JP4614835B2 - Elevator car longitudinal vibration suppression device - Google Patents

Description

  The present invention relates to a vertical vibration suppressing device for an elevator car that suppresses vertical vibration generated in a car.

  In general, an elevator frictionally drives a main rope via a hoisting machine sheave by the power of a hoisting machine motor, and raises and lowers a car and a counterweight suspended from the main rope. Therefore, if there is eccentricity or imbalance in the hoisting sheave or the turning pulley around which the main rope is wound, vibration with a frequency synchronized with the rotational motion is generated as a disturbance. On the other hand, since the main rope of the elevator is an elastic body, a vibration system having a specific natural frequency is formed when a heavy object such as a car is suspended from the elastic rope. When these two frequencies become close to each other, they resonate and longitudinal vibrations are generated in the car, causing the ride comfort of the elevator to be significantly deteriorated.

  Conventional techniques to prevent this problem include methods to increase sheave machining accuracy and mounting accuracy, and a dynamic vibration absorber tuned to the resonance frequency of the vibration system to the car to counteract vertical vibrations in the car. There is a technique.

Also, the elevator car is raised and lowered by a plurality of hoisting machines, thereby reducing the motor vibration by reducing the size of the hoisting machine, and further, the tension of the main rope is raised by one of the hoisting machines. A method of adjusting by controlling the motor of the machine has been proposed (see, for example, Patent Document 1).
JP-A-10-77171

  In order to prevent the problem of vertical vibration of the elevator car mentioned above, if the conventional technique of improving the sheave processing accuracy and mounting accuracy is taken, it will cause a heavy burden on the production or installation work. This could lead to cost increases.

  In addition, when a dynamic vibration absorber tuned to the resonance frequency of the vibration system is attached to the car and a method of canceling the vertical vibration of the car is used, there is a risk of increasing the weight of the car and resulting cost increase. was there.

  Furthermore, in the case of using the method of Patent Document 1, not only is there a disadvantage in terms of power when the loaded load increases, but also when the sheave has eccentricity or imbalance, the vibration is canceled out. If an attempt was made to increase the accuracy in order to generate an appropriate tension by controlling the motor of the hoisting machine, there was a possibility that the control system would become complicated and the cost would increase.

  An object of the present invention is to provide a longitudinal vibration suppressing device for an elevator car that does not complicate the installation work, suppresses an increase in cost, and has a good ride comfort with little vibration.

In order to achieve the above object, the present invention provides an elevator in which a main rope is frictionally driven by a power of a hoisting motor through a hoisting sheave, and a car and a counterweight suspended by the main rope are lifted and lowered. In the vertical vibration suppression device for a car, an auxiliary sheave that frictionally drives the main rope by an auxiliary motor is provided in the vicinity of the hoisting machine sheave, and as a means for controlling the speed of the auxiliary motor, the rotational speed of the auxiliary sheave A speed controller that performs feedback control by multiplying a difference from the speed command signal of the hoisting machine motor by a control gain; and an auxiliary motor driving amplifier that amplifies the signal to generate a driving force. A notch filter that sharply reduces the gain for the frequency component synchronized with the rotational speed of the hoisting machine sheave is provided at either of the input / output ends of the controller. It is characterized in that.

  In the present invention configured as described above, the auxiliary sheave is attached in the vicinity of the hoisting machine sheave, and the auxiliary sheave is forcibly driven by the driving force from which the frequency component of the disturbance is removed, so that the ride car and the main rope The conduction of the disturbance to the vibration system having a specific natural frequency formed from the above can be cut off.

  According to the present invention, the auxiliary sheave is mounted in the vicinity of the hoisting machine sheave, and the auxiliary sheave is forcibly driven with the driving force from which the frequency component of the disturbance is removed, thereby forming the car sheave and the main rope. Therefore, it is possible to block the conduction of the disturbance to the vibration system having a specific natural frequency, and to provide an elevator with less vibration and good ride comfort.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of an elevator car longitudinal vibration suppressing device according to the present invention will be described with reference to the drawings.

  FIG. 1 is an overall configuration diagram of an elevator car longitudinal vibration suppressing device according to an embodiment of the present invention, FIG. 2 is a block diagram for explaining a speed control system of an auxiliary sheave according to the present invention, and FIG. FIG. 4 is an enlarged view showing an example in which the auxiliary sheave is provided only on the car side, and FIG. 5 shows an example in which the auxiliary sheave is provided inside the main rope. FIG. 6 is an enlarged view showing an attached state of the auxiliary sheave when the hoisting machine sheave is provided above, and FIG. 7 is an enlarged view showing an example in which the auxiliary sheave is provided in the vicinity of the turning pulley.

In FIG. 1, a car 1 frictionally drives a main rope 3 via a hoisting machine sheave 5 by the power of a hoisting machine motor 4, and is lifted and lowered. On the other hand, the counterweight 2 is suspended from the main rope 3 and lifts and lowers on the opposite side of the car 1 with the hoisting machine sheave 5 as a reference. Here, in the vicinity of the hoisting machine sheave 5, an auxiliary sheave 10 fastened to the shaft of the auxiliary motor 9 is provided so as to press against the car 1 side and the counterweight 2 side of the main rope. In addition, a generally known speed detector (not shown) is attached to the auxiliary motor 9 so that the rotational speed ω of the auxiliary sheave 10 can be detected. Reference numeral 12 denotes a speed controller. In this speed controller 12, for example, the block diagram of FIG. 2 shows the difference from the speed command signal ω _r to the hoisting motor 4 in the microcomputer in the elevator control panel. Feedback control is performed such that the proportional gain Κ _P , integral gain _{Ｉ I} , and differential gain _{Ｄ D} are respectively multiplied as shown in FIG. 6, the signal is amplified by the auxiliary motor driving amplifier 13, and the auxiliary motor is driven by the driving force u. 9 is driven. Reference numeral 6 denotes a turning pulley, 7 denotes a car mounting pulley, and 8 denotes a suspension weight mounting pulley.

Reference numeral 11 denotes a notch filter. The notch filter 11 is provided for the following reason. That is, if there is an unintentional eccentricity or imbalance in the hoist sheave 5, the rotational speed signal detected by the speed detector includes a frequency component synchronized with the sheave rotational speed ω. End up. For this reason, if feedback control is performed using this as it is, the vibration of the car 1 may be further promoted. Therefore, the frequency component is sharply reduced at the frequency component f ₀ synchronized with the rotational speed of the hoisting machine sheave 5 at the input / output terminal of the speed controller 12 (only one side may be obtained if the effect is obtained). Is provided with a notch filter 11 that gives a large attenuation. The notch filter 11 has a frequency characteristic as shown in FIG. The notch filter 11 may be configured by hardware or software.

That is, by inserting such a notch filter 11 into the speed control system of the auxiliary sheave, a speed control system of the auxiliary sheave 10 that is not affected by the disturbance of the specific frequency caused by the rotation of the hoisting machine sheave 5 is obtained. The auxiliary sheave 10 is forcibly driven to block the disturbance caused by the hoisting machine sheave 5 from being transmitted from the hoisting machine sheave 5 to the car 1 and main rope 3 system. Here, in order to ensure a greater vibration suppressing effect and higher accuracy and sufficient stability of the speed control system of the auxiliary sheave 10, the above-described closed loop system including the transfer characteristic of the notch filter is stabilized. the control gain Κ _P, Κ _I, may be determined the kappa _D. By doing so, it is possible to prevent the influence of the phase shift due to the insertion of the notch filter 11.

  As an example of attachment of the auxiliary sheave 10 according to the present invention, FIG. 1 shows the case where the auxiliary sheave 10 is attached to both the car 1 side and the counterweight 2 side. However, as shown in FIG. Even if only the auxiliary sheave 10 is provided, the effect of suppressing the conduction of disturbance to the car / main rope system can be provided.

  Further, in the case of the structure in which the auxiliary sheave 10 is pressed against the main rope 3 from the outside as in these examples, as a secondary effect, the traction capability in the hoisting machine sheave 5 can be improved by increasing the winding angle. it can.

  Moreover, as shown in FIG. 5, even if the auxiliary sheave 10 is provided from the inside, the effect of suppressing the conduction of disturbance to the car / main rope system can be provided.

  1 shows an example in which the hoisting machine sheave 5 is provided below the hoistway. However, when the hoisting machine sheave 5 can be attached to the upper part of the hoistway as shown in FIG. It is provided so as to be pressed from the outside of the main rope 3.

  Further, as shown in FIG. 7, if the auxiliary sheave 10 is attached not only in the vicinity of the hoisting machine sheave 5 but also in the vicinity of the turning pulley 6, the turning pulley 6 around which the main rope 3 is wound is rotated. The influence of the disturbance which generate | occur | produces can also be prevented.

FIG. 1 is an overall configuration diagram of a vertical vibration suppression device for an elevator car according to an embodiment of the present invention. It is a block diagram for demonstrating the speed control system of the auxiliary sheave of this invention. It is a figure which shows the characteristic of the notch filter in the speed control system of the auxiliary sheave of this invention. It is an enlarged view which shows the example which provided the auxiliary sheave only in the car side. It is an enlarged view which shows the example which provided the auxiliary sheave inside the main rope. It is an enlarged view which shows the attachment state of the auxiliary sheave when the hoisting machine sheave is provided above. It is an enlarged view showing an example in which an auxiliary sheave is provided in the vicinity of a turning pulley.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Riding car 2 Counterweight 3 Main rope 4 Hoisting machine motor 5 Hoisting machine sheave 6 Turning pulley 7 Car attaching pulley 8 Counterweight attaching pulley 9 Auxiliary motor 10 Auxiliary sheave 11 Notch filter 12 Speed controller 13 Auxiliary motor drive amplifier

Claims (3)

In the longitudinal vibration suppression device of an elevator car that frictionally drives the main rope via the hoisting machine sheave by the power of the hoisting machine motor, and lifts and lowers the hanging car and the counterweight.
An auxiliary sheave that frictionally drives the main rope by an auxiliary motor is provided in the vicinity of the hoisting machine sheave, and as a means for controlling the speed of the auxiliary motor, the rotational speed of the auxiliary sheave and the speed command signal of the hoisting machine motor A speed controller that performs feedback control by multiplying the difference between the two by a control gain, and an auxiliary motor driving amplifier that amplifies the signal to generate a driving force, and one of the input and output terminals of the speed controller On the other hand, a longitudinal vibration suppressing device for an elevator car comprising a notch filter that sharply reduces the gain with respect to a frequency component synchronized with the rotational speed of the hoisting machine sheave . The vertical vibration suppressing device for an elevator car according to claim 1 , wherein the auxiliary sheave is provided outside the main rope . The vertical vibration suppressing device for an elevator car according to claim 1 , wherein the auxiliary sheave is provided in the vicinity of a turning pulley for turning the main rope .

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