WO2007125781A1

WO2007125781A1 - Damper

Info

Publication number: WO2007125781A1
Application number: PCT/JP2007/058332
Authority: WO
Inventors: Masaaki Hirai; Yosuke Murao
Original assignee: Toshiba Elevator Kabushiki Kaisha
Priority date: 2006-04-28
Filing date: 2007-04-17
Publication date: 2007-11-08
Also published as: CN101432214A; JP2007297179A

Abstract

A load signal (S2) outputted from a load sensor (19) installed in an elevator car (14) is passed through a highpass filter (24) to acquire a vibration signal (S3) of the elevator car (14). A phase control section (25) generates a dumping signal (S4) by imparting a phase variation corresponding to the length of the rope (13) between the hoist (11) and the elevator car (14) to the vibration signal (S3). A gain multiplying section (26) multiplies the dumping signal (S4) by a predetermined gain, adds the product to a torque command signal (S1), and gives the resultant signal to the hoist (11). Thus, the rope (13) is swung by the torque control of the hoist (11), and the vibration component of the elevator car (14) is reduced.

Description

Specification

Vibration control device

Technical field

TECHNICAL FIELD [0001] The present invention relates to a vibration damping device, and more particularly, to a vibration damping device suitable for a case where the lifting force of an elevator also reduces vibrations transmitted to a car via a rope.

Background art

[0002] An elevator car moves up and down in a hoistway via a rope wound around a lifting machine. At that time, vibrations generated when the lifting machine rotates may be transmitted to the car via the rope, causing discomfort to passengers in the car.

[0003] As a method for reducing such vibration generated when the car is moving, for example, an active type vibration damping device as disclosed in Patent Document 1 is known. This vibration control device is attached to an object to be controlled, and generates vibration having a phase opposite to that of the object to control the vibration. In particular, an anti-vibration device that generates vibration by driving a weight made of magnetic material with an electromagnet is called "AMD (Active Mass Damper)".

[0004] When such a vibration damping device is applied to an elevator, a vibration damping device and a vibration sensor are installed on the passenger car, the vibration of the passenger car is detected by the vibration sensor, and based on the vibration signal. When a vibration damping force is applied to the car itself by driving and controlling the vibration isolator, the configuration is as follows. Patent Document 1: Japanese Unexamined Patent Publication No. 2000-234646

Disclosure of the invention

However, in the method of reducing the vibration of the object using the vibration damping device as described above, it is necessary to install the vibration damping device on the vibration damping target. In addition, there is another problem when the increase in the number of parts, tl, is accompanied by a cost.

[0006] In particular, in an elevator, since the car that is the object of vibration control moves in the hoistway, vibration characteristics that vary depending on the position of the car are required for vibration control using the vibration control device. Considering this, there are problems such as requiring complex control design in advance.

[0007] An object of the present invention is to provide a vibration damping device capable of efficiently reducing the vibration of a vibration suppression target without attaching special devices for vibration suppression to the vibration suppression target. [0008] A vibration damping device according to an aspect of the present invention includes a hoisting machine, a car that moves in a hoistway via a rope wound around the hoisting machine, and vibrations that occur when the car is moved. A vibration detecting means for detecting a vibration, and a vibration signal detected by the vibration detecting means is provided with a phase shift corresponding to a rope length between the hoisting machine and the riding car to generate a vibration suppression signal. Phase control means, and a drive control means for controlling the torque of the hoisting machine so as to reduce the vibration of the car based on the vibration control signal generated by the phase control means.

Brief Description of Drawings

FIG. 1 is a diagram showing a configuration when a vibration damping device according to a first embodiment of the present invention is applied to an elevator.

FIG. 2 is a diagram showing the relationship between the position of the car and the relationship between the load acting on the rope in the embodiment.

FIG. 3 is a view showing a load waveform including a vibration component of a car in the embodiment.

[FIG. 4] FIG. 4 is a diagram showing the waveform of the vibration component in which the load waveform force of the car in the embodiment is also extracted.

FIG. 5 is a view for explaining a phase shift of a car vibration signal in the embodiment.

[FIG. 6] FIG. 6 is a diagram showing a phase difference (time delay) until a rope swaying due to the vibration control motion of the hoisting machine reaches the car in the embodiment.

[FIG. 7] FIG. 7 is a diagram showing an optimum phase shift amount (time delay amount) of the vibration suppression signal given to the lifting machine in the embodiment.

FIG. 8 is a diagram showing a configuration when the vibration damping device according to the second embodiment of the present invention is applied to an elevator.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0011] (First embodiment)

FIG. 1 shows a configuration when the vibration damping device according to the first embodiment of the present invention is applied to an elevator. FIG.

[0012] The elevator includes a hoisting machine 11 installed in an appropriate place such as a machine room provided on the top floor of a building as a drive source. A main sheave 12 is attached to the rotary shaft 11a of the hoisting machine 11, and a rope 13 is wound around the main sheave 12. A cage 14 is connected to one end of the rope 13, and a count weight 15 is connected to the other end of the rope 13 via a deflecting sheave 16.

[0013] The passenger car 14 and the count weight 15 are supported by a pair of guide rails (only one side is shown here) 17 and 18 provided upright in the hoistway via a guide shoe. In addition, the car 14 and the count weight 15 move up and down in a slidable manner via the rope 13 as the main sheave 12 rotates.

The car 14 is provided with a load sensor 19 in the vicinity of a connecting portion between a car room 14 a for carrying passengers and the rope 13. Further, a tail cord 20 for transmitting / receiving signals to / from an elevator control device 21 installed in the machine room is attached to the bottom of the car 14.

The elevator control device 21 controls the entire elevator including the operation control of the car 14. The elevator control device 21 is configured by a general-purpose computer including a CPU, a ROM, a RAM, and the like, and executes various processes according to programs stored in the ROM. The program includes a vibration suppression program for realizing the present invention.

In such a configuration, during operation of the elevator, a torque command signal is output from the elevator control device 21, and the hoisting machine 11 is driven in accordance with the torque command signal.卷 When the upper machine 11 is driven, the main sheave 12 attached to the rotary shaft 11a rotates, and the car 14 moves up and down in the opposite direction together with the count weight 15 via the rope 13 wound around the main sheave 12. Move in the street. At that time, the vibration force generated when the hoisting machine 11 rotates is transmitted to the car 14 via the S-rope 13, and the car 14 may be shaken to give a passenger discomfort in the car room 14a.

In the present embodiment, the elevator control device 21 is provided with a function as a vibration control device in order to reduce the vibration generated when the car 14 moves. The following The vibration control function of the elevator control device 21 will be described.

[0018] The elevator control device 21 includes a speed control unit 22 and a car position detection unit 23, and as components for realizing a vibration control function, a no-pass filter 24, a phase control unit 25, and a gain multiplication. Part 26 and addition part 27.

[0019] The speed control unit 22 generates a torque command signal S1 for controlling the operation speed of the car 14. The car position detector 23 detects the position of the car 14. As a method of detecting the car position by the car position detector 23, for example, a rotation detector such as a pulse generator is installed on the rotary shaft 11a of the lifting machine 11, and a pulse signal output from the rotation detector is used. A method such as counting is used.

The no-pass filter 24 is used as vibration detecting means for detecting the vibration of the car 14. The high pass filter 24 cuts a low frequency component equal to or lower than a predetermined frequency included in the load signal S2 output from the load sensor 19, and generates a high frequency component of the load signal S2 as a vibration signal S3. Output to.

[0021] The phase control unit 25 determines the length of the rope 13 between the lifting machine 11 and the car 14 obtained based on the detection result of the car position detection unit 23 with respect to the vibration signal S3. A signal S4 for vibration suppression is generated by giving a corresponding phase shift.

The gain multiplication unit 26 multiplies the vibration suppression signal S4 generated by the phase control unit 25 by a predetermined gain, and outputs the result to the addition unit 27. The adding unit 27 adds a vibration-adjusted signal S5 after gain adjustment to the torque command signal S1 generated by the speed control unit 22, thereby

The final torque command signal S6 given to 11 is generated.

Next, processing operations relating to the vibration damping function of the elevator control device 21 will be described in detail.

[0024] Fig. 2 is a diagram showing the relationship between the position of the car 14 and the load acting on the rope 13. The load when the car 14 is moving from the lowest floor (eg, 1F) to the highest floor. This represents a change in. Fig. 3 shows the load waveform including the vibration component of the car 14, and Fig. 4 shows the waveform of the vibration component extracted from the load waveform.

[0025] During the operation of the elevator, the load sensor 19 detects the load acting on the entire car 14 side, and a load signal S2 indicating the entire car load is sent to the elevator controller 21. Is output.

[0026] Now, assuming that the aircraft 11 is installed above the top floor of the building, the pure load of the car 14 (the weight of the car room 14a + the weight of the passenger) is assumed to be gO. Assuming that the car 14 has moved from the lowest floor to the top floor, the overall load on the car changes as shown in Fig. 2. That is, under the influence of the weight gl of the tail cord 20 that changes depending on the position of the car 14, the overall load of the car gradually increases as the car 14 approaches the top floor.

[0027] However, this is a case where the car 14 does not vibrate when moving. Actually, the load corresponding to the acceleration due to the vertical vibration of the car 14 is applied to the linear change in the overall car load shown in FIG. For this reason, the load signal S2 of the load sensor 19 has a waveform including the vibration component of the car 14 as shown in FIG. Δν in the figure represents the vibration component

[0028] Here, the total car load (gO + gl) not including the vibration component is substantially a DC component. Therefore, if this total car load (gO + gl) is removed by the noise-pass filter 24 that matches the frequency of the DC component, only the vibration component of the car 14 can be extracted as shown in Fig. 4. it can. The signal after extracting the vibration component is given to the phase controller 25 as the vibration signal S3.

[0029] The phase control unit 25 has a function of giving a predetermined phase shift to the vibration signal S3. Specifically, as shown in FIG. 5, the phase is shifted by delaying the vibration signal S3 by a predetermined time tx. Figure 5 (a) shows the state before the phase shift, and Fig. 5 (b) shows the state after the phase shift. The time tx is a force determined according to the length of the rope 13 between the lifting machine 11 and the car 14, which will be described in detail later with reference to FIG. 6 and FIG.

[0030] The vibration signal S3 phase-adjusted by the phase control unit 25 is supplied to the gain multiplication unit 26 as a vibration suppression signal S4, and is then multiplied by a predetermined gain, and then output to the addition unit 27. Is done. In the adding unit 27, the damping control signal S5 after the gain adjustment is added to the normal torque command signal S1 generated by the speed control unit 22, and a final torque command signal S6 is generated. [0031] This torque command signal S6 is a reflection of the vibration component of the car 14. When this torque command signal S6 is given to the hoisting machine 11, the hoisting machine 11 performs a vibration suppression operation that slightly changes the tension of the rope 13 and shakes the tip of the rope 13. The swaying of the rope 13 caused by such vibration control operation arrives at the car 14 with a predetermined time delay through the rope 13 between the lifting machine 11 and the car 14. Therefore, if the swing of the rope 13 is adjusted so that it reaches the car 14 with the phase shifted by 90 degrees with respect to the vibration waveform of the car 14, it is the same as applying the ideal vibration damping force. Become.

[0032] Here, in the phase control unit 25, based on the position of the car 14 detected by the car position detection unit 23, the swing of the rope 13 due to the vibration control motion of the hoisting machine 11 is the car 1 Find the delay time to reach 4, and adjust the phase shift amount (delay time tx) of the vibration signal S3 according to the delay time.

[0033] This state is shown in FIG. 6 and FIG.

Fig. 6 shows the phase difference (time delay) until the rope 13 swayed by the hoisting machine 11 reaches the car 14. Fig. 7 shows the optimum amount of phase shift (time delay amount) of the vibration control signal applied to the hoisting machine 11.

[0034] Forces that vary depending on vibration frequency Rope primary resonance frequency, which is usually determined by the spring constant of the rope 13 and the weight of the car 14 and the counterweight 15, etc. The rope length according to the position of the car 14 ( The phase delay can be uniquely determined by the rope length from the car 14 to the lifting machine 11).

[0035] Generally, when the car 14 is on the lowest floor, the car 14 is separated from the lifting machine 11, so that the rope length between the two is the longest. Therefore, as shown in FIG. 6, the swaying of the rope 13 caused by the damping operation of the lifting machine 11 is transmitted to the car 14 with a phase difference corresponding to the rope length.

[0036] On the other hand, the closer the car 14 is to the top floor, the shorter the rope length between the two, so the swing of the rope 13 is transmitted to the car 14 faster. That is, the phase difference until the swing of the rope 13 is transmitted to the car 14 gradually decreases.

[0037] Therefore, in order to reduce the vibration component of the car 14 by using the swing of the rope 13, the amount of phase shift applied to the vibration signal S3 by the phase control unit 25 is reduced. It can be seen that adjustment should be made according to the position (rope length).

That is, as shown in FIG. 7, when the car 14 is on the lowest floor, the phase shift of the vibration signal S3 is reduced. Conversely, as the car 14 approaches the top floor, adjustment is made to increase the phase shift of the vibration signal S3. As a result, at the stage where the swing of the rope 13 is transmitted to the car 14, it acts as a damping torque having a phase delayed by 90 degrees, and the car 14 can continue to be damped.

Specifically, for example, if the primary resonance frequency of the rope 13 is 2.5 Hz, the vibration period is 0.4 seconds. Therefore, the delay time required to shift the phase of the swing of the rope 13 by 90 degrees is calculated as 0.1 seconds.

[0040] If the phase delay due to the rope length is 0.1 seconds when the car 14 is at the lowest floor, the phase of the vibration signal S3 is not shifted (that is, tx = 0). And give it to the aircraft 11 as it is. On the other hand, if the car 14 is on the middle floor and the phase delay due to the rope length is 0.05 seconds, if tx = 0.05 seconds is set, the swing of the rope 13 will be delayed 0.1 seconds. Since it reaches the car 14, the vibration component of the car 14 can be reduced.

[0041] By the way, normally, in order to reduce the vibration of the car 14, for example, all the frequency characteristics of the elevator such as the car 14, the count weight 15, and the hoisting machine 11 are taken in, and over the entire frequency. Design the control so that vibration control is possible. And it requires very complicated work such as installing higher-order vibration dampers according to the control design.

However, in the actual vertical vibration of the elevator, the primary resonance frequency of the rope 13 determined by the weight of the rope 13, the car 14, the weight of the count weight 15, etc. appears remarkably as a vibration component. Therefore, if the point is limited to only the primary resonance frequency of the rope 13 and the torque control is performed by determining the phase shift amount in accordance with the frequency, the complicated control design as described above is not required, and It is possible to efficiently reduce the vibration of the car by installing a high-order vibration damper according to the control design.

[0043] In the first embodiment, the force using the high-pass filter 24 when extracting the vibration component of the car 14 If this high-pass filter 24 is applied too strongly, the phase advances and the vibration component May not be extracted accurately.

[0044] Here, the vibration component is not included! /, The calculated value of the total car load (gO + gl) in the case (Fig. 2 (See) is almost the same as the actual measured value. Therefore, when the load of the car 14 is detected by the load sensor 19, the value of the total car load (gO + gl) corresponding to the position of the car 14 is obtained, and the total car load (gO + g 1 If the load force detected by the load sensor 19 is also reduced, only the vibration component of the car 14 can be extracted almost accurately. As a result, the high-pass filter 24 is not required, and the force vibration information can be detected accurately.

[0045] (Second Embodiment)

Next, a second embodiment of the present invention will be described.

FIG. 8 is a diagram showing a configuration when the vibration damping device according to the second embodiment of the present invention is applied to an elevator. The same parts as those in FIG. 1 in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

[0047] In an elevator, a governor 30 called a governor is usually installed. The speed governor 30 includes a pair of governor sheaves 31 and 32 that are rotating bodies, and a rope 33 that is installed between the governor sheaves 31 and 32. A car 14 is connected to the rope 33, and the governor sheaves 31 and 32 rotate in conjunction with the movement of the car 14.

[0048] In addition, to one of the governor sheaves 31, a rotation detector 34 having a force such as a pulse generator is attached. When the governor sheave 31 rotates as the car 14 moves, a rotation detection signal (pulse signal) S7 is output from the rotation detector 34 according to the rotation speed. By sequentially counting the rotation detection signal S7 with reference to the initial position of the car 14, the current position of the car 14 can be obtained.

[0049] Here, in the second embodiment, the elevator control device 21 replaces the high-pass filter 24 of Fig. 1 with a first differential operation unit 35, a subtraction unit 36, and a second differential operation unit 37. Prepare. Accordingly, the vibration component of the car 14 is extracted using the rotation detection signal S7 output from the rotation detector 34.

[0050] In such a configuration, when the rotation detection signal S7 output from the rotation detector 34 is applied to the first differentiation calculation unit 35 and subjected to differentiation processing, a speed signal indicating the moving speed of the car 14 is obtained. S8 is calculated. If the difference between the speed signal S8 and the target speed signal S9 generated by the speed controller 22 is obtained by the subtractor 36, the component deviating from the original speed signal, that is, The speed component signal S10 due to the vertical vibration of the 14 is obtained. When this vibration speed component signal S10 is given to the second differential operation section 37 and further differentiated, an acceleration component signal S11 due to vertical vibration of the car 14 is calculated.

[0051] The vibration acceleration component signal S11 obtained in this way is substantially the same as the vibration signal S3 from which the high-pass filter 24 force in FIG. 1 is also output, and represents the vibration component generated in the car 14 during movement. ing.

Thereafter, if torque control is performed in the same procedure as in the first embodiment, the vibration component of the car 14 can be efficiently reduced using the tension variation of the rope 13.

[0053] In addition, since high-frequency noise is recorded when differential operation is performed, noise reduction is achieved by adding a low-pass filter having an appropriate cutoff frequency after the first differential operation unit 35 and the second differential operation unit 37. It is also possible to perform processing.

[0054] In this way, the car 1 is detected using the rotation detection signal S7 output from the rotation detector 34.

Even when the configuration is such that vibration is detected during the movement of 4, the same effect as in the first embodiment can be obtained.

It should be noted that the present invention can be applied regardless of the accuracy of the lifting machine 11 and the height of the elevator (lifting range of the car). For example, the rope 13 will not slide smoothly if the production and assembly accuracy of the elevator components such as sheaves 12, 16 and guide rails 17, 18 are poor. For this reason, even if the lifting machine 11 rotates with low vibration, the vibration generated at that time is increased via the rope 13 and transmitted to the car 14. In the present invention, it is possible to effectively reduce the vibration components caused by such elevator components.

[0056] Further, according to the present invention, a monotonous vibration component is transmitted from a vibration source (lifting machine 11) to a vibration control target part (car 14) via a connection part (rope 13) like an elevator. Any device can be applied.

A specific example is a robot arm. The robot arm is composed of a motor (drive source), an arm (connecting portion) whose length for transmitting the power of the drive source can be changed, and a robot hand (vibration control target portion) operating via this arm. Is provided. The microcomputer that controls the robot arm has a function to detect the vibration of the robot hand and the arm If the function of controlling the motor torque by giving a phase shift corresponding to the length of the motor is incorporated, the vibration transmitted to the robot node via the arm can also be reduced. This realizes precise positioning of the robot node, assembly of parts with high accuracy, or stable gripping of articles.

[0058] When various frequency components are included as the vibration of the vibration suppression target portion, the vibration can be effectively suppressed by adjusting the phase shift according to the frequency component that appears most prominently. I'll do it.

It should be noted that the present invention is not limited to the above-described embodiments as they are, but can be embodied by modifying the constituent elements without departing from the spirit of the invention in the implementation stage. Further, various forms can be formed by appropriately combining a plurality of constituent elements disclosed in the above embodiments. For example, some components may be omitted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined. Industrial applicability

[0060] According to the present invention, it is possible to efficiently reduce vibration of a vibration control target without attaching special devices for vibration suppression to a vibration control target.

Claims

The scope of the claims

[1] With the aircraft

Vibration detection means for detecting vibration generated when the car moves in the hoistway via a rope wound around the lifting machine,

A phase control means for generating a vibration control signal by giving a phase shift according to a rope length between the lifting machine and the car to the vibration signal detected by the vibration detection means; and the phase control means Drive control means for controlling the torque of the hoisting machine so as to reduce the vibration of the car based on the vibration control signal generated by

A vibration damping device comprising:

[2] Car position detecting means for detecting the position of the car is provided,

2. The vibration damping device according to claim 1, wherein the phase control means adjusts the amount of phase shift according to the position of the car detected by the car position detection means.

[3] The above aircraft is installed above the top floor of the building,

3. The vibration damping device according to claim 2, wherein the phase control means increases the amount of phase shift as the car approaches the top floor and decreases the amount of phase shift as the car approaches the bottom floor.

[4] A load sensor for detecting the load acting on the rope is provided,

2. The vibration damping device according to claim 1, wherein the vibration detecting unit generates a signal corresponding to a vibration component of the riding force using a load signal output from the load sensor.

[5] The vibration detection means performs a filtering process to cut a low-frequency component below a predetermined frequency on the load signal output from the load sensor, and generates a signal corresponding to the vibration component of the car. The vibration damping device according to claim 4, wherein:

[6] A rotating body that rotates as the car moves,

A rotation detector for detecting the number of rotations of the rotating body,

The vibration detection means further differentiates the error signal between the car speed signal obtained in advance and the target speed signal obtained by differentiating the rotation detection signal output from the rotation detector. Generate a signal corresponding to the vibration component of the car The vibration damping device according to claim 1, wherein:

A driving source;

A connecting portion having a variable length for transmitting the power of the driving source;

A vibration suppression target part that operates through this connection part;

Vibration detecting means for detecting vibration generated during operation of the vibration suppression target part;

Phase control means for generating a signal for damping by giving a phase shift according to the length of the connecting portion to the vibration signal detected by the vibration detection means;

Drive control means for controlling the torque of the drive source so as to reduce the vibration of the vibration suppression target portion based on the vibration suppression signal generated by the phase control means;

A vibration damping device comprising: