CN107792753A - The active damper of elevator - Google Patents
The active damper of elevator Download PDFInfo
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- CN107792753A CN107792753A CN201710522673.7A CN201710522673A CN107792753A CN 107792753 A CN107792753 A CN 107792753A CN 201710522673 A CN201710522673 A CN 201710522673A CN 107792753 A CN107792753 A CN 107792753A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 208
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000002000 scavenging effect Effects 0.000 claims abstract description 9
- 230000005484 gravity Effects 0.000 claims description 28
- 230000008859 change Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 11
- 239000000203 mixture Substances 0.000 claims description 11
- 230000014509 gene expression Effects 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 description 17
- 230000001133 acceleration Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 15
- 238000005452 bending Methods 0.000 description 7
- 230000001629 suppression Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000013016 damping Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000010355 oscillation Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
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- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000009792 diffusion process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
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- 230000009471 action Effects 0.000 description 2
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- 239000011435 rock Substances 0.000 description 2
- 238000006748 scratching Methods 0.000 description 2
- 230000002393 scratching effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
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Classifications
-
- 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
- B66B11/026—Attenuation system for shocks, vibrations, imbalance, e.g. passengers on the same side
- B66B11/028—Active systems
- B66B11/0286—Active systems acting between car and supporting frame
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- Engineering & Computer Science (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)
Abstract
A kind of active damper of elevator, it is characterised in that possess：Car, along lifting rail；Damper mechanism, be arranged on the car it is relative with above-mentioned guide rail to part；At least one displacement transducer, detect the relative shift between above-mentioned car and above-mentioned guide rail；Scavenging valve, with the deflection represented in theory because of above-mentioned guide rail between above-mentioned car and above-mentioned guide rail caused by relative shift mathematical modeling, signal and above-mentioned mathematical modeling using above-mentioned displacement transducer, the deflection of the above-mentioned guide rail of the vibration cause as above-mentioned car in motion is estimated in substantially real-time；And control unit, the presumption result based on the scavenging valve, above-mentioned damper mechanism is controlled on the direction of vibration for suppressing above-mentioned car.
Description
Technical field
Embodiments of the present invention are related to the active damper of the elevator suppressed to the vibration in car travel.
Background technology
Due to the high speed of elevator, the importance of the technology suppressed to the vibration (horizontal vibration) in car travel is just
Improving.The maximum reason of caused vibration is guide rail (guide rail) small flexure under steam.I.e., in car just
When being travelled along guide rail, if script have small flexure guide rail on run at high speed, car produce forced displacement and
Vibrated in horizontal direction.
Therefore, it is proposed to boots (active roller guide) technology is actively led in the vibration for suppressing car on one's own initiative.It is main
It is dynamic to lead boots and be arranged to abut with guide rail in the upper and lower of car.Car is provided with acceleration transducer, is based under steam by this
The vibration of acceleration transducer detection carries out feedback control to the actuator for leading boots, thus suppresses the vibration of car on one's own initiative.
In the traveling of elevator it is caused vibration (horizontal vibration) be, for example, frequency be 1~5Hz or so, vibration amplitude be
The vibration of the vehicle such as 0.02~0.03G or so micro-vibration, far smaller than railway, bus.
Here, it is designed to usually as the inexpensive MEMS acceleration transducers that vibrating sensor uses with 1~2G
The vibration of left and right is as detection object.Therefore, for MEMS acceleration transducers, the micro-vibration of elevator can not be accurately detected,
It is difficult to used the vibration damping of the MEMS acceleration transducers to control.Therefore, example is needed to use in the vibration insulating system of elevator
The high-precision acceleration transducer as servo type acceleration transducer.
But this acceleration transducer price is high, and used to improve precision it is multiple in the case of conduct
The cost of vibration insulating system can be significantly increased and and impracticable.Therefore, boots are actively led above-mentioned, it is desirable to pass without using acceleration
Carry out vibration damping control sensor.
The content of the invention
The problem to be solved in the present invention is to provide a kind of active damper of elevator, and it can pass through cheap structure
Effectively to catch and efficiently reduce the vibration caused by the flexure of guide rail in car travel.
Embodiment provides a kind of active damper of elevator, it is characterised in that possesses：
Car, along lifting rail；
Damper mechanism, be arranged on the car it is relative with above-mentioned guide rail to part；
At least one displacement transducer, detect the relative shift between above-mentioned car and above-mentioned guide rail；
Scavenging valve, have and represent to produce between above-mentioned car and above-mentioned guide rail because of the deflection of above-mentioned guide rail in theory
Relative shift mathematical modeling, signal and above-mentioned mathematical modeling using above-mentioned displacement transducer, estimate in substantially real-time
During traveling as above-mentioned car vibration cause above-mentioned guide rail deflection；And
Control unit, the presumption result based on the scavenging valve, on the direction of vibration for suppressing above-mentioned car in control
State damper mechanism.
According to embodiment, using the teaching of the invention it is possible to provide a kind of active damper of elevator, it can be practical by cheap structure
Ground catches and efficiently reduced to be vibrated in car travel caused by the flexure of guide rail.
Brief description of the drawings
Fig. 1 is the figure of the structure of the active damper for the elevator for schematically showing the 1st embodiment.
Fig. 2 is the figure for the structure for actively leading boots for being arranged at car for representing the embodiment.
Fig. 3 is the figure of the structure for the control system for actively leading boots for representing the embodiment.
Fig. 4 is the figure for illustrating the vibration system model of the two degrees of freedom of the embodiment.
Fig. 5 is the figure of the vibration system model for the two degrees of freedom for schematically showing the embodiment.
Fig. 6 is the figure for illustrating the structure of the observer of the embodiment.
Fig. 7 is the figure for illustrating the other structures of the observer of the embodiment.
Fig. 8 is the block diagram of the functional structure for the control device for representing the embodiment.
What Fig. 9 showed the embodiment actively leads boots by the situation caused by being bent because of guide rail during forced displacement
Figure, Fig. 9 (a) show the state before displacement, and Fig. 9 (b) shows the state after displacement.
Figure 10 is the figure of the processing for the feedforward control module for schematically showing the embodiment.
Figure 11 is the figure for illustrating the feature of the deflected of the guide rail of the embodiment.
Figure 12 is the amplitude component of flexure waveform and the figure of the relation in cycle for the guide rail for representing the embodiment.
Figure 13 is the figure that the deflection and presumption result of the guide rail of the embodiment are compared and shown.
The figure that Figure 14 is vibration to the car of the embodiment and vibration suppression result is compared and shown.
Figure 15 is the block diagram of the functional structure for the control device for representing the 2nd embodiment.
Figure 16 is the figure of the structure of the active damper for the elevator for schematically showing the 3rd embodiment.
Figure 17 is the figure of the structure of the active damper for the elevator for schematically showing the 4th embodiment.
Figure 18 is the figure for illustrating the structure of the observer of the 5th embodiment.
Label declaration
1 ... hoistway；2-1,2-2 ... guide rail；3 ... brackets；4 ... ropes；5 ... cars；6 ... car frames；7-1~7-4 ...
Actively lead boots；8-1~8-4 ... guides wheel；9-1~9-4 ... supporting members；10-1~10-4 ... springs；11-1~11-4 ...
Actuator；12 ... cages；13-1,13-2 ... vibration-proof rubber；14-1,14-2 ... actuator；15-1~15-6 ... displacement sensings
Device；16-1~16-4 ... relative shift signals；20 ... control devices；21-1,21-2 ... drive device；The displacement presumption of 31 ... guide rails
Module；32-1~32-4 ... guide rails displacement presumption signal；33 ... feedforward control modules；34-1~34-4 ... feed-forward control signals；
35 ... feedback control modules；36-1~36-4 ... feedback control signals；37-1~37-4 ... adder calculators；38-1~38-4 ...
Oscillation control signal；40 ... models；41st, 61 ... observers (estimator).
Embodiment
Hereinafter, with reference to the accompanying drawings of embodiment.
(the 1st embodiment)
Fig. 1 is the figure of the structure of the active damper for the elevator for schematically showing the 1st embodiment.
Erect in elevator 1 (elevating road) and be provided with a pair of guide rails 2-1,2-2.Guide rail 2-1,2-2 are by the wall in hoistway 1
The many brackets (bracket) 3 vertically equally spaced configured on face are fixed.Car 5 is supported in guide rail 2-1,2-2
On be freely lifted.By the driving of traction machine (not shown), car 5 carries out lifting action via rope 4 in hoistway 1.
Boots 7-1~7-4 is actively led here, being provided with 4 positions of the car frame 6 for the outer framework for forming car 5.It is main
The dynamic boots 7-1~7-4 that leads reduces the horizontal vibration in the generation of car 5 while carrying out traveling guiding on one's own initiative on one side.Wherein, actively
The upper and lower part that boots 7-1 and 7-2 are arranged on the side (right side of drawing) of car frame 6 is led, is supported with the guide rail 2-1 of a side
Connect.The upper and lower part that boots 7-3 and 7-4 are arranged at the opposite side (left side of drawing) of car frame 6 is actively led, with the opposing party's
Guide rail 2-2 is abutted.
In addition, actively lead the respective position position of boots 7-1 and 7-2 be respectively arranged with detection the side of car 5 and one guide rail
The displacement transducer 15-1 and 15-2 of relative shift between 2-1.Similarly, the respective setting unit of boots 7-3 and 7-4 is actively being led
Position is respectively arranged with the displacement transducer 15-3 and 15-4 of the relative shift between detection car 5 and the guide rail 2-2 of the opposing party.
Displacement transducer 15-1~15-4 is non-contact displacement transducer.In addition, as detection mode, such as whirlpool electricity be present
Streaming, electrostatic capacity type, ultrasonic type, optical profile type etc., but the present invention is not particularly limited to these modes.
Fig. 2 is the figure for representing to be arranged at the structure for actively leading boots 7-1 of car 5.Here, show in the upper of car frame 6
The structure for actively leading boots 7-1 set on the right side of portion, but it is also same structure that other, which actively lead boots 7-2~7-4,.
Actively leading boots 7-1 and be provided with the guiding wheel 8-1 abutted with guide rail 2-1, supporting guide wheel 8-1 support structure
Part 9-1 and wheel 8-1 will be guided to be pressed against spring 10-1 on guide rail 2-1.In addition, in fact, existing is included guide rail 2-
13 altogether for sandwiching and being used to carrying out including 2 fore-and-aft direction wheels of the guiding of the fore-and-aft direction of car from fore-and-aft direction
Wheel is guided, but only shows to carry out 1 guiding wheel of the guiding support of the left and right directions of car herein.
In addition to these common guiding mechanisms, the actuator of vibration damping is being also equipped with actively leading boots 7-1
(actuator)11-1.Actuator 11-1 configure between car 5 and supporting member 9-1, except spring 10-1 pressing force with
Outside, also arbitrary power is produced between guiding wheel 8-1 and car 5.
Here, displacement transducer 15-1 is arranged near supporting member 9-1.Specifically, as shown in Fig. 2 displacement passes
Sensor 15-1 is fixed on the fixing component 6a extended from car frame 6, detects between supporting member 9-1 and car frame 6
Distance d.Distance d represents actively to lead the relative shift between the car 5 and guide rail 2-1 at boots 7-1 setting position.
For other displacement transducers 15-2~15-4 similarly.In the present embodiment, using these displacement transducers
15-1~15-4, left and right directions (x directions) between the 4 location detection cars 5 and guide rail 2-1,2-2 of car 5 it is relative
Displacement, reduce the vibration of the left and right directions (x directions) of car 5.
The vibration of the fore-and-aft direction (y directions) of car 5 can be also reduced using identical method.In this case, shift
Sensor 15-1~15-4 is respectively set to detect the relative shifting of the fore-and-aft direction (y directions) between car 5 and guide rail 2-1,2-2
Position.The system for reducing the vibration of left and right directions and the system for the vibration for reducing fore-and-aft direction can be set simultaneously.
In addition, it is the reason for the upper and lower part of car 5 sets displacement transducer, it is assumed that be that car 5 is with water
The Vibrating System with Two Degrees of Freedom of flat vibration and whirling vibration.In the model of the Vibrating System with Two Degrees of Freedom, at least need to be used for
Detect the displacement transducer of horizontal vibration component and the displacement transducer of the whirling vibration component for detecting car 5 of car 5.
In the case where car 5 to be assumed to single-degree-of-freedom vibrational system and is modeled, displacement transducer is arranged on the upper of car 5
Portion or a position of bottom.
Hereinafter, for assuming that car 5 is that Vibrating System with Two Degrees of Freedom reduces the vibration of left and right directions (horizontal vibration)
Method illustrates.
Generally, guide rail 2-1,2-2 is to connect a plurality of guide rail component with predetermined length in vertical direction and form.
It is extremely difficult that the guide rail 2-1,2-2 are vertically erect to setting completely, there can be small flexure (bending) in the stage of setting.
The small flexure (bending) acts on when car 5 travels as forced displacement, and produce horizontal direction rocks that (level is shaken
It is dynamic).In order to suppress such horizontal vibration on one's own initiative, possesses actuator as damper mechanism actively leading boots 7-1~7-4
11-1~11-4.
Fig. 3 is to represent actively to lead the figure of one of the structure of boots 7-1,7-2 control system.In addition, in figure 3 it is shown that
For the structure of what is set actively lead on the right side of the upper right of car frame 6 and bottom boots 7-1,7-2 control system, still
It is also same structure that boots 7-3,7-4 are actively led for other.
The signal for being arranged at displacement transducer 15-1,15-2 for actively leading boots 7-1,7-2 is transfused to control device 20.
This, it is defeated to control device 20 via A/D converter (not shown) in the case where the signal of displacement transducer 15 is analog signal
Enter signal.On the other hand, in the case where the signal from displacement transducer is data signal originally, by wired or wireless
Communication, control device 20 is directly inputted by signal.
Control device 20 includes microcomputer, is arranged at car 5.Control device 20 be based on displacement transducer 15-1,
15-2 signal, the calculation process of the vibration for reducing car 5 is performed by the predetermined cycle (such as 1ms cycles).
Drive device 21-1,21-2 is arranged in car 5, according to the driving control signal (power exported from control device 20
Command signal or shift instruction signal) driving actuator 11-1,11-2.Actually it is also equipped with and actuator 11-3,11-4 couple
The drive device answered, driven according to the driving control signal (power command signal or shift instruction signal) exported from control device 20
Actuator 11-3,11-4.Thus, when car 5 vibrates in the horizontal direction, actuator 11-1~11-4 is suppressing the vibration
Done work on direction to suppress to vibrate.
In addition, there is vibration and fore-and-aft direction (the y side of left and right directions (x directions) in the horizontal vibration (oscillation crosswise) of elevator
To) vibration.Hereinafter, illustrated using the vibration of left and right directions as object, but the vibration of fore-and-aft direction also can be same
It is applicable.
Here, in the present embodiment, pass through observer (observer in motion；Estimator) in real time presumption turn into
Guide rail 2-1,2-2 of the vibration cause of car 5 deflection, produced and offset because the deflection causes by actuator 11-1~11-4
Vibration feedforward control power, so as to suppress to vibrate.As the method for realizing the control, the structure reason in control device 20
Flexure and the mathematical modeling of the relation of the horizontal vibration (vibration of left and right) of car 5 by upper expression guide rail 2-1,2-2.
Above-mentioned mathematical modeling includes " expanding obtained from " car vibrations model " and " guide rail displacement model " is combined
Open up equation of state model ".
" car vibrations model " be in the form of equation of state show car 5 because of guide rail 2-1,2-2 flexure and
By model (reference formula (1) and formula (2), formula (4) and the formula of the vibration characteristics in the case of forced displacement in horizontal direction
(5))。
" guide rail displacement model " assumes that to change simultaneously for guide rail 2-1,2-2 flexure according to predetermined regular nature
The model showed in the form of equation of state (with reference to formula (6) and formula (7)).
In addition, " guide rail displacement " is the displacement of the horizontal direction caused by guide rail 2-1,2-2 flexure (bending), and
Displacement is zero in the state of guide rail 2-1,2-2 erect setting as the crow flies without flexure ground in vertical direction.Sometimes also by the guide rail
Displacement is referred to as " deflection ".
" extended mode equation model " be by " car vibrations model " and " guide rail displacement model " carried out combination and
Obtained equation of state (with reference to formula (8) and formula (9)).
It is described in detail for above-mentioned mathematical modeling.
" car vibrations model "
As shown in figure 4, the vibration characteristics as car 5, considers that the horizontal vibration with center of gravity shifts X (t) and around center of gravity
Whirling vibration angle, θ (t) the Vibrating System with Two Degrees of Freedom model of the two.Schematically show the Vibrating System with Two Degrees of Freedom mould
If type as shown in Figure 5.
U1, U2 in figure are car upper and actuator 11-1,11-2 of bottom power.In addition, the rule as car 5
Lattice, car weight is set to M (kg), moment of inertia is set to J (kgm2), it will be set to from center of gravity to the distance for leading boots up and down
L1, L2 [m], the upper and lower spring constant for leading boots is set to K [N/m], the attenuation constant that spring is included is set to C [Ns/m].
The horizontal vibration displacement of the center of gravity of car 5 is being set to X (t), θ (t) will be set to around the whirling vibration angle of center of gravity,
By their time diffusion describe be X ' (t), θ ' (t) when, the equation of state of Vibrating System with Two Degrees of Freedom model generally by with
Following formula (1), formula (2) represent.
Formula (1) and formula (2) are a set of equation, are operating equation and output equation formula.Point on symbol represents 1 rank
Differential, two points represent 2 rank differential.The formula (2) be as shown in Figure 5 by acceleration transducer detect top, bottom to lead boots attached
Near vibration shifts X+L1 θ, X-L2 θ situation.
Here, A [4 × 4], B [4 × 4] they are matrix forms, it is the constant matrices value uniquely determined by the specification value of car 5.By
Then common situation, so omitting the description being specifically worth.The specification of car 5 for example refer to car weight, moment of inertia, from
Center of gravity to leading attenuation constant that the distance of boots, the spring constant for leading boots up and down, spring included etc. up and down.C [4 × 4] is will be preceding
The matrix form that item parts collect, omit specific formula.
Imparting forced displacement vector D1, D2, D1 ', in the case that D2 ' is used as interference, car 5 generate how
Horizontal vibration displacement X (t) and whirling vibration angle, θ (t), the acceleration (not shown) from the upper and lower part for being arranged at car 5
What kind of signal degree sensor exports, and can be calculated in theory by above-mentioned formula (1) and formula (2).
But in the present embodiment, displacement transducer is used due to replacing acceleration transducer, so needing to transform
Into the mathematical modeling that output Y can be calculated according to the signal of displacement transducer.
In figure 3, the relative shift between the car 5 detected by displacement transducer 15-1 and guide rail 2-1 is set to h1, incited somebody to action
Relative shift between the car 5 and guide rail 2-1 that are detected by displacement transducer 15-2 is set to h2, upside is actively led into boots 7-1
Setting position guide rail 2-1 guide rail displacement (deflection) be set to D1, leading the setting position for actively leading boots 7-2 of downside
Rail 2-1 guide rail displacement (deflection) is set to D2.As these geometric relational expressions, following formula (3) can obtain.
X+L1 θ-D1=h1
X-L2 θ-D2=h2... (3)
Here, (X+L1 θ), (X-L2 θ) represent definitely displacement.That is, in upper guide boots side, obtain and shaken to level
Value obtained from dynamic displacement X subtracts displacement D1 plus the value after whirling vibration displacement L1 θ is used as relative shift h1.Similarly,
In lower guide boots side, obtain the value after whirling vibration displacement-L2 θ are added to horizontal vibration displacement X and subtract displacement D2 and obtain
Value as relative shift h2.
During using the formula (3) to rewrite above-mentioned formula (1), the equation of state of formula (2), it is such to turn into formula (4), formula (5).
Formula (4) and formula (5) are a set of equation, are operating equation and output equation formula.In addition, formula (4) and above-mentioned formula
(1) it is identical, it is the operating equation for containing interference (displacement).Formula (5) is to change into above-mentioned formula (2) displacement can be utilized to pass
The formula of the form of the signal of sensor.Output Y is the estimated amount of relative shift.By the relative shift speed and phase of upper guide boots side
Displacement is represented with (h1 ', h1), the relative shift speed of lower guide boots side and relative shift are represented with (h2 ', h2).
" guide rail displacement model "
Here, guide rail displacement model is conceived to guide rail 2-1,2-2 setting environment, model can be carried out under certain hypothesis
Change.That is, guide rail 2-1,2-2 is fixed on the wall (reference picture 11) of hoistway 1 by being used as the bracket 3 of fixing component.Due to flexure
(bending) is suppressed in fixing point, so easily being bent by the cycle using fixing point as starting point.Therefore it is presumed that guide rail 2-
1st, 2-2 flexure changes to carry out mould according to the characteristic of the substantially sine wave with the cycle being spaced by the setting of bracket 3
Type.
For example, in the case where being assumed to the sine wave of frequencies omega of vibration, represented by formula (6), formula (7).
" extended mode equation model "
If structure has carried out above-mentioned formula (4)-(7) to combine obtained " extended mode equation model ", as formula
(8), formula (9).
Formula (8) and formula (9) are a set of equation, are the extended mode equation model (cars of Vibrating System with Two Degrees of Freedom
Vibration+guide rail displacement model) in operating equation and output equation formula.
Here, the output equation formula of formula (9) is identical with the output equation formula of above-mentioned (5).In the output equation formula, due to
Obtain as actual measured value displacement transducer signal and extended mode equation matching, so comprising for based on
The relation of the estimated amount (D1', D2', D1, D2) of quantity of state (X', X, θ ', θ) and the guide rail displacement of car vibrations calculate guide rail and
The transform ((c) part in formula) of relative shift between car.
If composition uses such extended mode equation as mathematical modeling, and to the measurement result of displacement transducer
And the output Y of above-mentioned formula (9) difference is multiplied by observer gain (observer gain) come the observer fed back, then can
Obtain wanting the guide rail displacement (deflection) of presumption.
Fig. 6 is the figure for illustrating the structure of the observer of present embodiment.40 in figure show that representing actual shakes
The material object (car of elevator) of dynamic system.41 be observer.In addition, being software among observer 41, material object 40 senses with displacement
The part of the signal of device is hardware.Material object 40 refers to car 5, and show be arranged at the material object 40 displacement transducer 15-1,
15-2 signal is transfused to observer 41.
Now, illustrated by estimating caused by the guide rail 2-1 of side flexure in case of guide rail displacement.In sedan-chair
Railway carriage or compartment 5 inputs the relative shift represented between guide rail 2-1 and car 5 from displacement transducer 15-1,15-2 to observer 41 in travelling
Signal.
Observer 41 shifts model 42, relative shift transformation matrix 43, difference calculating section 44, sight by car vibrations+guide rail
Device gain matrix 45 is surveyed to form.
Car vibrations+guide rail displacement model 42 is equivalent to the extended mode equation represented in above-mentioned formula (7) and formula (8)
Formula, export the quantity of state (X', X, θ ', θ) of car vibrations and the estimated amount (D1', D2', D1, D2) of guide rail displacement.In addition, in figure
(a)~(d) it is corresponding in (a)~(d) of the output equation formula of above-mentioned formula (9) part with being attached.
Relative shift transformation matrix 43 is corresponding with (c) part of above-mentioned formula (9).The relative shift transformation matrix 43 is designed as
Estimated amount (D1', D2', D1, D2) the export guide rail and sedan-chair of quantity of state (X', X, θ ', θ) and guide rail displacement based on car vibrations
Relative shift between railway carriage or compartment.
The relative shift obtained from relative shift transformation matrix 43 is presumed value.Difference calculating section 44 is to the presumed value and phase
The measured value of displacement is compared, the difference value is fed back into car vibrations+guide rail via observer gain matrix 45 shifts
Model 42.Observer gain matrix 45 is to be multiplied by predetermined gain for the presumed value to relative shift and the difference value of measured value
Matrix.The observer gain matrix 45 is designed to the frequencies omega of the flexure waveform than guide rail described later1Soon by observer
41 presumption deflections.
If 41 groups of the observer of this spline structure is entered in control device 20 and as shown in Figure 3 by displacement transducer 15-1,
15-2 signal input control device 20, then it can estimate guide rail 2-1 deflection.When passing through the feedforward based on the presumption result
When control driving actively leads boots 7-1 actuator 11-1 and actively leads boots 7-2 actuator 11-2, it can absorb in real time because leading
Shifted caused by rail 2-1 flexure, and the horizontal vibration of car 5 can be reduced.
In addition, in Fig. 6 structure, although displacement transducer 15-1,15-2 signal are inputted with its original size
Observer 41, but for example can also as shown in fig. 7, by displacement transducer 15-1,15-2 signal be multiplied by modified gain 46 it
After inputted.
The modified gain 46 is the gain for improving presumption precision.Generally, in displacement transducer 15-1,15-2 signal
Understand the modelling of mathematical model 42 with the presumed value of observer 41 and produce error.Observer 41 is played the shadow of model error
Sound is suppressed to small effect.Now, as modified gain 46, when being designed as that such as 2~4 times or so are multiplied by sensor signal
During gain, it is capable of the influence of strongly correction model error, more precisely estimates guide rail displacement.
In addition, here, for the purpose of simplifying the description, it is assumed that situation about being estimated to the guide rail 2-1 of side deflection is carried out
Explanation, but the guide rail 2-2 of the opposing party deflection is carried out using displacement transducer 15-3,15-4 in fact, also including
Presumption.
In a word, observer 41 using from displacement transducer 15-1~15-4 signal as obtained from the quantity of state of car 5
Relative shift and relative shift speed between guide rail and car is substantially real using extended mode equation model as input signal
When estimate guide rail 2-1,2-2 deflection.By based on the presumption result of the observer 41 to actively leading boots 7-1~7-4's
Damper mechanism (actuator 11-1~11-4) carries out feedforward control, can obtain scratching with prior learning guide rail 2-1,2-2 just
The same effectiveness in vibration suppression of mechanism of song amount.
Hereinafter, illustrated for specific structure.
Fig. 8 is the block diagram for the functional structure for representing control device 20.
Control device 20 possesses guide rail displacement presumption module 31, feedforward control module 33, feedback control module 35 as use
In the function for the horizontal vibration for suppressing car 5.From relative shift signal 16-1~16- of displacement transducer 15-1~15-4 outputs
4 are provided to guide rail displacement presumption module 31, and are provided to feedback control module 35.
In addition, guide rail displacement presumption signal 32-1~32-4 that the presumption output of module 31 is shifted from guide rail described later is provided
To feedback control module 35.
Feedback control module 35 uses relative shift signal 16-1~16-4 and guide rail displacement presumption signal 32-1~32-4
To carry out predetermined calculation process.As operation method, such as when guide rail is individually subtracted from relative shift signal 16-1~16-4
During displacement presumption signal 32-1~32-4, the vibration for the leading boots portion displacement on the top, bottom of car 5 can be calculated.The vibration is moved
Position further carries out time diffusion and is transformed to vibration velocity, and value obtained from predetermined gain being multiplied by the value is controlled as feedback
Signal 36-1~36-4 processed is exported.In this case, feedback control masterpiece works for vibration damping force, can expect in sedan-chair
Railway carriage or compartment 5 makes the effect of vibration rapid decay and makes entirely to control stabilized effect when vibrating.
Here, in the present embodiment, it is characterised in that control device 20 also has in addition to feedback control module 35
Standby guide rail displacement presumption module 31 and feedforward control module 33.
Guide rail displacement presumption module 31 is equivalent to above-mentioned observer.Guide rail displacement presumption module 31, which has, represents car 5
The mathematical modeling of the characteristic of the vibration for the horizontal direction being subject to by guide rail 2-1,2-2 flexure, uses relative shift signal 16-
1~16-4 and above-mentioned mathematical modeling, estimate guide rail 2-1,2-2 deflection in substantially real-time in motion.
Feedforward control module 33 is based on guide rail displacement presumption signal 32-1~32- that the presumption output of module 31 is shifted from guide rail
4 carry out predetermined calculation process (reference picture 10).
In addition, feedback control signal 36-1~36-4 is corresponding with feedback force caused by actuator 11-1~11-4.For
Feed-forward control signals 34-1~34-4 is similarly, corresponding with the actuator 11-1~11-4 for actively leading boots 7-1~7-4.
Feed-forward control signals 34-1~34-4, which turns into, is offsetting forced displacement and shifting caused by guide rail 2-1,2-2 flexure
The side of bit rate drives up actuator 11-1~11-4 signal.Detailed content is described below.
Finally, by adder calculator 37-1~37-4 to feedback control signal 36-1~36-4 and feed-forward control signals 34-1
Result obtained from~34-4 is added respectively turns into oscillation control signal 38-1~38-4.Oscillation control signal 38-1~
38-4 is provided to drive device 21-1,21-2 ... shown in Fig. 3, and boots 7-1~7-4 actuator 11-1 is actively led in driving respectively
~11-4.
In addition, vibration can be just reduced in principle only according to feed-forward control signals 34-1~34-4 to close to 0.It is but actual
On, error can be also produced certainly because guide rail shifts presumption signal 32-1~32-4, so when estimation error is big, consider vibration
Control in the possibility for adding the side that shakes to work and control to dissipate.In this case, if feedback control signal 36-1 be present
~36-4, then due to as making car vibrations decay and make the stabilized composition of control, so feed-forward control signals can be relaxed
The influence of 44 error.
Then, illustrated for the calculation process of feedforward control module 33.
Fig. 9 is to represent that actively lead boots 7-1 is schemed by the situation caused by being bent because of guide rail during forced displacement, and Fig. 9 (a) shows
The state gone out before displacement, Fig. 9 (b) show the state after displacement.
If boots 7-1 is actively led by displacement D1 (t) on the upside of such as.Now, it is assumed that the horizontal level of car 5 does not become
Change, then spring 10-1 displacements turn into D1 [m].
Here, when spring 10-1 spring constant is set into K [N/m], attenuation constant is set to C [Ns/m], spring 10-
The 1 power Fr (N) for putting on car 5 represents as follows.
Fr=KD1 (t)+C × D1'(t)
The Fr adds power of shaking as car 5.
This is directed to, when by actuator 11-1 generations-Fa power, pass to car 5 adds the power Fc that shakes to turn into Fc=Fr-
Fa=0, it will not be added and be shaken.Fr is the power of the forced displacement caused by the flexure of guide rail, and Fa is power caused by actuator 11-1.
Upside actively lead boots 7-2 by displacement D2 (t) when similarly.
If such processing is schematically shown, as shown in Figure 10.That is, feedforward control module 33 to being used as guide rail by moving
Position presumption signal 32-1,32-2 ... obtained displacement D1 (t), D2 (t) ... and their differential value D1'(t), D2'(t) ... distinguish
It is multiplied by spring constant K, attenuation constant C and is added, so as to generates feed-forward control signals 34-1,34-2 ....
As shown in figure 8, it is final, it is added to feedback control signal 36-1,36-2 ... with feed-forward control signals 34-1,34-2 ...
Obtained oscillation control signal 38-1,38-2 ... is provided to drive device 21-1,21-2 ....Thus, boots 7-1~7- is actively led
4 actuator 11-1~11-4 activities on the direction of horizontal vibration for suppressing car 5.
Then, the flexure (bending) for guide rail 2-1,2-2 of the foundation as " guide rail displacement model " illustrates.
Figure 11 is the figure for illustrating the feature of the deflected of guide rail.
As described above, " guide rail displacement model " is assumed to guide rail 2-1,2-2 flexure (bending) according to by bracket 3
The characteristic of the substantially sine wave in the cycle at interval is set to change to be modeled.
Consider actively to lead upside the displacement D1 (t), downside that boots 7-1 is subject to actively lead displacement D2 (t) that boots are subject to and
The system that dD1/dt=D1 ' (t), dD2/dt=D2 ' (t) as their time diffusion are estimated.
Here, as shown in figure 11, as the feature of guide rail 2-1,2-2 flexure (bending), have because between the setting of bracket 3
It is divided into this maximum feature every caused bend to.Therefore, it is possible to be assumed to as add guide rail 2-1 that power of shaking applies to car 5,
The cycle of 2-2 flexure, the frequencies omega uniquely determined with the setting interval with the travel speed v by car 5 and bracket 31's
The characteristic of the sine wave in cycle changes.That is, it is set to be represented by following formula.
D1 (t)=α sin (ω t)
Wherein, α is arbitrary coefficient.In addition, ω=ω1=1/ π of (L/v) × 2 (rad/s), L are bracket cycle [m], v
It is travel speed [m/s].For D2 (t) similarly.
Above-mentioned formula is the feature of the flexure change based on guide rail 2-1,2-2.I.e., as shown in figure 11, generally, guide rail 2-1,
2-2 makes a plurality of guide rail component 2a, 2b, 2c ... for having predetermined length respectively engage in vertical direction, is fixed on by bracket 3
In hoistway 1.Therefore, guide rail 2-1,2-2 flexure because of the setting interval of bracket 3 or guide rail component 2a, 2b, 2c ... seam and
The possibility of change is very high.
Figure 12 is the amplitude component of flexure waveform and the figure of the relation in cycle for representing guide rail 2-1,2-2.
The frequency that guide rail 2-1,2-2 flexure waveform include the cycle being spaced by the setting of bracket 3 and travel speed v is determined
ω1Composition and by guide rail component 2a, 2b, 2c ... seam cycle and the frequencies omegas that determine of travel speed v2Composition.Wherein
Frequencies omega1Composition it is the most notable.It is being conceived to frequencies omega1Composition in the case of, displacement D1 (t) 2 rank differential turn into D1 "
(t)=- ω2D1(t).Here, ω=ω1。
For displacement D2 (t) similarly.If the performance displacement D2 (t) in the form of equation of state, as above-mentioned formula
(6), formula (7) is such.If formula (4), the formula (5) of formula (6), formula (7) and the equation of state as car vibrations model are carried out
Combination, then turn into the form of the extended mode equation represented by formula (8), formula (9).
Figure 13 is that the result that deflection is deduced by the deflection of guide rail and using the method for present embodiment is compared
And the figure shown, transverse axis represent the time [sec], the longitudinal axis represents displacement [mm].
When waveform 50 indicated by the solid line in figure shows simulated driving as car 5 vibration cause guide rail 2-1,
Result obtained from 2-2 deflection.And the waveform 51 represented with single dotted broken line in figure shows that simulation is pushed away by guide rail displacement
Result obtained from guide rail 2-1,2-2 that cover half block 31 deduces in theory deflection.By both comparisons, utilize
The available approximate result of deflection with actual guide rail 2-1,2-2 of the method for present embodiment.
Figure 14 is the vibration by car 5 compared with the result of vibration suppression has been carried out using the method for present embodiment
And the figure shown, transverse axis represent the time [sec], the longitudinal axis represents acceleration [gal].
Waveform 52 indicated by the solid line in figure shows that simulation car 5 is forced because of guide rail 2-1,2-2 flexure
Result obtained from horizontal vibration caused by displacement.And the waveform 53 represented with single dotted broken line in figure shows that simulation utilizes
The method of present embodiment inhibits result obtained from the state of horizontal vibration.By both comparisons, this reality is utilized
The horizontal vibration of car 5 can be reduced to the state close to 0 by applying the method for mode.
As described above, according to present embodiment, guide rail 2-1,2-2 flexure can be estimated in substantially real-time in motion
Amount, and feedforward control can be carried out to actuator 11-1~11-4 as damper mechanism.Therefore, even if guide rail 2-1,2-2
Bend because of gas epidemic disaster, change year in year out, also can conscientiously catch and efficiently reduce the water caused by current flexure
Flat vibration.
Especially, in the present embodiment, by the way that the mathematical modeling of relative shift between guide rail and car will be represented in theory
Used as observer, the signal of displacement transducer can be inputted to observer to estimate guide rail displacement (deflection).Therefore, with
Compared using the vibration insulating system of the acceleration transducer of high price, high-precision vibration insulating system can be realized with cheap structure by having
This advantage.
(the 2nd embodiment)
Then, the 2nd embodiment is illustrated.
Figure 15 is the block diagram of the functional structure for the control device 20 for representing the 2nd embodiment.In addition, pair with it is the above-mentioned 1st real
The structure identical part for applying Fig. 8 of mode marks same label, and the description thereof will be omitted.
In the 2nd embodiment, control device 20 possesses two guide rail displacement presumption modules 31a, 31b.As shown in figure 12,
When the flexure waveform to guide rail 2-1,2-2 is analyzed, significantly this feature of following two cycles be present.
(1) the bracket cycle
(2) the guide rail seam cycle
In above-mentioned 1st embodiment, the cycle that waveform is bent using the especially significant bracket cycle as guide rail is carried out
Modelling.In this case, the influence due to not accounting for guide rail seam, so can also suspect estimation error becomes big.
Therefore, in the 2nd embodiment, it is set to form as follows：Possess two guide rail displacement presumption modules 31a, 31b,
It is conceived to the bracket cycle in the guide rail displacement presumption module 31a of one side, has in mind in the guide rail displacement presumption module 31b of the opposing party
Constructive arithmetic is carried out in the guide rail seam cycle.
That is, in guide rail shifts presumption module 31a, using being assumed to the of guide rail flexure with the substantially characteristic of sine wave
1 guide rail displacement model carries out constructive arithmetic processing, and substantially sine wave has the frequency determined by bracket cycle and travel speed v for this
ω1.On the other hand, in guide rail shifts presumption module 31b, bent using guide rail is assumed to the substantially characteristic of sine wave
2nd guide rail displacement model carry out constructive arithmetic processing, this substantially sine wave have determined by guide rail seam cycle and travel speed v
Frequencies omega2。
In addition, for car vibrations model, it is same with above-mentioned 1st embodiment.Estimated that is, being shifted in guide rail
In module 31a, the 1st extended mode equation mould for being combined car vibrations model and the 1st guide rail displacement model is used
Type, based on scratching for relative shift signal 16-1~16-4 presumption guide rail 2-1, the 2-2 exported from displacement transducer 15-1~15-4
Qu Liang.In guide rail shifts presumption module 31b, shift model using car vibrations model and the 2nd guide rail is made and carried out combination
2nd extended mode equation model, based on the relative shift signal 16-1~16-4 exported from displacement transducer 15-1~15-4
Estimate guide rail 2-1,2-2 deflection.
In feedforward control module 33, pushed away using by the 1st guide rail displacement that presumption module 31a, 31b output is shifted from guide rail
Signal 32a-1,32a-2 ... and the 2nd guide rail displacement result that is separately summed of presumption signal 32b-1,32b-2 ... are determined as finally
Result is estimated to carry out feedforward control.
Feedback control module 35 similarly, using by the 1st guide rail shifts presumption signal 32a-1,32a-2 ... and the 2nd guide rail
The result that displacement presumption signal 32b-1,32b-2 ... are separately summed carries out feedback control as final presumption result.
So, according to the 2nd embodiment, by using considering bracket cycle and the two characteristics of guide rail seam cycle
Cycle guide rail displacement model, can implement more to reflect the presumption processing of the feature of guide rail 2-1,2-2 flexure.Pass through
Feedforward control is carried out to actuator 11-1~11-4 using the presumption result, the higher effectiveness in vibration suppression of precision can be expected.
In addition, in above-mentioned 2nd embodiment, although shifting presumption module 31a and guide rail displacement presumption mould using guide rail
The presumption result of this two side of block 31b carries out feedforward control, but can also be feedovered using the presumption result of either one
Control.For feedback control similarly.
In addition, as other methods, the natural frequency ω n that can also be conceived to the horizontal vibration of car 5 is bent to guide rail
Modeled.That is, in horizontal vibration caused by being run at high speed in car 5, the frequency of dominance is the resonance that car 5 has
Frequencies omega n [rad].
Resonant frequency ω n substantially can be by being calculated with following formula (10).
Wherein, K is the spring constant [N/m] for actively leading boots up and down, and M is car weight (kg).
In the case where being conceived to such resonant frequency ω n and guide rail flexure being modeled, the flexure with reality
Waveform is not consistent.However, even if the composition very little of the resonant frequency ω n in flexure waveform also results in the large-amplitude sloshing of car 5.
Accordingly, there exist the possibility that also can effectively suppress vibration by being modeled with resonant frequency ω n.
Further, since only presumption and the consistent compositions of resonant frequency ω n possessed by car 5, so the ripple that deduces
Deformation is small.Therefore, also diminish even if actuator 11-1~11-4 actuating quantity, can also expect energy-saving effect.
(the 3rd embodiment)
Then, the 3rd embodiment is illustrated.
Figure 16 is the figure of the structure of the active damper for the elevator for schematically showing the 3rd embodiment.In addition, pair with it is upper
Fig. 1 identicals part for stating the 1st embodiment marks same label, and the description thereof will be omitted.
In above-mentioned 1st embodiment, displacement transducer 15-1~15- is set at up and down 4 positions of car 5
4, in each location detection relative shift.And in the 3rd embodiment, as shown in figure 16, upper right and bottom in car 5
The two positions of left side are provided with displacement transducer 15-1,15-4.Displacement transducer 15-1 is at the setting position for actively leading boots 7-1
Detect the relative shift between car 5 and guide rail 2-1.Displacement transducer 15-4 is actively leading boots 7-4 setting location detection sedan-chair
Relative shift between railway carriage or compartment 5 and guide rail 2-2.
Control device 20 is transfused to from the relative shift signal of displacement transducer 15-1,15-4 output.Control device 20 makes
It is used as observer with the mathematical modeling for representing relative shift in theory, the relative shift based on displacement transducer 15-1,15-4
Signal estimates guide rail 2-1,2-2 deflection.
Boots 7-1 guiding wheel 8-1 and leading for the guide rail 2-1 of the side positions contacted are actively led in this case, can obtain
The guide rail that rail shifted and actively led boots 7-4 guiding wheel 8-4 and the guide rail 2-2 of the opposing party position contacted shifts and is used as and pushes away
Determine result.Control device 20 drives actuator 11-1,11-4 based on the presumption result.Thus, when car 5 in the horizontal direction
During vibration, actuator 11-1~11-4 does work to suppress to vibrate on the direction for suppressing the vibration.
So, displacement transducer 15-1,15- are set even in the two positions of the upper right and lower left side of car 5
4, also in the same manner as above-mentioned 1st embodiment, guide rail 2-1,2-2 deflection can be estimated in substantially real-time in motion and subtracted
The horizontal vibration of few car 5.
In addition, in Figure 16 example, moved although being provided with the two positions of the upper right and lower left side of car 5
Level sensor 15-1,15-4, but can also set with the two positions of upper left-hand on the right side of the bottom of car 5 and shift sensing
Device 15-2,15-3.Or displacement transducer 15- can also be set at the two positions of the upper right and upper left-hand of car 5
1st, 15-3, or displacement transducer 15-2,15-4 are set with the two positions of lower left side on the right side of the bottom of car 5.In a word,
In the case where using two displacement transducers, it is configured to detect guide rail 2-1 sides and the opposing party of a side of car 5 respectively
Guide rail 2-2 sides relative shift.
(the 4th embodiment)
Then, the 4th embodiment is illustrated.
Figure 17 is the figure of the structure of the active damper for the elevator for schematically showing the 4th embodiment.In addition, pair with it is upper
Fig. 1 identicals part for stating the 1st embodiment marks same label, and the description thereof will be omitted.
In the 4th embodiment, car 5 is made up of car frame 6 and the cage 12 that the car frame 6 fences up.
Cage 12 is the actual part taken of passenger, is linked via vibration-proof rubber 13-1,13-2 and car frame 6.
Between car frame 6 and cage 12, clip for suppress Relative Vibration between the two actuator 14-1,
14-2。
In addition, displacement transducer 15-1 has been uniformly set it with the 1st embodiment in each actively lead in boots 7-1~7-4
~15-4.And then in the 4th embodiment, displacement transducer 15-5,15- are additionally provided with the upper and lower part of cage 12
6.Displacement transducer 15-5 detects the relative of horizontal direction between cage 12 and car frame 6 on the top of cage 12
Displacement.Displacement transducer 15-6 detects the phase of the horizontal direction between cage 12 and car frame 6 in the bottom of cage 12
To displacement.
In addition, in fig. 17, L1 is the distance between car frame center of gravity and upper guide boots, L2 is car frame center of gravity with
Portion leads the distance between boots, and L3 is the distance between the actuator of framework on car frame center of gravity and car, and L4 is car frame center of gravity
With the distance between the actuator of car underframe, L5 is that the distance between the actuator of framework, L6 are on cage center of gravity and car
Distance between the actuator of cage center of gravity and car underframe.
Here, in above-mentioned 1st embodiment, examined using the car frame 6 for forming car 5 and cage 12 as integrally
Consider, mould has been carried out to the Vibrating System with Two Degrees of Freedom of the horizontal vibration with the overall center of gravity of car and the whirling vibration around center of gravity
Type.And in the 4th embodiment, consider using car frame 6 and cage 12 as split, to car frame 6
The horizontal vibration of center of gravity and whirling vibration and horizontal vibration and the rotation around center of gravity of the center of gravity of cage 12 around center of gravity
The four-degree-of-freedom vibrational system of vibration is modeled.
The extended mode equation of four-degree-of-freedom vibrational system described below.
Wherein, Xw is the horizontal vibration displacement of car frame center of gravity, and Xs is the horizontal vibration displacement of cage center of gravity, and θ w are
The whirling vibration angle of car frame center of gravity, θ s are the whirling vibration angles of cage center of gravity.D1, D2 are the top of car frame
(deflection) is shifted with the guide rail of bottom, Fu, Fd are direct acting to the upper and lower part of cage plus power of shaking (empty power interference
Power).A [16 × 16] is arbitrary matrix form, omits specific numerical value.
Formula (11) and formula (12) are a set of equation, are the extended mode equation model (sedan-chairs of four-degree-of-freedom vibrational system
Railway carriage or compartment vibration+guide rail displacement model) operating equation and output equation formula.
D1, D2 and Fu, the Fd quantity of state as interference displacement are included in the operating equation of above-mentioned formula (11).This
Outside, here, by taking the corresponding quantity of state in the upper and lower part of the guide rail 2-1 with a side as an example, but actually can also add with separately
Quantity of state corresponding to the guide rail 2-2 of one side upper and lower part.
Now, the relative shift between the car 5 detected by displacement transducer 15-1 and guide rail 2-1 is set to h1, will be by
Relative shift between the car 5 and guide rail 2-1 of displacement transducer 15-2 detections is set to h2.In addition, will be by displacement transducer 15-
Relative shift between the car frame 6 and cage 12 of 5 detections is set to hu, the car frame that will be detected by displacement transducer 15-6
Relative shift between frame 6 and cage 12 is set to hd.
Relative shift speed of the output equation formula output of above-mentioned formula (12) by above-mentioned each relative shift and as its 1 rank differential
Spend 8 quantity of states (h1', h1, h2', h2, hu', hu, hd', hd) formed.In the same manner as Fig. 6, if by these quantity of states and reality
The displacement transducer signal and its differential signal on border are compared, and are multiplied by observer gain to its difference and are returned, are then thought
The guide rail to be estimated displacement (D1, D2, Fu, Fd) and its time diffusion (D1', D2', Fu', Fd').In this case, except because
Beyond displacement D1, D2 caused by guide rail flexure, additionally it is possible to comprising mainly by travelling when blast etc. put on cage 12 plus
Power Fu, Fd shake to be estimated.
In addition, as being illustrated in Figure 7, can also be multiplied by the signal to displacement transducer 15-1~15-6 predetermined
Inputted after gain.
In addition, herein for the purpose of simplifying the description, it is contemplated that the situation of the guide rail 2-1 of one side of presumption deflection is illustrated,
But in fact, using displacement transducer 15-3,15-4, also estimated the deflection of the guide rail 2-2 comprising the opposing party.
Specifically, shown in Fig. 8 guide rail displacement presumption module 31 in group enter with above-mentioned formula (11), formula (12) four
The observer of the extended mode equation of free degree vibrational system.It is also, displacement transducer 15-1~15-6 each signal is defeated
Enter guide rail displacement presumption module 31, estimate D1, D2 are shifted caused by guide rail is bent and the puts on cage 12 plus power Fu that shakes,
Fd。
Feedforward control module 33 is based on the presumption result and feedforward control is carried out to actuator 11-1~11-4, and to setting
Actuator 14-1,14-2 between car frame 6 and cage 12 carry out feedforward control.Thus, such as in 2 elevators in height
The cage 12 such as situation in speed traveling staggeredly because wind pressure etc. there occurs vibration in the case of, the side of the vibration can suppressed
Drive up actuator 14-1,14-2 to make cage 12 rocks stabilisation.
So, according to the 4th embodiment, vibrational system is carried out by regarding car frame 6 and cage 12 as split
Modelling, except displacement transducer 15-1~15-6 can be used to suppress the conduct because of guide rail 2-1,2-2 flexure of car frame 6
Beyond the vibration that forced displacement power is subject to, additionally it is possible to shaken caused by suppression is subject to when running at high speed as cage 12 plus power of shaking
It is dynamic.
(the 5th embodiment)
Then, illustrated for the 5th embodiment.
In above-mentioned 1st embodiment, observer is constituted using the extended mode equation of formula (8) and formula (9).At this
In observer, in order to obtain the signal of the displacement transducer as actual value and the matching of the output valve of extended mode equation
And need the transform ((c) part in formula) of relative shift.And in the 5th embodiment, it is characterised in that use is to the change
Change the equation of state composition observer (reference picture 18) that the part of formula is calculated in advance.
I.e., first, using the relative shift shown in formula (13) and the relational expression definitely shifted.
X+L1e-D1=h1
X-L2 θ-D2=h2... (13)
In addition, formula (13) is identical with above-mentioned (3) formula.H1 be the car 5 and guide rail 2-1 that is detected by displacement transducer 15-1 it
Between relative shift, h2 is by the relative shift between the displacement transducer 15-2 cars 5 detected and guide rail 2-1.D1 is guide rail
2-1 upside actively lead boots 7-1 setting position displacement (deflection), D2 is that guide rail 2-1 actively leads boots 7-2 in downside
Setting position displacement (deflection).(X+L1 θ), (X-L2 θ) represent definitely displacement.
Using such relational expression, to the quantity of states of the car vibrations that are obtained from the signal of acceleration transducer (X ', X,
θ ', θ) deformed, get out represent " the car displacement model " of the quantity of state (h1 ', h2 ', h1, h2) of car displacement.The 5th
In embodiment, " the extended mode equation for " guide rail displacement model " is combined with " the car displacement model " obtaining is used
Model "." extended mode equation model " is somebody's turn to do to be represented by following formulas (14) and formula (15).
Formula (14) and formula (15) are a set of equation, are the extended mode equation model (sedan-chairs of Vibrating System with Two Degrees of Freedom
Railway carriage or compartment displacement+guide rail displacement model) operating equation and output equation formula.In addition, h1, h2 are car upper and the guide rail of bottom
Between relative shift amount (m), D1, D2 are the guide rail displacements (deflection) (m) of car upper and bottom.U1, U2 are car uppers
With the power of the actuator of bottom.In addition, the composition containing guide rail displacement model in AA [8 × 8], BB [8 × 2], CC [4 × 8]
Key element.Due to the calculating formula as complexity, so omitting detailed content.
Here, exist with the difference of the extended mode equation (with reference to formula (8) and formula (9)) of above-mentioned 1st embodiment
In, the equation of state of the vibration characteristics for the horizontal direction being subject to representing car 5 by guide rail 2-1 flexure deforms,
Showed using the relative shift between guide rail 2-1 and car 5 as state vector and in the form of equation of state.If as use
Extended mode equation forms observer, then turns into as shown in Figure 18.
Figure 18 is the figure for illustrating the structure of the observer of the 5th embodiment.40 in figure show expression reality
The material object (car of elevator) of vibrational system.61 be observer.
Now, illustrated by estimating caused by the guide rail 2-1 of side flexure in case of guide rail displacement.In sedan-chair
During railway carriage or compartment 5 travels, from displacement transducer 15-1,15-2 to observer 61, input represents the relative shift between guide rail 2-1 and car 5
Signal.
Observer 61 shifts by car+and guide rail shifts model 62, difference calculating section 63, observer gain matrix 64 and forms.
Car displacement+guide rail shifts model 62 equivalent to the extended mode equation shown in above-mentioned formula (14) and formula (15)
Formula, the estimated amount (D1', D2', D1, D2) that the quantity of state (h1 ', h2 ', h1, h2) and guide rail of output car displacement shift.From this
Quantity of state (h1 ', h2 ', h1, h2) the pushing away as relative shift for the car displacement that car displacement+guide rail displacement model 62 exports
Definite value is provided to difference calculating section 63.
Difference calculating section 63 is compared to the presumed value of the relative shift and the measured value of relative shift, by the difference value
Car displacement+guide rail displacement model 62 is fed back to via observer gain matrix 64.Observer gain matrix 64 and Fig. 6 observation
Device gain matrix 45 is the square that predetermined gain is multiplied by for the presumed value to relative shift and the difference value of measured value similarly
Battle array.
Shifted here, the Fig. 6 used in above-mentioned 1st embodiment observer 41 is feedback as the guide rail of output valve
Estimated amount (D1 ', D2 ', D1, D2) structure.That is, due to estimating result and the structure estimated as feedback,
So for example there is precision reduction in the case where presumption result includes error.
And in the observer 61 of the 5th embodiment, due to it is no feedback guide rail displacement estimated amount (D1 ', D2 ', D1,
D2), so with being easily obtained presumption precision, stability this advantage of presumption.However, it is desirable to the phase with Fig. 6 is solved in advance
The complicated formula suitable to shift transformation matrix 43.
If 61 groups of the observer of this spline structure is entered into control device 20, and as shown in Figure 3 by displacement transducer 15-1,15-2
Signal input control device 20, then can estimate guide rail 2-1 deflection.When passing through the feedforward control based on the presumption result
When driving actively leads boots 7-1 actuator 11-1 and actively leads boots 7-2 actuator 11-2, it can absorb in real time because of guide rail 2-
Shifted caused by 1 flexure, and the horizontal vibration of car 5 can be reduced.
In addition, in Fig. 8 structure, displacement transducer 15-1,15-2 signal are inputted into observer by original size
41, but can also for example shown in Fig. 7, displacement transducer 15-1,15-2 signal is multiplied by after modified gain 46 carry out it is defeated
Enter.
In addition, herein for the purpose of simplifying the description, it is contemplated that the situation of the guide rail 2-1 of one side of presumption deflection is illustrated,
But in fact, using displacement transducer 15-3,15-4, also estimated the deflection of the guide rail 2-2 comprising the opposing party.
In a word, observer 61 obtains the quantity of state as car 5 according to displacement transducer 15-1~15-4 signal
Relative shift and relative shift speed between guide rail and car are as input signal, using extended mode equation model substantially
Guide rail 2-1,2-2 deflection are estimated in real time.By based on the presumption result of the observer 41 to actively leading boots 7-1~7-4
Damper mechanism (actuator 11-1~11-4) carry out feedforward control, guide rail 2-1,2-2 can have been obtained with prior learning just
Deflection the same effectiveness in vibration suppression of mode.
In addition, herein for the purpose of simplifying the description, it is contemplated that the situation of the guide rail 2-1 of one side of presumption deflection is illustrated,
But in fact, using displacement transducer 15-3,15-4, estimated the deflection of the guide rail 2-2 comprising the opposing party.
In a word, observer 41 obtains the quantity of state as car 5 according to displacement transducer 15-1~15-4 signal
Relative shift and relative shift speed between guide rail and car is substantially real using extended mode equation model as input signal
When estimate guide rail 2-1,2-2 deflection.By based on the presumption result of the observer 41 to actively leading boots 7-1~7-4's
Damper mechanism (actuator 11-1~11-4) carries out feedforward control, can obtain with prior learning guide rail 2-1,2-2 just
The same effectiveness in vibration suppression of the mode of deflection.
So according to the 5th embodiment, combined by using by car displacement model and guide rail displacement model
The extended mode equation arrived forms observer, can more precisely estimate guide rail displacement (deflection) and improve vibration damping effect
Fruit, the car shift model using the relative shift between guide rail and car as state vector.
It is further possible to the 5th embodiment and above-mentioned 2nd to the 4th embodiment are carried out appropriately combined.
At least one embodiment in accordance with the above, using the teaching of the invention it is possible to provide it is a kind of can be by cheap structure come effectively
Catch and efficiently reduce the active boot guiding device vibrated in car travel caused by the flexure of guide rail.
In addition, in the respective embodiments described above, be illustrated by taking elevator as an example, as long as but such as electric car so
The moving body travelled on guide rail, can also be applicable the method for the present invention reduces vibration.
In a word, several embodiments of the invention is illustrated, but these embodiments are to carry as an example
Show, be not intended to limit the scope of invention.These new embodiments can be implemented in a manner of other are various, not
In the range of the main idea for departing from invention, various omissions can be carried out, replaced, change.These embodiments and its deformation are included in
In the scope of invention, main idea, and in the scope being equal included in the invention described in claims and with it.
Claims (13)
1. a kind of active damper of elevator, it is characterised in that possess：
Car, along lifting rail；
Damper mechanism, be arranged on the car it is relative with above-mentioned guide rail to part；
At least one displacement transducer, detect the relative shift between above-mentioned car and above-mentioned guide rail；
Scavenging valve, have and represent that the deflection because of above-mentioned guide rail is relative caused by between above-mentioned car and above-mentioned guide rail in theory
The mathematical modeling of displacement, signal and above-mentioned mathematical modeling using above-mentioned displacement transducer, is estimated in motion in substantially real-time
As the deflection of the above-mentioned guide rail of the vibration cause of above-mentioned car；And
Control unit, the presumption result based on the scavenging valve, above-mentioned subtract is controlled on the direction of vibration for suppressing above-mentioned car
Shake mechanism.
2. the active damper of elevator according to claim 1, it is characterised in that
Above-mentioned damper mechanism be arranged on the top of above-mentioned car it is relative with above-mentioned guide rail to part and above-mentioned car bottom
It is relative with above-mentioned guide rail to part at least one party,
Above-mentioned displacement transducer is there is provided the relative shifting between the above-mentioned car of the location detection of above-mentioned damper mechanism and above-mentioned guide rail
Position.
3. the active damper of elevator according to claim 1, it is characterised in that
Above-mentioned mathematical modeling includes extended mode equation model obtained from combination car vibrations model and guide rail displacement model,
Above-mentioned car vibrations model is that the level that above-mentioned car is subject to by the flexure of above-mentioned guide rail is showed in the form of equation of state
The model of the vibration characteristics in direction, above-mentioned guide rail displacement model assumes that to be sent out for the flexure of above-mentioned guide rail with predetermined regular nature
Changing and in the form of equation of state come the model showed,
Above-mentioned extended mode equation model, which includes, is used for the quantity of state based on above-mentioned car and the presumption of the flexure of above-mentioned guide rail
The relation of amount calculates the transform of the relative shift between above-mentioned guide rail and above-mentioned car.
4. the active damper of elevator according to claim 1, it is characterised in that
Above-mentioned mathematical modeling includes extended mode equation model obtained from combination car displacement model and guide rail displacement model,
Above-mentioned car displacement model is will to represent the vibration characteristics of horizontal direction that above-mentioned car is subject to by the flexure of above-mentioned guide rail
Equation of state deformed, using the relative shift between above-mentioned guide rail and above-mentioned car as state vector and with equation of state
Form come the model that shows, above-mentioned guide rail displacement model assumes that to be occurred for the flexure of above-mentioned guide rail with predetermined regular nature
Change and the model in the form of equation of state to show.
5. the active damper of the elevator according to claim 3 or 4, it is characterised in that
Above-mentioned scavenging valve is made up of observer, above-mentioned observer by by the above-mentioned car that above-mentioned displacement transducer detects with it is above-mentioned
The phase calculated in theory obtained from relative shift between guide rail and the output valve as above-mentioned extended mode equation model
Displacement is compared, and its difference is fed back.
6. the active damper of elevator according to claim 5, it is characterised in that
The letter of relative shift between above-mentioned car and above-mentioned guide rail that above-mentioned observer is detected to expression by above-mentioned displacement transducer
Number it is multiplied by predetermined gain and is inputted.
7. the active damper of the elevator according to claim 3 or 4, it is characterised in that
Above-mentioned guide rail displacement model assumption presses the big of certain mechanical periodicity for the flexure of above-mentioned guide rail with only amplitude and phase
Cause the characteristic of sine wave and modeled.
8. the active damper of elevator according to claim 7, it is characterised in that
Above-mentioned guide rail displacement model assumption is modeled for characteristic of the flexure with following substantially sine waves of above-mentioned guide rail,
Substantially sine wave has the cycle being spaced by the setting of the bracket for being fixed on above-mentioned guide rail in hoistway for this.
9. the active damper of elevator according to claim 7, it is characterised in that
Above-mentioned guide rail displacement model assumption is modeled for characteristic of the flexure with following substantially sine waves of above-mentioned guide rail,
This substantially sine wave have seam by a plurality of guide rail component for forming above-mentioned guide rail interval cycle.
10. the active damper of elevator according to claim 7, it is characterised in that
Above-mentioned guide rail displacement model assumption is modeled for characteristic of the flexure with following substantially sine waves of above-mentioned guide rail,
Substantially sine wave has by the 1st cycle at the setting interval of the bracket for being fixed on above-mentioned guide rail in hoistway and by composition for this
2nd cycle at the interval of the seam of a plurality of guide rail component of above-mentioned guide rail.
11. the active damper of the elevator according to claim 3 or 4, it is characterised in that
Above-mentioned car vibrations model be by the horizontal vibration of the center of gravity with above-mentioned car and around center of gravity whirling vibration the two
Model obtained from the vibrational system of vibrational degrees of freedom is modeled.
12. the active damper of the elevator according to claim 3 or 4, it is characterised in that
Above-mentioned car vibrations model be using form above-mentioned car car frame and cage as split, and will have above-mentioned
The horizontal vibration of the center of gravity of car frame and whirling vibration around center of gravity and the horizontal vibration of the center of gravity of above-mentioned cage and
Around the vibrational system of the whirling vibration of center of gravity this 4 vibrationals degrees of freedom modeled obtained from model.
13. the active damper of elevator according to claim 12, it is characterised in that
Above-mentioned scavenging valve estimates put on above-mentioned cage plus power of shaking using above-mentioned car vibrations model,
Presumption result of the above-mentioned control unit based on above-mentioned scavenging valve, suppressing to put on side that is above-mentioned cage plus shaking power
Feedforward control is carried out to the actuator being arranged between above-mentioned car frame and above-mentioned cage upwards.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016173145A JP6242969B1 (en) | 2016-09-05 | 2016-09-05 | Elevator active vibration control device |
| JP2016-173145 | 2016-09-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107792753A true CN107792753A (en) | 2018-03-13 |
| CN107792753B CN107792753B (en) | 2019-12-31 |
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ID=60570290
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710522673.7A Active CN107792753B (en) | 2016-09-05 | 2017-06-30 | Active vibration damping device for elevator |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6242969B1 (en) |
| CN (1) | CN107792753B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113503334A (en) * | 2021-07-30 | 2021-10-15 | 上海三菱电梯有限公司 | Method for reducing vibration of guide rail |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05310386A (en) * | 1992-03-09 | 1993-11-22 | Toshiba Corp | Damping device for elevator |
| CN1412102A (en) * | 2001-10-16 | 2003-04-23 | 因温特奥股份公司 | Device for mounting elevator driving equipment in lift well |
| CN105366483A (en) * | 2014-08-18 | 2016-03-02 | 株式会社日立制作所 | Elevator device and method for adjusting damping mechanism thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4266744B2 (en) * | 2003-08-08 | 2009-05-20 | 東芝エレベータ株式会社 | Elevator guide device |
| MY138827A (en) * | 2004-02-02 | 2009-07-31 | Inventio Ag | Method for vibration damping at an elevator car |
| JP5528594B2 (en) * | 2013-03-08 | 2014-06-25 | 三菱電機株式会社 | Elevator damping device |
-
2016
- 2016-09-05 JP JP2016173145A patent/JP6242969B1/en active Active
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2017
- 2017-06-30 CN CN201710522673.7A patent/CN107792753B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05310386A (en) * | 1992-03-09 | 1993-11-22 | Toshiba Corp | Damping device for elevator |
| CN1412102A (en) * | 2001-10-16 | 2003-04-23 | 因温特奥股份公司 | Device for mounting elevator driving equipment in lift well |
| CN105366483A (en) * | 2014-08-18 | 2016-03-02 | 株式会社日立制作所 | Elevator device and method for adjusting damping mechanism thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113503334A (en) * | 2021-07-30 | 2021-10-15 | 上海三菱电梯有限公司 | Method for reducing vibration of guide rail |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2018039591A (en) | 2018-03-15 |
| JP6242969B1 (en) | 2017-12-06 |
| CN107792753B (en) | 2019-12-31 |
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