JP3207258B2 - Elevator damping device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration damping device for an elevator.

[0002]

2. Description of the Related Art Conventionally, an elevator which moves up and down along a guide rail in an elevator hoistway of a high-rise building is provided with a guide roller having buffer means, and a vibration isolator inserted between a car room and a car frame of a car. The vibration of the car was absorbed by the rubber. FIG. 6 shows the configuration of the conventional elevator. The elevator 51 has a car 52, and the car 52 is suspended by a suspension rope 53 so as to be able to move up and down in an elevator hoistway 54 formed in a building. An impact absorbing spring 55 is provided at the lower end of the suspension rope 53 to absorb the impact at the time of starting up and down. Guide rails 56 are mounted substantially vertically on the wall surfaces of both side walls of the elevator hoistway 54. A plurality of guide rollers 57 are attached to the upper and lower portions of the car 52 which are substantially aligned with the guide rails 56. The guide rollers 57 each include a roller 58 and a roller spring 59, and the roller 58 is pressed against the guide rail 56 by the roller spring 59. The car 52 includes a car frame 60 suspended by a hanging rope 53 and a car room 61 for accommodating an elevator user. A vibration-proof rubber 62 is inserted between the car room 61 and the car frame 60. ing.

FIG. 7 shows a guide roller 57 in an enlarged manner. The guide roller 57 includes the roller 58 and the roller spring 5.
9, a bracket 63, a lever 64, and a rod 65. Bracket 63 is cage frame 60
The lever 64 is fixed to the upper surface, and one end of the lever 64 is rotatably connected to the bracket 63 and the other end is rotatably connected to the rotation shaft of the roller 58. One end of the rod 65 is fixed to the bracket 63 so as to cross the lever 64. Rod 6
A roller spring 59 is interposed between the nut attached to the free end of the lever 5 and the lever 64 in a compressed state.

With the above configuration, the elevator car 5
2 moves up and down, the guide roller 57 moves the guide rail 5
Rolling along 6 guides the car 52 along a predetermined track. While the car 52 is moving up and down, the roller 58 is moved by the action of the roller spring 59 to the car 52 and the guide rail 5.
Since the change in the distance between the guide rails 56 is absorbed, the bending of the guide rail 56 transmitted to the car 52 and the vibration due to the joint can be reduced. Further, fine vibrations transmitted from the car frame 60 to the car room 61 are absorbed by the vibration-proof rubber 62, so that the riding comfort is improved.

[0005]

However, the roller spring and the vibration isolating rubber of the above-described conventional vibration damping device for an elevator are not enough to absorb a vibration having a large amplitude due to a bending of a guide rail or the like. In particular, with the rise of buildings in recent years, the acceleration at which the guide rails bend, etc. also increases, and when the elevator speed exceeds the predetermined speed, the roll of the car received from each guide rail exceeds the allowable range. There was a problem that the ride was poor. Also, when the elevator speed reaches a predetermined speed,
The excitation frequency due to the forced displacement such as the bending of the guide rail and the natural frequency of the elevator car coincide with each other to cause a resonance phenomenon, and there is also a problem that the vibration is significantly amplified. Further, in the conventional roller damper and rubber damper of the vibration damping device, the forced displacement once generated has to be naturally attenuated due to the expansion and contraction of the roller spring and rubber damper, so that the reciprocation in the horizontal direction cannot be canceled. . Accordingly, an object of the present invention is to solve the above-described problem of the conventional elevator vibration damping device, and to apply an external force to the car in a direction to cancel the vibration caused by the guide rails or the like, thereby positively damping the vibration. A vibration device is provided.

[0006]

In order to achieve the above object, an elevator vibration damping device according to the present invention comprises a gyro rotor which rotates at a predetermined angular velocity around a rotating shaft, and supports the gyro rotor freely. A gimbal that is rotatably supported with respect to the gimbal axis, a servomotor that rotates the gimbal at a predetermined angular velocity with respect to the gimbal axis, an acceleration sensor that detects the acceleration of the car, and a signal from the acceleration sensor. A control circuit having an arithmetic circuit that calculates a control signal based on the control signal and a servo driver that drives a servomotor based on the control signal. Components so that the inactive components of the damping moment cancel each other. A rotational angular velocity and the moment of inertia of Rorota, in which the rotational angular velocity is set or controlled for each gimbal.

[0007]

An elevator vibration damping device according to the present invention includes a gyro rotor, a gimbal for rotatably supporting the gyro rotor, and a servomotor for tilting the gimbal. The gimbal rotates the gyro rotor at a predetermined angular velocity. Can be generated at a predetermined angular velocity to generate a damping moment. The present invention provides the gyro mechanism above and below the elevator car to add the effective components of the gyro damping moment to each other, while the ineffective component of the gyro damping moment is used as a twist in the elevator car elevator direction. Can offset each other. Further, the elevator vibration damping device of the present invention includes an acceleration sensor and a control device, the acceleration sensor detects the acceleration of the elevator car, and the control device cancels the acceleration detected by the acceleration sensor. The operating conditions of the servomotor that generates this damping moment can be quickly calculated, and the servomotor is controlled and driven based on this, so the acceleration of the elevator car is canceled by the damping moment,
An elevator vibration damping device capable of effectively and positively attenuating vibrations in a range that cannot be absorbed conventionally can be obtained.

[0008]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 shows the configuration of an elevator in which the vibration damping device according to the present invention is mounted on the upper and lower parts of a car. The elevator indicated by reference numeral 1 as a whole has a car 2 which is suspended by a suspension rope 3 in an elevator hoistway 4 of a building. The car 2 is composed of a car frame 5 and a car room 6, and the suspension rope 3 is connected to an upper portion of the car frame 5 via a shock absorbing spring 7 so as to be able to absorb a shock at the start of elevating. In addition, car room 6
A vibration-absorbing rubber 8 for absorbing vibration is inserted between the car frames 5 so as to absorb fine vibrations transmitted directly from the car frames 5 to the car room 6. A pair of guide rails 9 are mounted substantially vertically on both side walls of the elevator hoistway 4. The upper and lower portions of the car frame 5 have a pair of guide rollers 1 at positions matching the guide rails 9.
0a and 10b are attached. The guide rollers 10a and 10b have a conventionally known structure, and are urged in the direction of the guide rail 9 by roller springs 11a and 11b so as to follow the bending of the rail. Vibration control devices 12a and 12b according to the present invention are attached to the upper and lower surfaces of the car frame, respectively. Since these vibration dampers 12a and 12b have the same configuration, the vibration damper 12a mounted on the upper surface of the car frame 5 will be described below. The vibration suppression device 12a includes a gyro rotor 13a, a gimbal 14a, a servomotor 15a, and an acceleration sensor 1
6a and a control device (not shown).
The gyro rotor 13a includes a rotating body 17a having a mass and a rotating shaft 18a, and is configured to rotate at a predetermined angular velocity by a driving device (not shown). The gimbal 14a rotatably supports the gyro rotor 13a, and the gimbal 14a itself is provided with a pair of support members 19a via a gimbal shaft 19a within a predetermined angle range in a plane perpendicular to the rolling direction x of the car 2. It is rotatably supported inside. Servo motor 15a is supported by support member 2
0a, and connected to a gimbal shaft 19a so that the gimbal 14a can be driven to rotate at a predetermined angular velocity. The acceleration sensor 16a is fixed to the upper surface of the car frame 5, and is configured to be able to detect the acceleration in the lateral direction x of the car frame in the present embodiment. The control device (not shown) may be installed in one of the upper and lower parts of the car frame 5 or in a place other than the movable part of the elevator 1, for example, in a machine room.

Next, the gyro rotor 13a and the gimbal 14
The mechanism for generating a vibration damping moment by the gyromechanism a will be described with reference to FIG. FIG. 2 shows a model of the gyro mechanism on the upper part of the car 2 and, as shown in FIG. 2, the gimbal shaft 19a is on the xa-axis, the rotation shaft 18a of the gyro rotor 13a is on the za-axis, and the plane including xa-axis and za-axis. Assuming that the vertical line is the ya axis, the rotational moment of inertia of the gyro rotor 13a is Ja, the rotational angular velocity of the gyro rotor is Ωa, and the angle of the gimbal 14a around the xa axis is θa, the angle around the ya axis changes when the angle θa of the gimbal 14a changes. At the moment Mya and the moment Mza around the za axis. These moments Mya and Mza are represented by the following equations. Mya = Ja.OMEGA. (D.theta.a / dt) .cos.theta.a (1) Mza = Ja.OMEGA. (D.theta.a / dt) .sin .theta.a (2) Here, the derivative of (d.theta.a / dt) angle .theta.a with respect to time t, that is, gimbal 14A shows the angular velocity around the xa axis. The moment Mya is an effective component of a damping moment for attenuating the vibration of the car 2 of the elevator, and the moment Mza is a torsional moment in the ascending and descending direction of the car 2 and is an invalid component of the damping moment. Similarly, the gyro mechanism at the lower part of the car 2 generates moments Myb and Mzb shown by the following equations.

Myb = Jb · Ωb · (dθb / dt) · cosθb (3) Mzb = Jb · Ωb · (dθb / dt) · sinθb (4) where Jb is the rotational inertia moment of the gyro rotor 13b, and code Ωb indicates the angular velocity of the gyro rotor 13b, and θb indicates the angle of the gimbal 14b around the gimbal axis 19b. Now, the gyro rotor 13a, 1
3b are equal in magnitude and the directions are opposite (eg, Ωa> 0, Ωb <0, and | Ωa | =
| Ωb |) and the gimbal 14a
, 14b with respect to the gimbal axes 19a, 19b (eg, dθa / dt> 0, dθb / dt).
If <0) is established, the effective components Mya and Myb of the damping moment have the same sign and are added, and the invalid components Mza and Mzb of the damping moment have opposite signs and cancel each other. Thus, the gyro rotors 13a, 13
By setting the rotational angular velocities and angles of the gimbal 3b and the gimbals 14a, 14b, the horizontal vibration of the elevator can be effectively and positively canceled, and the torsional moment in the vertical direction of the elevator can be made substantially zero.

A control device for determining the magnitude of the damping moment will be described below with reference to FIG. FIG. 3 shows the configuration and control flow of the control device including the acceleration sensors 16a and 16b, the gyro mechanism, and the car 2. The control device 21 includes an arithmetic circuit 22 that calculates a control signal, and the servo motor 1 based on the control signal calculated by the arithmetic circuit 22.
5a and 15b. The arithmetic circuit 22 includes a filter 24,
An integrator 25, an A / D converter 26, an arithmetic unit 27, and D
A / A converter 28 and a gimbal angle detector 29 are provided. The control flow of the control device 21 will be described below with reference to FIG. The acceleration sensors 16a and 16b detect the acceleration X "of the elevator car 2 and send it to the filter 24. The filter 24 removes high-order frequency components of the acceleration X", and removes the higher-order frequency components from the A / D converter 26 and the integrator. 25 and in parallel. The integrator 25 integrates the acceleration X ″ input from the filter 24, converts it into a velocity X ′, and outputs it to the A / D converter 26. On the other hand, the A / D converter 26 has a gimbal angle detector 29. Gimbal 14a detected by
, 14b are input. The A / D converter 26 is
The input analog signal of the acceleration X ″, the velocity X ′, and the gimbal angle θ is converted into a digital signal and sent to the arithmetic unit 27. The arithmetic unit 27 calculates the control output and sends the digital signal to the D / A converter The D / A converter 28 converts the control output of the digital signal into the control output Vs of the analog signal, which is expressed as follows: Vsa = −Kp (X′a + Kd · X ″) a) + Kg · θa (5) Vsb = −Kp (X′b + Kd · X ″ b) + Kg · θb (6) Here, Vsa and Vsb are control of the servo driver 23 to the upper and lower parts of the car 2 respectively. The output, X'a and X'b are the velocity components of the upper and lower parts of the car 2 integrated by the integrator 25, respectively, and X "a and X" b are the acceleration sensors 1 respectively.
The accelerations θa and θb of the upper and lower portions of the car 2 detected at 6a and 16b indicate the angles of the gimbals 14a and 14b, respectively. The coefficient Kp indicates a proportional gain, the coefficient Kd indicates a differential gain, and the coefficient Kg indicates a return gain of the gimbals 14a and 14b. The optimum values of the coefficients Kp, Kd, and Kg are selected in advance. The servo driver 23 controls the control output V
The servo motors 15a and 15b are driven based on sa and Vsb. As a result, the gimbal shafts 19a and 19b rotate at predetermined angular velocities (dθa / dt, dθb / dt), and as a result, the gyro mechanism as shown in the above equations (1) and (2) causes the damping moments Mya and Myb is generated and acts on the elevator car 2. The forcible displacement of the guide rail 9 is applied as an external force to the elevator car 2 via roller springs 11a and 11b, whereby the car 2
Continuously tilts to the left and right, and as a result, vibrates laterally. On the other hand, the above control of the vibration damping device for an elevator of the present invention performs attitude control within a very short time, so that a gyro mechanism generates a vibration damping moment at a very early stage when the car 2 starts to tilt. The damping moment of the car 2 against the force of the roller springs 11a and 11b
Cancel the inclination of As a result, the bending of the guide rail 9 is almost absorbed by the expansion and contraction of the roller springs 11a and 11b, and the vibration of the car 2 is limited to an extremely small range. Further, as is apparent from the above description, the vibration damping device of the present invention generates a vibration damping moment so as to cancel out a lateral load in either the left or right direction.
The expansion and contraction movement of the springs 11a and 11b is suppressed, and the "spring" feeling of the conventional spring can be positively canceled.

FIG. 4 shows an embodiment in which a vibration damping device according to the present invention is mounted on the upper part of a car. As shown in FIG. 4 in which the same portions as those in FIG. 1 are denoted by the same reference numerals, in this embodiment, the vibration damping device 30 is attached only to the upper part of the car 2,
The vibration of the car room 2 is suppressed by one vibration control device 30. In this case, since there is only one damping device 30, the torsional moment in the elevating direction, which is an ineffective component of the damping moment, is not canceled out by the reaction between the damping devices. This has the advantage that the ride comfort is not significantly affected and the structure of the elevator 1 can be simplified. It is apparent that the same operation and effect as in the above embodiment can be obtained even when a single vibration damping device is attached to the lower part of the elevator car 2.

FIG. 5 shows an embodiment in which a pair of vibration damping devices according to the present invention are attached to the lower part of a car of an elevator.
As shown in FIG. 5 where the same reference numerals are given to the same parts as in FIG.
In this embodiment, a pair of vibration damping devices 3
1c and 31d are connected in series in the direction x. The rotational angular velocities Ωc and Ωd of the gyro rotors of these vibration damping devices 31c and 31d are made equal in magnitude and opposite in direction (for example,
Ωc> 0, Ωd <0, and | Ωc | = | Ωd |), and the directions of the angular velocities of the gimbal axes are opposite (for example, dθc / dt> 0, dθd / dt <0). For example, as in the embodiment shown in FIG. 1, the effective components of the damping moment are added, and the ineffective components cancel each other.
According to the present embodiment, since the vibration damping device is installed at the lower part of the car, it is easy to arrange a number of devices such as a hanging rope and a ventilation device at the upper part of the car, which is structurally convenient.

It is not necessary for the vibration damping devices of any of the above embodiments to always control the attitude of the car, and the attitude control is preferably started when a "call" signal is input to the elevator by the user. The control is stopped after a certain period of time has passed since the elevator was stopped. Thereby, a more economical elevator damping device can be obtained.

[0015]

As is apparent from the above description, the elevator vibration damping device according to the present invention detects the lateral acceleration of the elevator car by the acceleration sensor and cancels the acceleration detected by the acceleration sensor by the control device. The gyro mechanism controls the gyro mechanism in a very short time, and the gyro mechanism generates a damping moment in a very short time. Thus, the vibration of the elevator car, which could not be absorbed conventionally, is absorbed, and an elevator vibration damping device that effectively and positively attenuates the vibration can be obtained.

[Brief description of the drawings]

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

FIG. 2 is a diagram showing a model of a gyro mechanism.

FIG. 3 is a block diagram showing a configuration of a control device and a flow of control.

FIG. 4 is a diagram showing a configuration of an elevator according to a second embodiment to which a vibration damping device according to the present invention is attached.

FIG. 5 is a diagram showing a configuration of an elevator according to a third embodiment to which a vibration damping device according to the present invention is attached.

FIG. 6 is a diagram showing a configuration of an elevator to which a conventional vibration damping device is attached.

FIG. 7 is an enlarged front view showing a guide roller.

[Description of Signs] 1 elevator 2 car 12 vibration damper 13 gyro rotor 14 gimbal 15 servo motor 16 acceleration sensor 18 rotation axis 19 gimbal axis 21 controller 22 arithmetic circuit 23 servo driver 30 vibration damper 31 vibration damper

Claims (2)

(57) [Claims] A gyro rotor that rotates at a predetermined angular velocity around a rotation axis, a gimbal that rotatably supports the gyro rotor and is rotatably supported on the gimbal axis itself, and a gimbal axis A servo motor that rotates at a predetermined angular velocity, an acceleration sensor that detects the acceleration of the car, an arithmetic circuit that calculates a control signal based on a signal from the acceleration sensor, and a servo motor that is driven based on the control signal. It is constituted by a controller and a servo driver, et
Installed at the top and bottom of the elevator car,
And the damping moment
Each gyro so that the inactive ingredients of each other cancel each other out
The moment of inertia and rotational angular velocity of the motor, and the rotation of each gimbal.
A vibration damping device for an elevator, wherein a turning angle speed is set or controlled . 2. The method according to claim 1, wherein the control of the attitude of the car is started when a "call" signal is input to the elevator, and the control is stopped after a lapse of a predetermined time after the elevator stops. The elevator vibration damping device according to claim 1.