CN101219748A - Longitudinal vibration suppression device for elevator car - Google Patents

Abstract

A longitudinal vibration suppressing device of an elevator car can suppress the longitudinal vibration of the elevator car with a simple structure and low cost. On the left and right sides below the elevator car frame (15) of the elevator car (1) constituted by the elevator car room (14) and the elevator car frame (15), the lower part of the elevator car is provided with a support member (17) pulley (10), and the main sling (7) is wound on the pulley (10) at the lower part of the elevator car to drive the elevator car (1), wherein the connecting member (18) connects the Support members (17) on the left and right sides, and a dynamic vibration absorber supported by a dynamic vibration absorber spring (21) and capable of moving up and down is provided between the connecting member (18) and the elevator car frame (15) (20), and further has an actuator (22) for imparting a driving force in the vertical direction to the dynamic vibration absorber (20).

Description

Longitudinal vibration suppression device for elevator car

technical field

[0001]

The present invention relates to a technique for providing an elevator with a comfortable riding environment, which suppresses the longitudinal vibration of the car by using a dynamic vibration absorber capable of moving in the vertical direction relative to the elevator car.

Background technique

[0002]

The elevator is generally configured to transmit the torque generated by the motor of the hoist to the main rope through the sheave on the hoist, so that the elevator car suspended on the main rope is raised and lowered. Therefore, when the sheave or the deflection pulley for winding the main rope is eccentric or unbalanced, vibration of a frequency synchronous with its rotational motion is generated, and this vibration becomes an external disturbance factor. On the other hand, since the main rope of the elevator is an elastic body, when a heavy object such as an elevator car is suspended by the main rope, a vibration system with a specific natural frequency will be formed. When these two frequencies are close to each other, resonance occurs to generate longitudinal vibration in the elevator car that shakes the elevator car, which significantly deteriorates the riding environment of the elevator. Moreover, with the high-rise buildings in recent years, the lifting stroke of the elevator installed in the building is getting longer and longer, and the longer the lifting stroke of the elevator, the lower the spring constant of the sling, the lower the load fluctuation or external Interference factors also become more sensitive, resulting in low-frequency uncomfortable longitudinal vibrations in the elevator car, deteriorating the elevator riding environment.

[0003]

As a prior art for preventing the above-mentioned problems, methods of improving the machining accuracy or installation accuracy of the sheave, or installing a dynamic damper in the elevator car whose frequency is synchronized with the vibration frequency transmitted from the sling to the elevator car ( damper), a method to counteract the longitudinal vibration of the elevator car (for example, refer to Patent Document 1). In addition, it also has the function of detecting the vibration of the car through the sensor, and according to the detection result, the pressure block for the buffer is moved up and down through the actuator (actuator), that is, the so-called active mass buffer (Active Mass Dumper) is used to suppress the vibration of the elevator car. A method of longitudinal vibration (for example, refer to Patent Document 2). In addition, a method of actively suppressing lateral vibration of an elevator car without using a sensor is also disclosed (for example, refer to Patent Document 3).

Patent Document 1: JP-A-2005-1773

Patent Document 2: JP-A-60-106769

Patent Document 3: JP-A-2004-244173

[0004]

If the method of improving the processing accuracy or installation accuracy of the sheave in the prior art is adopted in order to prevent the longitudinal vibration of the elevator car, it will bring a great burden to the manufacturing work and installation work, which may lead to an increase in cost.

[0005]

And when adopting the method of canceling the longitudinal vibration of the elevator car by installing a dynamic buffer in the elevator car whose frequency is synchronized with the vibration frequency transmitted to the vibration system, except for the presence of the dynamic vibration absorber In addition to the problem that the weight of the elevator car increases due to installation, which leads to an increase in cost, there is also a problem that the weight of the additional specification of the carefully designed elevator car is limited. Furthermore, when only the above-mentioned passive system is used, there is also a problem that it is difficult to obtain good vibration suppression performance when, for example, the physical characteristics of the vibration system fluctuate greatly, or the frequency to be suppressed fluctuates greatly.

[0006]

In addition, if the method of the active mass damper described in the above-mentioned Patent Document 2 is adopted in order to solve the above-mentioned problems, it is possible to use a small and lightweight dynamic vibration absorber Good vibration suppression performance is obtained, but new actuators and sensors need to be added to the equipment as structural units, which will lead to increased costs. Moreover, there are also problems such as the inability to ensure the installation space of the sensor, or the stability of the sensor installation position, or the inability to ensure a sufficient When the vibration detection accuracy is high, the problem needs to be dealt with accordingly.

[0007]

In addition, when adopting the structure of the dynamic vibration absorber described in Patent Document 2 that uses only the active system without using the passive system, there is a problem that, in case the actuator or the sensor fails, or the actuator or the When abnormal conditions such as disconnection of the circuit necessary for the normal operation of the sensor occur, the vibration of the elevator car may unexpectedly increase. The strength members of the individual sections bear the additional load.

[0008]

On the other hand, if the method of suppressing the lateral vibration of the elevator car in an active manner without using the sensor described in Patent Document 3 is adopted, when suppressing the longitudinal vibration, it is impossible to use the direct vibration control method from the guiding device as when suppressing the lateral vibration. Since the structure applies force to the guide rail, it is necessary to use a vibration suppression device having a structure different from that of Patent Document 3. Here, when suppressing the longitudinal vibration of the elevator car, the method of using the reaction force generated by the movement of the dynamic vibration absorber capable of moving in the up and down direction is an effective method, but as described above, when the active system is further added In this case, there are problems such as a corresponding increase in cost and the need to secure a stable installation space for the sensor.

Contents of the invention

[0009]

An object of the present invention is to provide a longitudinal vibration suppressing device of an elevator car capable of suppressing longitudinal vibration of an elevator car with a simple structure and low cost.

[0010]

In order to achieve the above object, the invention described in technical solution 1 of the present invention relates to a longitudinal vibration suppressing device of an elevator car, the Left and right, the lower pulley of the elevator car is provided through the supporting member, and the main sling is wound around the lower pulley of the elevator car to drive the elevator car. The longitudinal vibration suppression device of the elevator car is characterized in that , the support members on the left and right sides are connected by connecting members, and a dynamic vibration absorber supported by springs and capable of moving up and down is arranged between the connecting members and the frame of the elevator car. A driving force is applied to the actuator of the dynamic vibration absorber.

[0011]

According to this structure, the energy for suppressing vibration can be applied to the elevator car as the object of vibration suppression by the force generated in the actuator, and the inertial force component required to constitute the vibration suppression device, that is, the dynamic vibration absorber can be reduced, thereby Excellent vibration suppression performance can be obtained with a small and lightweight dynamic vibration absorber.

[0012]

Furthermore, the longitudinal vibration device for an elevator car according to the invention according to claim 2 of the present invention is characterized in that a vibration sensor is provided on the elevator car and the dynamic vibration absorber, and a signal converter The vibration component detected by the vibration sensor is converted into a form that can be used in the calculation of the control input, and on this basis, the control input that can suppress the vibration of the elevator car is calculated by the controller, and then, through the signal converter Then, power amplification is performed by the amplifier so that a current sufficient to drive the actuator can be supplied, thereby applying the drive current supplied to the actuator to the actuator.

[0013]

According to this structure, the driving current supplied to the actuator can be controlled with a simple structure.

[0014]

In addition, the longitudinal vibration device for an elevator car according to the invention according to claim 3 of the present invention is characterized in that, based on the current value of the actuator, after passing through a signal converter, an estimation calculation is performed using an observer, In order to estimate the state quantities related to the elevator car and the dynamic vibration absorber hammer in a real-time manner, according to the estimated state, the controller calculates the control input that can suppress the vibration of the elevator car in a real-time manner, and after passing through the signal converter, The power is amplified by the amplifier and applied to the actuator.

[0015]

According to this configuration, since no sensor is used, it is possible to obtain a good vibration suppression effect by the active vibration suppression system at low cost and space saving.

[0016]

According to the present invention, it is possible to provide a longitudinal vibration suppressing device of an elevator car capable of suppressing longitudinal vibration of an elevator car with a simple structure and at low cost.

Description of drawings

[0027]

Fig. 1 is a schematic diagram showing a general structure of an elevator for explaining the present invention.

Fig. 2 is a conceptual diagram showing a longitudinal vibration suppression device for an elevator car according to the first embodiment of the present invention.

Fig. 3 is a conceptual diagram showing a longitudinal vibration suppression device for an elevator car according to a second embodiment of the present invention.

In the picture:

[0028]

1-Elevator car, 2-Guide shoe for elevator car, 3-Guide rail for elevator car, 4-Balance weight, 5-Guide shoe for balance weight, 6-Guide rail for balance weight, 7-Main sling, 8-Rope Wheel, 9-hoisting machine, 10-lift car lower pulley, 14-elevator car chamber, 15-elevator car frame, 16-vibration-proof rubber body, 17-supporting member, 18-connecting member, 19-rod ( rod), 20-dynamic vibration absorber hammer, 21-dynamic vibration absorber spring, 22-executive element, 23,24-detection sensor, 25-microcomputer, 26a, 26b-signal converter, 27-controller, 28- Amplifier, 29-resistor, 30-observer.

Detailed ways

[0017]

Embodiments of the longitudinal vibration suppressing device for an elevator car according to the present invention will be described below with reference to the drawings.

[0018]

Fig. 1 is a schematic diagram showing a general structure of an elevator for explaining the present invention, Fig. 2 is a conceptual diagram showing a longitudinal vibration suppressing device for an elevator car according to a first embodiment of the present invention, and Fig. 3 is a schematic diagram showing the structure of the elevator car according to the first embodiment of the present invention. A conceptual diagram of a longitudinal vibration suppressing device for an elevator car according to the second embodiment.

[0019]

As shown in Figure 1, the elevator is constructed such that the power of the hoist motor 9 is used to frictionally drive the main sling 7 by means of the hoist sheave 8, so that the elevator car 1 suspended on the main sling 7 is used for the elevator car. Guided by the guide shoe 2, the elevator car moves up and down along the guide rail 3 for the elevator car. Moreover, with the hoist sheave 8 as a reference, on the opposite side of the elevator car 1, a counterweight 4 is suspended on the main sling 7, and the counterweight 4 is guided along the counterweight guide rail 6 under the guidance of the counterweight guide shoe 5. lift. The lower pulley 10 of the elevator car is installed on the left and right sides under the car. 11 represents the top pulley on the elevator car side, 12 represents the top pulley on the counterweight side, and 13 represents the counterweight pulley.

[0020]

As shown in FIG. 2 , the elevator car 1 of FIG. 1 is composed of an elevator car chamber 14 and an elevator car frame 15 . The elevator car chamber 14 is supported on the elevator car frame 15 via a vibration-proof rubber body 16 . Further, the elevator car lower pulley 10 is attached to the left and right sides of the elevator car frame 15 via a supporting member 17, and the main rope 7 is configured to pass through the groove of the lower pulley. The supporting members 17 of the lower elevator car pulleys 10 on the left and right sides are connected by connecting members 18 . A dynamic vibration absorber hammer 20 constituting a dynamic vibration absorber is installed between the elevator car frame 15 and the connecting member 18, and the dynamic vibration absorber hammer 20 can be respectively fixed on the elevator car along both ends. The car frame 15 and the rod 19 of the connecting member 18 move smoothly in the up and down direction. A dynamic vibration absorber spring 21 is installed between the dynamic vibration absorber hammer 20 and the elevator car frame 15, and the dynamic vibration absorber spring 21 is opposite to the elevator car frame 15 in the dynamic vibration absorber hammer 20. A corresponding spring force is generated during movement. Furthermore, an actuator 22 is provided which drives the dynamic vibration absorber hammer 20 in the vertical direction relative to the elevator car frame 15 . As for the actuator 22, as long as it can drive the dynamic vibration absorber hammer 20 in the vertical direction, it may be an actuator that generates a linear driving force such as a linear motor, or may be an actuator that converts the rotational force of the rotary motor shaft into Actuating elements for linear drives.

[0021]

Further, sensors 23 and 24 capable of detecting vibration such as an acceleration sensor and a displacement sensor are attached to one of the dynamic vibration absorber weight 20 and the elevator car chamber 14 or the elevator car frame 15 . The vibration component detected by each sensor 23, 24 is converted into a form that can be used for control input calculation by the signal converter 26a having a function such as an A/D converter, and on this basis, the calculation by the controller 27 can The control input for suppressing the vibration of the elevator car 1 is converted via the signal converter 26b including functions such as a D/A converter, and is further amplified by the amplifier 28 so that a sufficient current for driving the actuator 22 can be provided, and the It is applied to the actuator 22 . 25 is a microcomputer.

[0022]

By applying a drive current to the actuator 22 to drive the actuator 22, the dynamic vibration absorber hammer 20 moves up and down, thereby effectively suppressing the longitudinal vibration of the elevator car 1 .

[0023]

In Fig. 2, a sensor detection structure is adopted to detect vibration through an acceleration sensor or a displacement sensor, while in Fig. 3, a dynamic vibration absorber is actively controlled to suppress the vibration of the elevator car only by detecting the current value of the actuator. method of cabin vibration without using the above-mentioned sensor for detecting vibration. In FIG. 3, the same parts as those in FIG. 2 are denoted by the same symbols.

[0024]

In this method, by the relative motion between the dynamic vibration absorber hammer 20 and the elevator car frame 15, the electric motor of the actuator used in the active vibration suppression system generates a counter electromotive force and makes it reflected in the current value. The current value of the actuator 22 can be detected relatively easily by, for example, inserting a resistor 29 in series with the actuator 22 and observing the voltage drop across it. Therefore, the method called the detectorless detection method does not require Detection is possible using sensors. According to the current value of the actuator detected by the above method, etc., the signal converter 26a including the function of the A/D converter and the like is used to perform calculations using the scope 30 to estimate the relationship between the elevator car and the dynamic vibration in real time. Absorber hammer-related state quantities, and according to the estimated state, the control input that can suppress the vibration of the elevator car is calculated in real time in the controller 27, and the signal converter 26b that includes functions such as a D/A converter Transformation is performed and power amplification is implemented using amplifier 28 , which is applied to controller 22 .

[0025]

According to the present invention, the energy for suppressing vibration can be applied to the elevator car 1 as the object of vibration suppression by the force generated in the actuator 22, and the inertial force component required to constitute the dynamic vibration absorber hammer 20 can be reduced, compared with only Compared with the case of adopting a passive system, the dynamic vibration absorber hammer 20 can be downsized and the mass of the dynamic vibration absorber hammer 20 can be reduced. Moreover, even when the physical characteristics of the vibration system fluctuate greatly, or the frequency to be suppressed fluctuates greatly, excellent vibration suppression performance can still be obtained. And, by using the passive system and the active system at the same time, it can be said that a double system is formed, even if the actuator 22 or the sensors 23, 24 fail, or the circuit required for their normal operation is disconnected, etc. state, since the passive system works normally, a certain degree of vibration suppression effect can still be obtained.

[0026]

In addition, the sensorless method can suppress the increase in cost due to the addition of active systems, even if the installation space of the sensor cannot be ensured, or the stability of the sensor installation position cannot be ensured, or due to mechanical or electrical unpredictable external Even when disturbance factors or noise are added to the sensor itself or the location where the sensor is installed and sufficient vibration detection accuracy cannot be ensured, the active system can also achieve superior vibration suppression effects.

Claims (3)

1. A longitudinal vibration suppressing device for an elevator car, at the left and right sides below the elevator car frame of the elevator car made of an elevator car room and an elevator car frame, a lower pulley of the elevator car is provided with a supporting member, And the main sling is wound on the lower pulley of the elevator car to drive the elevator car, wherein, The supporting members on the left and right sides are connected by connecting members, and a dynamic vibration absorber supported by springs and capable of moving up and down is arranged between the connecting members and the frame of the elevator car. A force is applied to the actuator of the dynamic vibration absorber. 2. The longitudinal vibration suppressing device of an elevator car according to claim 1, wherein: A vibration sensor is provided on the elevator car and the dynamic vibration absorber, and the vibration component detected by the vibration sensor is converted into a form that can be used in the calculation of control input through a signal converter, and in this Basically, the control input that can suppress the vibration of the elevator car is calculated by the controller, and then, after passing through the signal converter, the power is amplified by the amplifier to provide a current sufficient to drive the actuator, thereby supplying the actuator The driving current is applied to the actuator. 3. The longitudinal vibration suppressing device of an elevator car according to claim 1, wherein: According to the current value of the executive element, after passing through the signal converter, use the observer to perform estimation calculations, so as to estimate the state quantities related to the elevator car and the dynamic vibration absorber hammer in a real-time manner. According to the estimated state, the controller The controller calculates the control input that can suppress the vibration of the elevator car in real time, and after passing through the signal converter, the power is amplified by the amplifier and applied to the actuator.

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