in FIG. 4, although the vibration mode frequency is substantially the same, the lateral vibration of the double-deck elevator is higher than that of the single-deck elevator in the ultra-high speed range where the ascending / descending speed exceeds 10 [m / sec]. It can be confirmed that the condition has deteriorated significantly. As of 2013, the world's highest speed of a double deck elevator that is actually operating is 10 [m / sec], so this vibration problem is a vibration that becomes a problem when the double deck elevator speeds up. It was an unrecognized problem.

  The vibration generated remarkably in the double deck elevator is a frequency fr = V determined by the distance between the upper roller guide and the lower roller guide (hereinafter referred to as “guide span”) L and the raising / lowering speed V [m / sec]. / L [Hz] (hereinafter referred to as “disturbance frequency”) was found to be generated by being close to the natural frequency of the car. Considering the case where the elevator is rising at a speed V [m / sec], the bending of the guide rail 10 input from the upper roller guide 9a is the same from the lower roller guide 9b with a delay of L / V seconds. Will be input as follows. As a result, the same bend of the guide rail 10 is applied to the car at a constant period (frequency), and a large vibration is generated when this disturbance frequency is close to the natural frequency of the car.

  The phenomenon in which the disturbance frequency and the natural frequency of the car are close to each other can also occur in a single deck elevator. However, when the processing accuracy and installation accuracy of the guide rail 10 are constant, the lateral vibration of the car at the disturbance frequency is constant. The amplitude depends on the amplitude of the disturbance, and the amplitude of the disturbance depends on the guide span L. Therefore, the car transverse vibration at the disturbance frequency becomes a problem particularly in a double deck elevator having a long guide span L.

  More specifically, since the single deck elevator includes only one cab inside, the guide span L is about 5 to 6 [m], whereas the double deck elevator includes a pair of cabs above and below. Therefore, the guide span L is inevitably long and exceeds 10 [m]. Since the length of one guide rail 10 is normally 4 to 5 [m], a disturbance due to the bending of one guide rail 10 is input in a single deck elevator, and the amplitude of the disturbance is almost equal to the guide rail. Depends on the processing accuracy of 10. On the other hand, in the double deck elevator, disturbance due to the bending of two to three guide rails is generated, and disturbance due to an installation error of the guide rail 10 is also included. Therefore, the amplitude of the disturbance is larger than that in the case of the single deck elevator. Therefore, when the speed of the double deck elevator is increased, the disturbance frequency and the natural frequency of the car 1 are close to each other, and the amplitude of the disturbance increases due to the influence of the guide rail bending or the like. Therefore, in the frequency band of the disturbance frequency. Car lateral vibration becomes prominent in double deck elevators.

  FIG. 5 is a diagram illustrating that the amplitude of the disturbance depends on the guide span L. FIG. 5 shows the result of analyzing the power spectrum when the guide rail bends input from the roller guides 9a and 9b are added. The horizontal axis indicates the frequency of vibration, the vertical axis indicates power, and the broken line indicates The analysis result of a single deck elevator and the solid line show the analysis result of a double deck elevator. In FIG. 5, the double deck elevator is lifted at a lifting speed of 14 [m / sec] so that the disturbance frequency and the natural frequency of the car are substantially the same, and the single deck elevator is lifted at a lifting speed of 7 [m / sec]. ] Shows the result of analysis for the case where the elevator is moved up and down.

  As shown in FIG. 5, in the double deck elevator, it can be confirmed that the vibration component due to the guide rail 10 is larger than that in the single deck elevator even though the bending data of the same guide rail 10 is used. . Even when the speed is set to 14 [m / sec] in the single deck elevator, which is the same as that in the double deck elevator, the size of the vertical axis does not change because the frequency of the horizontal axis is shifted. As described above, when the speed of the double deck elevator is increased, the disturbance due to the guide rail 10 determined by the guide span L and the lifting speed V becomes large, and a large vibration is generated by matching this with the natural frequency of the car. Become. Also in the single deck elevator, when the amplitude of the disturbance transmitted from each roller guide is increased due to a decrease in the processing accuracy of the guide rail 10, the disturbance frequency and the car 1 depending on the ascending / descending speed of the car. Since the natural frequencies of the two are close to each other, a large vibration may occur as in the case where the speed of the double deck elevator is increased.

  In this embodiment, paying attention to the vibration of the frequency component of the disturbance frequency, the lateral vibration of the car is reduced by providing the elevator vibration reducing device having the above-described configuration. That is, by extracting the frequency component of the disturbance frequency from the lateral vibration of the car 1 and controlling the actuators 13a and 13b so as to cancel the extracted frequency component, the frequency component of the disturbance frequency in the lateral vibration of the car 1 is reduced. be able to.

  FIG. 6 shows a simulation result of the car transverse vibration with respect to the lifting speed of the double deck elevator showing the effect of the present embodiment. In FIG. 6A, the broken line indicates the car lateral vibration when the vibration suppression control is not performed, and the solid line indicates the car lateral vibration when the vibration suppression control of the present embodiment is performed. Further, in FIG. 6B, the broken line indicates the car transverse vibration when the conventional vibration suppression control without the narrow-band amplification filter 17 is performed, and the solid line indicates the car when the vibration suppression control of the present embodiment is performed. The lateral vibration is shown. As shown in FIG. 6, it can be seen that by using the vibration reducing apparatus according to the present embodiment, the lateral vibration of the car is reduced, and the lateral vibration of the car is reduced particularly in a high speed region in which the ascending / descending speed exceeds 10 [m / sec]. The remarkable effect can be confirmed.

  Further, in the present embodiment, only a specific frequency band is amplified using the narrow band amplification filter 17, so that the high frequency band of the car transverse vibration is not amplified, and the high frequency vibration mode is excited. There is no instability of vibration suppression control.

  Furthermore, since the actuators 13a and 13b are installed on the upper roller guide 9a and the lower roller guide 9b, respectively, a vibration mode in which the car chambers 6 and 7 and the car frame 3 vibrate together in the resonance vibration of the disturbance and the car. Thus, vibration can be effectively reduced.

  In addition, although Formula (1) was shown as a type | formula showing the characteristic of the narrowband amplification filter 17, it is not limited to Formula (1), The characteristic that an amplification frequency band becomes a fixed frequency band including a disturbance frequency is shown. If it has, it is good also as another structure. Here, the fixed frequency band is a frequency band in which the width of the frequency band includes a disturbance frequency and a frequency in the vicinity thereof, and is a frequency band in which the lateral vibration of the car is remarkably increased. For example, when the disturbance shown in FIG. 5 is input, the width of the amplification frequency band may be about 0.5 Hz to 2.0 Hz.

  Further, instead of the narrow band amplification filter 17, as shown in FIG. 7A, a narrow band band pass filter 29, a gain 30, and an adder 31 are provided to amplify frequency components in a frequency band including a disturbance frequency. It is good as well. Note that FIG. 7A shows only a modification regarding the control configuration between the gain 16 and the power source 18 of the vibration suppression controller 12b in FIG. In such a case, the pass band of the band-pass filter 29 may be a constant frequency band including the disturbance frequency, and the order of the narrow band band-pass filter 29 and the gain 30 may be reversed.

  Furthermore, in the present embodiment, the control configuration is as shown in FIG. 2, but the present invention is not limited to this, and the configuration can be changed as appropriate. For example, in the present embodiment, the narrow band amplification filter 17 is provided between the gain 16 and the power source 18, but the narrow band amplification filter 17 may be provided in front of the gain 16 to amplify a specific frequency band. Good.

  In the present embodiment, the left and right direction with respect to the paper surface of FIG. 1 is shown, but the same vibration damping device is configured in the direction perpendicular to the paper surface, that is, in the longitudinal direction of the elevator to reduce vibration. be able to.

  Further, in the present embodiment, the characteristics of the narrowband amplification filter 17 are determined using the lifting / lowering speed of the car detected by the lifting / lowering speed detecting means 19, but the present invention is not limited to this. A predetermined maximum ascending / descending speed may be used. In such a case, the vibration suppression controller 12b is configured as shown in FIG. 7B, and determines the characteristics of the narrowband amplification filter 17 from the guide span L and the maximum lifting speed Vm stored in the storage unit 20b. With such a configuration, since the fixed maximum speed Vm is used as the ascending / descending speed information instead of the actually measured value, a value different from the actual disturbance frequency is set as the center frequency of the narrowband amplification filter when traveling at a low speed. Become. Therefore, although the vibration damping performance during low-speed traveling is inferior to the case where the lifting speed during lifting is used, since it is not necessary to separately provide the lifting speed detecting means 19, the configuration of the vibration reducing device can be simplified. .

Embodiment 2. FIG.
In Embodiment 1, the actuators are provided on the upper roller guide and the lower roller guide, respectively, and the acceleration sensor is used as the vibration sensor. However, the present invention is not limited to this. Therefore, as a second embodiment, an embodiment in which the position of the actuator is changed will be described.

  FIG. 8 is a cross-sectional view showing a state where the double deck elevator according to the second embodiment of the present invention is suspended on the hoistway. FIG. 9 is a block diagram showing a control configuration of the elevator vibration reducing apparatus according to the second embodiment of the present invention. 9, the same reference numerals as those in FIG. 2 or FIG. 7 denote the same or corresponding components, and the description thereof is omitted. The first embodiment of the present invention is different from the first embodiment in the configuration including the displacement sensors 27a and 27b and the positions of the actuators 24a and 24b.

  In FIG. 8, a mounting base 21b is fixed to each lower frame 3c. On the mounting base 21b, the weight 22b is installed so that it can move to a horizontal direction with respect to the mounting base 21b, and the spring 23b is installed between the mounting base 21b and the weight 22b. An actuator 24b is installed in parallel with the spring 23b between the mount 21b and the weight 22b. An acceleration sensor 26b, which is a vibration sensor, is installed in the lower frame 3c and detects the vibration of the lower frame 3c as the lateral vibration of the car 1. The mounting base 21b is provided with a non-contact displacement sensor 27b, which is another vibration sensor, and detects the displacement between the mounting base 21b and the weight 22b.

  Then, an acceleration signal that is a vibration signal measured by the acceleration sensor 26b and a displacement signal that is a vibration signal measured by the displacement sensor 27b are transmitted to the vibration suppression controller 25b, and a necessary vibration suppression force is calculated. A control signal is output to the actuator 24b. As a result, the actuator 24 b operates, and a vibration damping force is applied to the car frame 3, and a vibration damping force is added to the car 1.

  Further, the mounting base 21a is fixed also in the intermediate frame 3b, and the vibration damping device is configured in the same manner as in the case of the lower frame 3c.

  Next, the control method by each damping controller 25a, 25b is demonstrated. In the following, the configuration and control method of the vibration suppression controller 25b will be described as an example. In FIG. 9, the low-frequency component and the high-frequency component that are unnecessary for vibration suppression control are removed from the acceleration signal detected by the acceleration sensor 26 b by the wideband bandpass filter 14. The acceleration signal from which the frequency band unnecessary for control is removed by the broadband bandpass filter 14 is integrated and calculated by the integrator 15 and converted into a speed signal, and is amplified Kp times by the gain 16. The narrowband amplification filter 17 determines the center frequency to be amplified from the guide span information and the rated maximum speed information stored in the storage unit 20a, and amplifies the frequency component of the disturbance frequency of the signal output from the gain 16.

  The distance signal between the mount 21b and the weight 22b detected by the displacement sensor 27b is multiplied by Kmp by the gain 33. The distance signal between the mount 21b and the weight 22b is differentiated by the differentiator 34 and converted into a relative speed signal of the weight 22b with respect to the mount 21b. The signal converted into the relative speed signal is amplified by Kmv times with a gain 35. The output of the gain 33 and the output of the gain 35 are added by the adder 36.

  The output from the narrowband amplification filter 17 and the output from the adder 36 are added by an adder 37 and output to the power supply 18. Then, the power source 18 supplies a damping current to the actuator 24b according to the added signal. Thereby, a vibration damping force is applied to the car frame 3 by the actuator 24b.

  By adopting the configuration as described above, also in the second embodiment, by providing the narrow-band amplification filter 17 that amplifies a certain frequency band including the disturbance frequency determined by the ascending / descending speed and the guide span, the car transverse vibration is provided. Thus, the frequency component of the disturbance frequency can be reduced.

  In the present embodiment, the actuators 24a and 24b are provided on the mounting bases 21a and 21b attached to the intermediate frame 3b and the lower frame 3c together with the springs 23a and 23b and the weights 22a and 22b, respectively. As shown in FIG. 10, actuators 41a and 41b may be provided between the upper cab 7 and the intermediate frame 3b and between the lower cab 6 and the lower frame 3c. In such a case, for example, acceleration sensors 39a and 39b, which are vibration sensors, are installed on the bottom surfaces of the upper cab 7 and the lower cab 6, and the intermediate frame 3b and the lower frame 3c are provided with the damping force required from the acceleration signal. Is installed by damping controllers 40a and 40b that control the actuators 41a and 41b.

  In this way, by installing the actuators 41a and 41b in the car rooms 6 and 7, respectively, the vibration control force is applied to the car 1 by adding the vibration control force to the car rooms 6 and 7. The vibration can be effectively reduced even in the vibration mode in which the car chambers 6 and 7 and the car frame 3 vibrate in opposite phases in the resonance vibration of the car.

Embodiment 3 FIG.
In the first and second embodiments, a so-called active vibration damping device is used to reduce the frequency component of the disturbance frequency, but a vibration reduction device including an expansion / contraction mechanism can also be used. Therefore, as an embodiment 3, an elevator vibration reducing device including an expansion / contraction mechanism will be described.

  FIG. 11 is a cross-sectional view showing a state in which the double deck elevator according to the third embodiment is suspended on a hoistway. The difference from the other embodiments is that the lower roller guide 9b is installed on the lower frame 3c via a ball screw 42, which is an expansion / contraction mechanism, and only this point will be described below.

  In FIG. 11, a ball screw 42 is provided between the lower roller guide 9b and the lower frame 3c. When the car of the double deck elevator is stopped at the lower part of the hoistway, the ball screw 42 is contracted to prevent interference between the lower roller guide 9b and the bottom part of the hoistway. On the other hand, when the car is moving away from the lower part of the hoistway such as while the car is rising, the guide span L is increased by extending the ball screw 42.

  As described in the first embodiment, when the double deck elevator travels at a high speed, the disturbance frequency fr = V / L [Hz] by the guide rail 10 determined by the guide span L [m] and the lifting speed V [m / sec] When the natural frequency fo of the car is close, a large vibration is generated.

  However, in this embodiment, even if the speed of the double deck elevator is increased and V is increased, the guide span L is increased by the ball screw 42 being extended when the car is moving up and down, so that the natural frequency fo And the disturbance frequency fr are deviated from each other, and an increase in the lateral car vibration of the double deck elevator can be suppressed. In particular, if the expansion / contraction length of the ball screw 42 is set so that the guide span L is sufficiently large with respect to the interference length Lo = V / fo [m] determined by the elevating speed V and the natural frequency fo of the car, the natural vibration Since the number fo and the disturbance frequency fr are not close to each other, an increase in the lateral vibration of the car can be prevented.

  Also, since the vertical dimension of the hoistway where the elevator car moves up and down is limited, if the guide span L is simply lengthened, the vertical dimension of the hoistway will increase and become a new problem. Since the guide span L is reduced by shrinking the ball screw 42 when the car is present at the lower part, it is possible to suppress an increase in the vertical dimension of the hoistway.

  In the present embodiment, the ball screw 42 is provided as the expansion / contraction mechanism, but a pantograph may be used as the expansion / contraction mechanism instead of the ball screw 42. For example, as shown in FIG. 12, a pantograph 43 is provided between the upper roller guide 9a and the upper frame 3a, and when the car of the double deck elevator is at the upper part of the hoistway, the pantograph 43 is shrunk and the hoistway The pantograph 43 may be extended when the car is moving away from the top of the car.

  In the above description, the example in which the expansion / contraction mechanism is provided between the lower roller guide 9b and the lower frame 3c and the example in which the expansion / contraction mechanism is provided between the upper roller guide 9a and the upper frame 3a are shown. Needless to say, the mechanism may be provided between the lower roller guide 9b and the lower frame 3c and between the upper roller guide 9a and the upper frame 3a.

  Note that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be modified or omitted as appropriate.

  1 elevator, 3 car frame, 6 lower car room, 7 upper car room, 9a upper roller guide, 9b lower roller guide, 10 guide rail, 11a acceleration sensor, 11b acceleration sensor, 12a vibration damping controller, 12b vibration damping controller, 13a Actuator, 13b Actuator, 17 Narrow-band amplification filter, 19 Lifting speed detection means, 24a Actuator, 24b Actuator, 25a Damping controller, 25b Damping controller, 26a Acceleration sensor, 26b Acceleration sensor, 27a Displacement sensor, 27b Displacement sensor, 39a Acceleration sensor, 39b Acceleration sensor, 40a Damping controller, 40b Damping controller, 41a Actuator, 41b Actuator, 42 Ball screw, 43 Pantograph

Claims (8)

An actuator that adds damping force to the elevator car;
A vibration sensor for measuring lateral vibration of the car;
A frequency component of a disturbance frequency determined by a guide span which is a distance between an upper roller guide and a lower roller guide provided in the car and a lifting speed of the elevator is extracted from the lateral vibration of the car measured by the vibration sensor. A control unit for controlling the actuator so that the frequency component of lateral vibration of the car is canceled based on the extracted frequency component;
An elevator vibration reduction device comprising: The vibration sensor outputs a vibration signal indicating the lateral vibration,
The controller is
Amplifying the frequency component of the vibration signal and controlling the actuator based on the amplified vibration signal;
The elevator vibration reduction device according to claim 1. A speed detection unit that detects a lifting speed of the elevator; and a first storage unit that stores the guide span in advance.
The control unit amplifies the frequency component from the lift speed of the elevator detected by the speed detection unit and the guide span stored in the first storage unit.
The elevator vibration reducing device according to claim 2. A second storage unit for storing in advance the maximum lifting speed of the elevator and the guide span;
The control unit amplifies the frequency component from the maximum lifting speed of the elevator stored in the second storage unit and the guide span.
The elevator vibration reducing device according to claim 2. A car room and a car frame in which the car room is stored;
An upper roller guide provided on the upper side of the car frame;
A lower roller guide provided under the car frame;
The elevator vibration reducing device according to any one of claims 1 to 4,
An elevator characterized by comprising: The actuator is attached to at least one of the upper roller guide or the lower roller guide.
The elevator according to claim 5. The car room is a pair of upper and lower car rooms,
The elevator according to claim 6, wherein the elevator is a double deck elevator. The maximum lifting speed of the double deck elevator is 10 m / min or more,
The elevator according to claim 7 characterized by things.

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