KR100336357B1 - Vibration control method in arriving in hydraulic elevator - Google Patents

Abstract

The present invention relates to a vibration suppression method when the hydraulic elevator is implanted. Conventionally, when the motor current is cut off in a state in which the load compensation is incorrect in the landing mode and the check valve is not completely closed, oil flows out into a fine gap of the check valve and the car descends. There was a problem that vibration occurs. Therefore, the present invention includes a first step of performing a load compensation operation when a car start command occurs; A second step of converting to a driving mode to generate a car speed command value when the load compensation operation is completed in the first step, calculating a car speed error and a motor speed error, and driving the motor with the motor current command value accordingly; A third step of performing a clamp mode for outputting a final torque current value during a load compensation operation when a car stop command is generated; A fourth step of decelerating the final torque current value during the load compensation operation in a plurality of steps by a predetermined value after a predetermined time in the third step and outputting a corresponding torque current value for a predetermined time; While outputting while decelerating the torque current value of the fourth step by a predetermined value, when the torque current value is less than '0', the fifth step of stopping the motor is performed. Even when open, by slowly reducing the motor current, vibration generated when the check valve is completely closed can be reduced.

Description

VIBRATION CONTROL METHOD IN ARRIVING IN HYDRAULIC ELEVATOR}

The present invention relates to a vibration suppression method when the hydraulic elevator is implanted, and in particular, even when the check valve is opened due to incorrect load compensation in the car landing mode, the torque current is gradually reduced to reduce the vibration generated when the check valve is closed. The present invention relates to a vibration suppression method when the hydraulic elevator is implanted.

In general, the hydraulic elevator is a phenomenon such as the deviation of the running speed due to the characteristic change of the flow control valve according to the cargo load variation of the carrier, the delay of the operating time, the vibration and impact when starting and landing, such as the hydraulic elevator It will be described in detail with reference to one drawing.

Fig. 1 is a schematic view showing a configuration of a general hydraulic elevator, in which an inverter 2 receiving a three-phase 380V 60 Hz power source 1 and a control panel 3 for controlling the inverter 2 are connected to each other by a signal line. In and out of the inverter (2), the power line is connected to the hydraulic motor in the power unit (4), the two power lines are hydraulic pressure through the HALL-CT (5) for the current control of the inverter (2) It is connected to the motor (7).

About two thirds of the oil is filled in the power unit 4, and the hydraulic motor 7 shaft and the hydraulic pump 8 are connected to the oil to rotate.

In addition, a hydraulic motor side rotary encoder 6 is mounted behind the hydraulic motor 7 so that rotation of the hydraulic motor 7 can be detected, and the hydraulic motor 7 and the hydraulic pump 8 have a power unit 4. ) It is fixed to the floor and cannot move.

The upper portion of the hydraulic pump 8 is connected to the check valve 10 fixed to the upper portion of the power unit 4 by a metal tube and pressure sensors 9 and 11 on both sides of the check valve 10. Can be connected one by one to sense the pressure on both sides of the pipe.

A hydraulic hose 12 is connected between the check valve 10 and the cylinder 14 so that oil can flow through the hydraulic hose 12.

The cylinder 14 has a jack 15 so that the oil is introduced into the cylinder 14, the jack 15 is moved up and down, the jack side pulley 13 is fixed to the upper portion of the jack 15 Jack side pulley 13 is a rope 19 is connected, one end of the rope 19 is fixed to the ground and the other is suspended from the car 16.

On the opposite side of the car 16, the governor rope 20 is fixed, and the upper and lower parts of the governor rope 20 have pulleys, so when the car 16 moves, the governor rope 20 also moves. I can move it.

The lower end of the rope 19 has a governor 18 and the car side rotary encoder 17 is attached to the governor 18 to detect the movement of the car.

Here, the operation of the conventional apparatus configured as described above will be described.

First, when the car rises, the three-phase 380V is converted into a DC power source from the inverter 2, and then converted into a desired AC power source again.

At this time, the converted AC power is applied to the hydraulic motor 7 in the power unit 4 to rotate the hydraulic motor 7 gradually, thereby rotating the hydraulic pump 8 to increase the pressure of the metal pipe. .

Therefore, the cylinder 14 side pressure value is detected by the cylinder side pressure sensor 11, and accordingly the hydraulic motor 7 is driven by the control panel 2, so that the cylinder side pressure and the pump side pressure sensors 9, 11 are reduced. Control so that the detected pressure value is the same.

At this time, when the cylinder-side pressure and the pump-side pressure are the same, the check valve 10 is opened and the hydraulic motor 7 is further accelerated to push oil into the hose. This series of processes is referred to as load compensation operation.

If the load compensation movement is not performed as described above, the pressure difference between the pump side and the cylinder side is large when the check valve 10 is opened, and the car 16 is severely shaken to shock the passenger.

After performing the load compensation operation as described above, the hydraulic motor 7 continues to drive to the rated speed, in which the oil is introduced into the cylinder 14 through the hose 12 and the oil introduced into the cylinder 14. The jack 15 is pushed out and the pulley 13 on the top of the jack 15 is pushed up to push the rope 19, and the car 16 is moved upward.

On the contrary, when the car descends, the hydraulic motor 7 is rotated as in the case of ascending to make the pressure in the pump equal to the pressure on the cylinder side, and then the check valve 10 is opened so that the pump pressure becomes smaller than the cylinder pressure. Slowly decreasing the rotational speed of the motor 7 causes the oil in the cylinder 14 to flow into the power unit 4 through the hydraulic pump 8 due to the pressure difference, so that the jack 15 on the cylinder 14 When the jack 15 descends, the pulley 13 descends and the car 16 descends.

2 is a waveform diagram according to the motor current until the stop after the normal driving of the car 16 and the resulting ride comfort. The car 16 enters the landing operation mode after the normal driving and the car 16 stops. In addition, the hydraulic motor 7 continues to rotate to compensate for the load, and closes the check valve 10 in that state, and then the hydraulic motor 7 is stopped.

In this case, when the motor current is interrupted in a state in which the load compensation is incorrectly performed in the conception mode and the check valve 10 is not completely closed, oil is drawn out into a fine gap of the check valve 10 so that the check valve 10 is completely closed. Until the car 16 stops, causing a shock.

That is, the prior art as described above has a problem in that when the motor current is cut off in a state in which the load compensation is incorrect in the concept of the check mode and the check valve is not completely closed, oil is leaked into a fine gap of the check valve and the shock is greatly generated as the car descends.

Therefore, the present invention devised in view of the above problems is to reduce the vibration generated when the check valve is closed by gradually reducing the torque current even when the check valve is opened due to incorrect load compensation in the car landing mode hydraulic elevator The purpose is to provide a vibration suppression method when implanting.

1 is a schematic view showing the configuration of a general hydraulic elevator.

Figure 2 is a waveform diagram according to the motor current until the stop after the normal driving of the conventional hydraulic elevator, and according to the ride comfort.

Figure 3 is a hydraulic control system diagram applied vibration suppression method when the invention of the hydraulic elevator.

Figure 4 is a block diagram showing the configuration of a hydraulic control device to which the vibration suppression method when the invention of the hydraulic elevator is applied.

Figure 5 is a flow chart for operating the vibration suppression method when the invention of the hydraulic elevator.

Figure 6 is a waveform diagram of an embodiment of the motor current and thereby riding comfort according to the vibration suppression method when the hydraulic elevator of the present invention.

Figure 7 is a waveform diagram of another embodiment of the motor current and thereby riding comfort by the vibration suppression method when the hydraulic elevator of the present invention.

***** Description of the symbols for the main parts of the drawings *****

1: hydraulic cylinder 2: rupture valve

3: hose 4: shut off valve

5: damper 6: hydraulic pump

7: hydraulic motor 8: encoder

9: oil tank 10: oil gauge

11: level switch 12: first temperature sensor

13: second temperature sensor 14: oil cooler

15: hand pump 16: pressure gauge

17 gauge shutoff valve 18 cylinder pressure sensor

19: Tank side pressure sensor 20: Pressure drop for manual lowering

21: Manual / Automatic Lowering Valve 22: Closed Control Valve

23: emergency control valve 24: open solenoid valve

25: closed solenoid valve 26: check valve

27: relief valve 28,30: pilot relief valve

29: oil temperature control valve 31: anti-cavitation valve

The present invention for achieving the above object comprises a first step of performing a load compensation operation when a car start command occurs; A second step of converting to a driving mode to generate a car speed command value when the load compensation operation is completed in the first step, calculating a car speed error and a motor speed error, and driving the motor with the motor current command value accordingly; A third step of performing a clamp mode for outputting a final torque current value during a load compensation operation when a car stop command is generated; A fourth step of decelerating the final torque current value during the load compensation operation in a plurality of steps by a predetermined value after a predetermined time in the third step and outputting a corresponding torque current value for a predetermined time; While outputting while decelerating the torque current value of the fourth step by a predetermined value, it is performed as a fifth step of stopping the motor when the torque current value is smaller than '0'.

Hereinafter, with reference to the accompanying drawings, the operation and effects of the vibration suppression method during the implantation of the hydraulic elevator according to the present invention will be described in detail.

3 is a hydraulic control system diagram of an embodiment to which the vibration suppression method of the present invention is applied to a hydraulic elevator. As shown in FIG. 3, the hydraulic control system moves in the vertical direction by hydraulic fluctuations according to forward / reverse rotation of the hydraulic motor 7 described below. A hydraulic cylinder 1 for driving the elevator car; A hydraulic pump 6 rotating in the forward direction by the hydraulic motor 7 to pump oil to the hydraulic cylinder 1 side through the hydraulic pipe, or rotating in the reverse direction to discharge oil; An encoder (8) for detecting the rotational speed of the hydraulic motor; An oil tank 9 in which the hydraulic pump 6, the hydraulic motor 7 and the encoder 8 are installed, and oil is stored; A check valve 26 installed on a hydraulic pipe connecting the hydraulic cylinder 1 and the oil tank 9 to control oil flow from the oil tank 9 to the hydraulic cylinder 1 side or vice versa; ; A closing control valve 22 and an open solenoid valve 24 installed on a pilot pipe line to control the valve 26 so that oil flows from the oil tank 9 to the hydraulic cylinder 1 side or the opposite direction as described above. ) And a closed solenoid valve 25; A relief valve 27 for preventing the pressure in the oil pressure line of the oil tank 9 from rising above a predetermined value or adjusting the oil temperature of the oil tank 9; It comprises a pilot relief valve 28, 30 and the oil temperature control valve 29 for controlling the flow of oil in conjunction with the relief valve (27).

FIG. 5 is a flowchart illustrating a method of suppressing vibration when implanting a hydraulic elevator according to the present invention, and as shown therein, a first step of performing a load compensation operation when a car starting command is generated; In the first step, when the load compensation operation is completed, a second step of converting to a driving mode to generate a car speed command value, calculating a car speed error and a motor speed error, and driving the motor 7 with the motor current command value accordingly; ; Performing a clamp mode for outputting a final torque current value during a load compensation operation for a predetermined time when a car stop command is generated; A fourth step of decelerating the final torque current value during the load compensation operation in a plurality of steps by a predetermined value after a predetermined time in the third step and outputting a corresponding torque current value for a predetermined time; While outputting while decelerating the torque current value of the fourth step by a predetermined value, when the torque current value is smaller than '0', a fifth step of stopping the motor 7 is performed. It demonstrates in parallel with FIG.

First, referring to FIG. 4, a process in which the motor 7 is driven will be described. The input three-phase AC power supply 32 passes through the reactor 32-1 and is controlled by the pulse width modulation controller 35. It is stepped up at 33 and is converted to DC power and then charged in the capacitor C. The capacitor C supplies a DC voltage to an input terminal of the inverter 34, and the inverter 34 is driven by the pulse width modulation control unit 35 so that the driving AC power in the forward or reverse direction is supplied to the hydraulic motor 7. The elevator car 38 is supplied accordingly to carry out an up or down operation.

When driving up, after checking the safety of each part of the system through the safety circuit (not shown) in the normal driving mode, it is confirmed that there is no problem in safety and the call signal is sent by the passenger waiting in the platform or the passenger in the car. When registered, the driving of the hydraulic motor 7 is controlled through the above path under the common control of the driving control unit 37 and the speed control unit 36 to drive the car 38 in the up or down direction.

In this case, the operation control unit 37 and the speed control unit 36 share data through a dual port RAM (not shown).

Here, when an ascending call to any floor is registered, the closing control valve 22 is driven by the common control of the operation control unit 37 and the speed control unit 36 to check the valve 26 and the open solenoid valve 24. ) And the pilot pipe through the closing control valve 22 is opened, and the hydraulic motor 7 is rotated in a predetermined speed pattern by the common control of the operation control unit 37 and the speed control unit 36.

Therefore, the hydraulic pump 6 is driven to raise the hydraulic pressure of the hydraulic pump 6 side pipeline on the hydraulic pipeline so that the check valve 26 is opened, whereby the oil pumped from the oil tank 9 is hydraulic. After the check valve 26 on the pipeline, the damper 5, the shutoff valve 4, and the rupture valve 2 are supplied to the cylinder 1 side to raise the piston, whereby the car 38 is formed on the target floor. Drive up toward.

On the contrary, when the falling call to any floor is registered during the falling operation, the closing control valve 22, the opening solenoid valve 24 and the closing solenoid valve are controlled by the common control of the driving control unit 37 and the speed control unit 36. (25) is driven, the closing control valve 22 and the closing solenoid valve 25 are opened, and the opening solenoid valve 24 is closed. As a result, the pilot pipe through the check solenoid valve 25 from the check valve 26 is opened. At this time, the hydraulic motor (3) has a predetermined speed pattern by the common control of the operation control unit 37 and the speed control unit 36. 7) is reversed.

Therefore, as the oil of the cylinder 1 is discharged in the reverse direction, the piston is lowered, whereby the car 38 is driven downward toward the target floor.

At this time, when the car 38 reaches the target floor during the rising or falling operation, the hydraulic motor 7 is stopped after switching to the landing operation mode. In the present invention, the check valve 26 is incorrectly compensated for the load in the landing mode. Even when is open, the current is gradually reduced to control the shock to be reduced when the check valve 26 is closed, which will be described with reference to the operation flowchart of FIG.

First, when the car 38 start command is generated, load compensation operation is performed. That is, a predetermined value is added to the final torque current value at the time of the previous load compensation to increase the torque current by a certain amount, and output the torque current increased by the predetermined amount. When the cylinder pressure and pump pressure are the same, the torque current at that time is maintained for a certain time and output.

When the torque current is increased in the above, a predetermined value is increased and applied to the previous torque current, that is, the torque current value used for the load compensation at the previous start is stored in the memory in advance, and the load compensation is used to obtain more load compensation. It can be done quickly.

Then, when the load compensation operation is completed, the operation mode is changed to a car speed command value, and the car speed error and motor speed error are calculated by comparing the car speed command value with the actual motor speed, and the hydraulic current is converted into the motor current command value accordingly. The motor 7 is driven.

Then, when the car stop command is generated, the clamp mode is output for a predetermined time to output the final torque current value during the load compensation operation. After a predetermined time, the final torque current value during the load compensation operation is decelerated by a predetermined value in multiple steps. The torque current value is output again for a certain time.

Then, while outputting while linearly decelerating the torque current value reduced in the multi-stage by a predetermined value, the hydraulic motor 7 is stopped when the torque current value is smaller than '0'.

By controlling as described above, the shock caused by wrong load compensation at the time of implantation is reduced, that is, as shown in FIG.

FIG. 7 is a waveform diagram showing another embodiment of the vibration suppression method of the hydraulic elevator according to the present invention. Unlike FIG. 6, the motor current is output during constant time load compensation without deceleration in multiple steps in the clamp mode. To reduce the shock by stopping the hydraulic motor 7 linearly.

As described in detail above, the present invention has an effect of reducing vibration generated when the check valve is completely closed by gradually decreasing the motor current even when the check valve is opened due to incorrect load compensation in the car's landing mode.

Claims (4)

A first step of performing load compensation operation when a car start command occurs; A second step of converting to a driving mode to generate a car speed command value when the load compensation operation is completed in the first step, calculating a car speed error and a motor speed error, and driving the motor with the motor current command value accordingly; A third step of performing a clamp mode for outputting a final torque current value during a load compensation operation when a car stop command is generated; A fourth step of decelerating the final torque current value during the load compensation operation in a plurality of steps by a predetermined value after a predetermined time in the third step and outputting a corresponding torque current value for a predetermined time; Outputting while decelerating the torque current value of the fourth step by a predetermined value, and performing the fifth step of stopping the motor when the torque current value is smaller than '0'. The method of claim 1, wherein the first step includes: adding a predetermined value to a final torque current value at the time of last load compensation to increase the torque current by a predetermined amount; And outputting the torque current increased by a certain amount so that the cylinder pressure and the pump pressure are equal to each other, maintaining the torque current at a certain time and outputting the same. A first step of performing a load compensation operation such that the cylinder pressure and the pump pressure are equal by increasing the torque current when the car starting command is generated; A second step of converting to a driving mode to generate a car speed command value when the load compensation operation is completed in the first step, calculating a car speed error and a motor speed error, and driving the motor with the motor current command value accordingly; A third step of performing a clamp mode for outputting a final torque current value during a load compensation operation when a car stop command is generated; After the predetermined time has elapsed in the third step, the final torque current value during the load compensation operation is reduced by a predetermined value and outputted. When the torque current value is smaller than '0', the fourth step of stopping the motor is performed. Vibration suppression method when the hydraulic elevator is implanted. 4. The method of claim 3, wherein the first step includes: adding a predetermined value to the final torque current value at the time of last load compensation to increase the torque current by a predetermined amount; And outputting the torque current increased by a certain amount so that the cylinder pressure and the pump pressure are equal to each other, thereby maintaining and outputting the torque current at a certain time.