WO2007029331A1 - エレベータの振動低減装置 - Google Patents
エレベータの振動低減装置 Download PDFInfo
- Publication number
- WO2007029331A1 WO2007029331A1 PCT/JP2005/016591 JP2005016591W WO2007029331A1 WO 2007029331 A1 WO2007029331 A1 WO 2007029331A1 JP 2005016591 W JP2005016591 W JP 2005016591W WO 2007029331 A1 WO2007029331 A1 WO 2007029331A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vibration
- car
- elevator
- acceleration sensor
- actuator
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/02—Guideways; Guides
- B66B7/04—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes
- B66B7/041—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes including active attenuation system for shocks, vibrations
- B66B7/042—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes including active attenuation system for shocks, vibrations with rollers, shoes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/02—Cages, i.e. cars
Definitions
- the present invention relates to an elevator vibration reducing device for reducing lateral vibration generated in a traveling elevator car.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2001-122555
- the actuator is provided in parallel with the spring of the guide portion, so that the damping capacity in the vibration mode in which the car room and the car frame vibrate in the same direction is Although it is high, the damping capacity in the vibration mode in which the car room and the car frame vibrate in opposite directions is not so high.
- the car frame hardly vibrates and the force room vibrates relatively large.
- a conventional device provided with an acceleration sensor only in the car can hardly reduce the vibration of the cab.
- typical disturbances that cause lateral vibration of the elevator car include guide rail machining errors and rail displacement excitation caused by installation errors.
- the frequency included in this rail displacement excitation disturbance is expressed as follows from the length L [m] of one guide rail and the elevator car's lifting speed [mZs]. Known.
- the present invention has been made in order to solve the above-described problems, and an object of the present invention is to provide an elevator vibration reduction device capable of obtaining sufficient vibration damping capability in a wider frequency band. To do.
- An elevator vibration reducing device includes a car frame acceleration sensor for detecting the horizontal acceleration of an elevator car frame, and a force lever for detecting the horizontal acceleration of an elevator car room.
- a room acceleration sensor an actuator installed in parallel with a spring that urges a guide roller mounted on the car frame against a guide rail installed in the hoistway, and generates vibration damping force for the elevator car, and a car frame acceleration sensor and car Based on the information of the room calorie velocity sensor force, a controller is provided for determining the damping force generated by the actuator and controlling the actuator.
- FIG. 1 is a front view showing a main part of an elevator apparatus according to Embodiment 1 of the present invention.
- FIG. 2 is a side view showing the roller guide device of FIG. 1.
- FIG. 3 is an explanatory diagram showing the relationship between the elevator car and the vibration reducing device of FIG. 1 as a two-inertia spring mass model.
- FIG. 4 is a block diagram showing a simplified model of FIG.
- FIG. 5 is a block diagram showing mass fluctuations in the cab of FIG. 1.
- FIG. 6 is a block diagram showing the rigidity variation of the vibration isolator shown in FIG.
- FIG. 7 is a Bode diagram showing the frequency transfer characteristics up to the acceleration of the cage force controlled by the actuator shown in FIG. 1.
- FIG. 8 is a Bode diagram showing characteristics of model error and sensitivity function.
- FIG. 9 is a block diagram showing a model error in a high frequency region.
- FIG. 10 is a Bode diagram showing the characteristics of the sensitivity function.
- FIG. 11 is a Bode diagram showing the acceleration disturbance force of the guide rail and the transfer characteristics up to the acceleration of the cab.
- FIG. 12 A Bode diagram showing the acceleration disturbance force of the guide rail and the transfer characteristic up to the acceleration of the cab when detecting the acceleration of only the car frame.
- FIG. 13 is an explanatory diagram showing a time history waveform of a force chamber when a guide rail disturbance is applied during high-speed traveling.
- FIG. 14 is a front view showing a vibration isolating member of an elevator vibration reducing device according to Embodiment 2 of the present invention.
- FIG. 1 is a front view showing a main part of an elevator apparatus according to Embodiment 1 of the present invention.
- a pair of guide rails 2 are installed in the hoistway 1.
- Each guide rail 2 is constituted by joining a plurality of rail members in the length direction.
- the guide rail 2 is connected to the hoistway wall la via a plurality of brackets 3.
- the elevator car 4 is guided up and down in the hoistway 1 by being guided by the guide rail 2.
- the elevator car 4 has a car frame 5 and a car room 6 supported inside the car frame 5.
- the car frame 5 includes an upper beam 5a, a lower beam 5b, and a pair of vertical columns 5c and 5d.
- a plurality of vibration isolating members 7 are interposed between the car room 6 and the lower beam 5b. That is, the car room 6 is supported on the lower beam 5b via the vibration isolating member 7.
- a plurality of steady rubbers 8 for preventing the cab 6 from falling are interposed between the side surface of the cab 6 and the vertical columns 5c and 5d.
- roller guide devices 9 that are engaged with the guide rails 2 and guide the raising and lowering of the elevator car 4 are mounted.
- the guider guide 9 mounted on the lower beam 5b is provided with an actuator 10 for generating a damping force for the elevator car 4.
- a car frame acceleration sensor 11 that generates a signal for detecting the horizontal acceleration of the car frame 5 is attached to the lower beam 5b.
- a cab acceleration sensor 12 that generates a signal for detecting the horizontal acceleration of the force cab 6 is attached to the bottom of the cab 6.
- a controller 13 that controls the actuator 10 is installed on the lower beam 5b.
- the controller 13 Based on information from the car frame acceleration sensor 11 and the car room acceleration sensor 12, the controller 13 obtains the damping force generated by the actuator 10. Specifically, acceleration signals are transmitted from the acceleration sensors 11 and 12 to the controller 13, and the damping force is calculated by the controller 13 based on these acceleration signals. Then, the calculation result is converted into a voltage signal by the controller 13 and transmitted to the actuator 10.
- the controller 13 is constituted by, for example, a microphone computer.
- the vibration reducing apparatus according to the first embodiment includes an actuator 10, acceleration sensors 11 and 12, and a controller 13.
- a plurality of main ropes 14 for suspending the elevator car 4 in the hoistway 1.
- the elevator car 4 is moved up and down in the hoistway 1 by the driving force of a driving device (not shown) via the main rope 14.
- FIG. 2 is a side view showing the roller guide device 9 of FIG.
- the roller guide device 9 includes a guide base 15 fixed to the lower beam 5b, a guide lever 17 that is swingably attached to the guide base 15 via a sliding shaft 16, and a rotating shaft 18
- the guide roller 19 is rotatably mounted through the guide roller 19, and the spring 20 biases the guide roller 19 toward the guide rail 2.
- the guide roller 19 is rolled on the guide rail 2 as the elevator car 4 moves up and down.
- an arm 21 is welded to the guide lever 17.
- the actuator 10 is provided between the guide base 15 and the arm 21 so as to be in parallel with the spring 20, and freely applies a biasing force of the guide roller 19 to the guide rail 2. Further, as the actuator 10, for example, an electromagnetic actuator is used.
- FIG. 3 is an explanatory diagram showing the relationship between the elevator car 4 of FIG. 1 and the vibration reducing device as a two-inertia spring mass model.
- a method for calculating the transfer characteristic from input to output in the controller 13 will be described.
- One of the purposes of the controller 13 is the displacement disturbance of the guide rail 2 X This is to reduce the response characteristic G of the cage 6x1 to zero.
- the H norm of G is defined by the following equation.
- Equation (2) shows the upper bound of the singular value of G, but it has 1 input / output xlxO as shown in Fig. 3.
- equation (2) is expressed by the following equation, and the maximum value of the Bode diagram gain is equal. This can be interpreted as the worst-case value of the normalized output energy when any energy comes in.
- the controller 13 since the oscillation state is caused if worse, the controller 13 must ensure stability.
- the mass of passengers who get in and out of cab 6 is about twice as large as in cab 6 when no load (when there are 0 passengers) and cab 6 when fully loaded (when full). There is a problem that it fluctuates greatly.
- it is one of the purposes of the controller 13 to ensure stability even when the mass variation of the force chamber 6 is large.
- FIG. 4 is an explanatory diagram showing the simplified model of FIG. 3 as a block diagram.
- the displacement disturbance ⁇ of guide rail 2 is given as rail acceleration disturbance 107 ( ⁇ ").
- block 101 is the mass parameter block of cab 6.
- Block 102 Is a mass parameter block of the car frame 5.
- a block 103a is a spring stiffness parameter block of the spring 20.
- a block 103b is a damping parameter block of the spring 20.
- a block 104a is a spring of the vibration isolation member 7. Stiffness parameter block, block 104b is a vibration isolator 7 is an attenuation parameter block.
- a block 113 is a characteristic block of the controller 13.
- Block 120 is an integration element, and block 121 is an adder.
- the mass parameter block 101 of the cab 6 is replaced with a feedback form as shown in FIG.
- the block 101a is a center of mass parameter block.
- Block 101b is a variable parameter block.
- Block 101c is a perturbation parameter block.
- Block lOld is an adder. For such a perturbation of the cab mass ⁇ , the sufficient condition for the stability of the system shown in Figs.
- G is when the output terminal of the perturbation parameter block 101c is disconnected in FIG.
- a block 104c is a stiffness center value parameter block of the vibration isolation member 7.
- Block 104d is a variation parameter block.
- Block 104e is a perturbation parameter block.
- Block 104f is an adder. Perturbation of such a vibration isolator stiffness ⁇
- an actual elevator includes other elastic elements.
- the rigidity of the members constituting the force chamber 6 is insufficient
- the rigidity of the member (not shown) for attaching the cage acceleration sensor 12 to the force chamber 6 is insufficient
- the bolt for attaching the member to the cage 6 Insufficient rigidity
- insufficient rigidity of the members constituting the car frame 5 insufficient rigidity of a member (not shown) for attaching the car frame acceleration sensor 11 to the car frame 5
- a bolt for attaching the member and the car frame 5 There are vibration modes due to lack of rigidity.
- FIG. 7 is a Bode diagram showing the frequency transfer characteristic up to the acceleration of the car frame 5 as well as the control force and force which are supported by the actuator 10 of FIG.
- the solid line is the simplified line shown in Fig. 3.
- the transfer characteristics of the easy model are shown.
- the broken line shows the transmission characteristics in an actual elevator.
- the transfer characteristics of the simple model and the transfer characteristics of the actual machine are almost the same in the low frequency range, but errors occur in the high frequency range. This error is caused by many vibration modes that can be modeled as described above.
- the frequency characteristic of the multiplicative error ⁇ is as shown by the broken line in FIG.
- ⁇ is a perturbation element satisfying I ⁇ I ⁇ 1.
- G is the transfer function defined at the force chamber acceleration end defined as in Fig. 9, ⁇
- the specifications required for the controller 13 are the design target equations (6), (8), (10) for the perturbations ⁇ ⁇ ⁇ , ⁇ , ⁇ , ⁇ caused by parameter variations and model errors.
- ⁇ is a perturbation element ⁇ ⁇ ⁇ , ⁇ , ⁇ , ⁇ is a matrix with diagonal components
- ⁇ is the design ml kl sl s2 V
- the actual design of the controller 13 is not limited to the design target equations (6), (8), (10), (11), and (12) for reasons such as satisfying mathematical solvability conditions.
- the parameter fluctuation conditions include, for example, the mass fluctuation of the car frame 5, the rigidity fluctuation of the spring 20, and the damping of the vibration isolating member 7 and the spring 20. Variations may be taken into account. The idea in that case is the same as above, and can be handled within the framework of structured singular values.
- the modeling error sl s2 is about 10 times as shown in the figure.
- Fig. 11 shows the transmission characteristics up to the acceleration disturbance ⁇ "force of the guide rail 2 and the acceleration xl" of the cage.
- the solid line shows the characteristics when the controller 13 designed to satisfy Equation (14) is applied (Formula (Equal to G in (12)), the broken line shows the characteristics when controller 13 is not used.
- FIG. 11 shows the case where the rigidity of the vibration isolator 7 is changed in five steps from the assumed minimum value force to the maximum value.
- the controller 13 by applying the controller 13, even if the rigidity of the vibration isolating member 7 fluctuates, a stable and high disturbance suppressing performance is achieved.
- FIG. 12 shows the transfer characteristics when the acceleration of only the car frame 5 is detected as in the conventional case.
- the solid line indicates no control and the broken line indicates control. Since there is an unobservable frequency in the vicinity of the secondary vibration mode, the force that suppresses the primary vibration well, the secondary vibration can hardly be suppressed. Even in the case where the acceleration sensor 11 is provided only in the car frame 5, if the design based on the structured singular value described above is performed, even better vibration suppression performance can be obtained. However, this is the case where there is no fluctuation in rigidity of the vibration isolator member 7 and mass fluctuation in the force chamber 6, and when these parameter variations are taken into account, if the acceleration sensor 12 is not provided in the force chamber 6, vibration will occur. Suppression performance falls extremely.
- FIG. 13 shows a time history waveform of the cab 6 when a guide rail disturbance is actually applied during traveling at a maximum speed of 1000 [m / min] or higher.
- the upper part of Fig. 13 shows the acceleration waveform of the cab 6 when not controlled.
- the middle part of FIG. 13 shows the acceleration waveform of the car room 6 when the conventional control using the acceleration of only the car frame 5 is performed.
- the lower row shows the acceleration waveform of the cab 6 when the control according to the first embodiment is performed.
- the rigidity of the spring 20 and the vibration isolating member 7 is determined not only by the viewpoint of reducing the vibration but also by the viewpoint of the support mechanism for supporting the force frame 5 and the force chamber 6 that are not limited by the force. I can't do it.
- the vibration isolator 7 needs to support the force cab 6 in the vertical direction against passengers getting on and off, a certain degree of rigidity in the vertical direction is required.
- a laminated rubber in which a plurality of rubber portions 41 and a plurality of steel plate portions 42 are alternately laminated is used as the vibration isolating member 7.
- the rigidity of the vibration isolator 7 is high in the compression direction but relatively low in the shear direction. Therefore, the vibration isolator 7 has a high vertical rigidity and a low horizontal rigidity, and the frequency of the mode in which the vibration isolator 7 becomes a vibration antinode does not reach the model error region.
- high vibration suppression performance can be obtained with the control method shown in the first embodiment. Can do.
- the force actuator provided with the actuator 10 only in the lower part of the car frame 5 may be provided only in the upper and lower roller guide devices of the car frame or only in the upper roller guide device. Good.
- the rubber part 41 and the steel plate part 42 are combined as the material of the vibration isolating member 7, but the horizontal rigidity of the vibration isolating member is not limited to rubber and steel plate. Two or more kinds of other materials having different rigidity may be appropriately selected and laminated so as to be smaller than the rigidity.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Cage And Drive Apparatuses For Elevators (AREA)
- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
- Elevator Control (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2005/016591 WO2007029331A1 (ja) | 2005-09-09 | 2005-09-09 | エレベータの振動低減装置 |
US11/917,779 US7828122B2 (en) | 2005-09-09 | 2005-09-09 | Vibration damping device for an elevator |
KR1020087002648A KR100970541B1 (ko) | 2005-09-09 | 2005-09-09 | 엘리베이터의 진동 저감 장치 |
CN2005800511538A CN101228084B (zh) | 2005-09-09 | 2005-09-09 | 电梯的减振装置 |
JP2007534225A JP4810539B2 (ja) | 2005-09-09 | 2005-09-09 | エレベータの振動低減装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2005/016591 WO2007029331A1 (ja) | 2005-09-09 | 2005-09-09 | エレベータの振動低減装置 |
Publications (1)
Publication Number | Publication Date |
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WO2007029331A1 true WO2007029331A1 (ja) | 2007-03-15 |
Family
ID=37835468
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/016591 WO2007029331A1 (ja) | 2005-09-09 | 2005-09-09 | エレベータの振動低減装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7828122B2 (ja) |
JP (1) | JP4810539B2 (ja) |
KR (1) | KR100970541B1 (ja) |
CN (1) | CN101228084B (ja) |
WO (1) | WO2007029331A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10501287B2 (en) | 2014-12-17 | 2019-12-10 | Inventio Ag | Damper unit for an elevator |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101528577B (zh) * | 2006-12-13 | 2011-09-07 | 三菱电机株式会社 | 电梯装置 |
KR200466509Y1 (ko) | 2011-04-28 | 2013-04-19 | 현대엘리베이터주식회사 | 엘리베이터의 종진동 제어장치 |
CN103122967B (zh) * | 2013-02-05 | 2017-07-14 | 浙江埃克森电梯有限公司 | 客梯主机减震装置 |
CN105645213A (zh) * | 2016-03-25 | 2016-06-08 | 李为民 | 一种平稳升降机构 |
JP2018052668A (ja) * | 2016-09-28 | 2018-04-05 | 株式会社日立製作所 | 制振装置を備えたエレベータ |
CN108249260A (zh) * | 2016-12-29 | 2018-07-06 | 通力股份公司 | 电梯 |
CN113979267B (zh) * | 2021-10-26 | 2023-11-24 | 日立楼宇技术(广州)有限公司 | 电梯控制方法、装置、电梯控制器和存储介质 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05319739A (ja) * | 1992-05-20 | 1993-12-03 | Mitsubishi Electric Corp | エレベータの制振装置 |
JPH0840673A (ja) * | 1994-07-28 | 1996-02-13 | Hitachi Ltd | エレベータ用乗りかご |
JP2001122555A (ja) * | 1999-10-22 | 2001-05-08 | Mitsubishi Electric Corp | エレベータ装置及びエレベータ装置のガイド装置 |
JP2002128396A (ja) * | 2000-10-23 | 2002-05-09 | Inventio Ag | エレベータかごの振動を補償する方法およびシステム |
JP2003104655A (ja) * | 2001-09-27 | 2003-04-09 | Mitsubishi Electric Corp | エレベータ装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
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DE69328036T2 (de) * | 1993-10-07 | 2000-08-31 | Toshiba Kawasaki Kk | Schwingungsdämpfende vorrichtung für aufzüge |
US6065569A (en) * | 1998-12-24 | 2000-05-23 | United Technologies Corporation | Virtually active elevator hitch |
US6305502B1 (en) * | 1999-12-21 | 2001-10-23 | Otis Elevator Company | Elevator cab floor acceleration control system |
JP2002356287A (ja) * | 2001-05-31 | 2002-12-10 | Mitsubishi Electric Corp | エレベータの制振装置 |
JP4413505B2 (ja) * | 2002-03-07 | 2010-02-10 | インベンテイオ・アクテイエンゲゼルシヤフト | エレベータケージの振動を減衰させるための装置 |
SG112944A1 (en) * | 2003-12-22 | 2005-07-28 | Inventio Ag | Equipment for vibration damping of a lift cage |
-
2005
- 2005-09-09 JP JP2007534225A patent/JP4810539B2/ja active Active
- 2005-09-09 KR KR1020087002648A patent/KR100970541B1/ko active IP Right Grant
- 2005-09-09 WO PCT/JP2005/016591 patent/WO2007029331A1/ja active Application Filing
- 2005-09-09 CN CN2005800511538A patent/CN101228084B/zh active Active
- 2005-09-09 US US11/917,779 patent/US7828122B2/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05319739A (ja) * | 1992-05-20 | 1993-12-03 | Mitsubishi Electric Corp | エレベータの制振装置 |
JPH0840673A (ja) * | 1994-07-28 | 1996-02-13 | Hitachi Ltd | エレベータ用乗りかご |
JP2001122555A (ja) * | 1999-10-22 | 2001-05-08 | Mitsubishi Electric Corp | エレベータ装置及びエレベータ装置のガイド装置 |
JP2002128396A (ja) * | 2000-10-23 | 2002-05-09 | Inventio Ag | エレベータかごの振動を補償する方法およびシステム |
JP2003104655A (ja) * | 2001-09-27 | 2003-04-09 | Mitsubishi Electric Corp | エレベータ装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10501287B2 (en) | 2014-12-17 | 2019-12-10 | Inventio Ag | Damper unit for an elevator |
Also Published As
Publication number | Publication date |
---|---|
CN101228084B (zh) | 2011-08-17 |
US7828122B2 (en) | 2010-11-09 |
KR100970541B1 (ko) | 2010-07-16 |
KR20080033326A (ko) | 2008-04-16 |
US20090026674A1 (en) | 2009-01-29 |
JP4810539B2 (ja) | 2011-11-09 |
CN101228084A (zh) | 2008-07-23 |
JPWO2007029331A1 (ja) | 2009-03-12 |
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