Elevator car dynamic balance adjustment system based on momentum wheel

Abstract

The present invention discloses a dynamic balancing adjustment system for an elevator car based on a momentum wheel, belongs to the field of elevators, and specifically relates to an elevator balancing device; a dynamic balancing system for balancing an elevator car by a momentum wheel is proposed; the technical scheme is: the dynamic balancing adjustment system for an elevator car based on a momentum wheel comprises: an elevator car, a momentum wheel, a motor, an angle measurement module, a controller and a power supply; an angle measurement module is fixed at the center of the upper end surface of the elevator car, at least two motors are horizontally fixed on the elevator car, a momentum wheel is coaxially fixed on the output shaft of the motor, the controller is electrically connected to the angle measurement module and the motor respectively, and the power supply provides power for the entire dynamic balancing adjustment system for an elevator car based on a momentum wheel.

Description

Technical Field

[0001] The invention discloses an elevator car dynamic balance adjustment system based on a momentum wheel, belongs to the field of elevators, and specifically relates to an elevator balancing device. Background Art

[0002] The guide shoe is a sliding nylon block between the elevator guide rail and the car. It can fix the car on the guide rail so that the car can only move up and down. There is also an oil cup on the top of the guide shoe to reduce the friction between the shoe lining and the guide rail.

[0003] Elevator guide shoes are divided into rolling guide shoes and sliding guide shoes, both of which can protect the elevator car from shaking. However, the reciprocating friction of the guide shoes causes large wear and tear, which poses a safety hazard. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes an active dynamic balancing system for balancing an elevator car by means of a momentum wheel.

[0005] In order to achieve the above technical objectives, the technical solution provided by the present invention is:

[0006] The dynamic balancing adjustment system for an elevator car based on a momentum wheel comprises: an elevator car, a momentum wheel, a motor, an angle measuring module, a controller and a power supply; the angle measuring module is fixed at the center of the upper end surface of the elevator car, at least two motors are horizontally fixed on the elevator car, a momentum wheel is coaxially fixed on the output shaft of the motor, the controller is electrically connected to the angle measuring module and the motor respectively, and the power supply provides power for the entire dynamic balancing adjustment system for an elevator car based on a momentum wheel.

[0007] A plurality of motors are fixed to the upper end surface or the lower end surface of the elevator car.

[0008] The plurality of motors are evenly distributed on a horizontal projection plane, and the centers of the plurality of motors on the horizontal projection plane coincide with the vertical center line of the elevator car.

[0009] The momentum wheel is provided with a connecting middle shaft, and the connecting middle shaft is connected to the motor output shaft through a coupling.

[0010] A bearing is sleeved on the connecting central shaft, and an outer ring of the bearing is fixedly connected to the elevator car.

[0011] The controller is a PID controller.

[0012] The angle measurement module is a gyroscope.

[0013] The elevator car dynamic balance adjustment system also includes a frequency converter and an encoder. The controller is electrically connected to the gyroscope and several frequency converters respectively. Each frequency converter current output end is electrically connected to a motor. Each frequency converter signal receiving end is also electrically connected to an encoder. The encoder is arranged on the motor output shaft.

[0014] The frequency converter and the controller communicate using RS485 protocol.

[0015] The gyroscope and the controller communicate using RS485 protocol.

[0016] The motor is a stepping motor.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention can quickly achieve the balance of the elevator car through the momentum wheel. Compared with the past, the guide shoes are reduced, the wear between the elevator and the track is reduced, the shaking feeling of people in the elevator is reduced, and the comfort and safety are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is the structural intention of Example 2 of the present invention.

[0020] Figure 2 It is a top view of embodiment 2 of the present invention.

[0021] Figure 3 It is a top view of embodiment 4 of the present invention.

[0022] Figure 4 It is a top view of embodiment 3 of the present invention.

[0023] Figure 5 It is a side view of embodiment 3 of the present invention.

[0024] Figure 6 This is a schematic diagram of the structure of Example 1 of the present invention.

[0025] Figure 7 It is a top view of embodiment 1 of the present invention.

[0026] Figure 8 Schematic diagram of the circuit of the present invention.

[0027] In the figure: 1 is the elevator car, 2 is the momentum wheel, 3 is the motor, 4 is the angle measurement module, and 5 is the controller. DETAILED DESCRIPTION

[0028] In order to further understand the present invention, the following is described in detail with reference to the accompanying drawings and embodiments:

[0029] Example 1

[0030] like Figure 6 , Figure 7 and Figure 8 As shown: the elevator car dynamic balancing adjustment system based on the momentum wheel comprises: an elevator car 1, a momentum wheel 2, a motor 3, an angle measuring module 4, a controller 5 and a power supply; the angle measuring module 4 is fixed at the center of the upper end surface of the elevator car 1, two motors 3 are horizontally fixed on the elevator car 1, the momentum wheel 2 is coaxially fixed on the output shaft of the motor 3, the controller 5 is electrically connected to the angle measuring module 4 and the motor 3 respectively, and the power supply provides power for the entire elevator car dynamic balancing adjustment system based on the momentum wheel.

[0031] One of the two motors 3 is fixed to the upper end surface of the elevator car 1 .

[0032] Another motor 3 is fixed to the lower end surface of the elevator car 1 .

[0033] The two motors 3 are evenly distributed on the horizontal projection plane, and the centers of a plurality of the motors 3 on the horizontal projection plane coincide with the vertical center line of the elevator car 1 .

[0034] The momentum wheel 2 is provided with a connecting middle shaft, and the connecting middle shaft is connected to the output shaft of the motor 3 through a coupling.

[0035] A bearing is mounted on the connecting central shaft, and an outer ring of the bearing is fixedly connected to the elevator car 1 .

[0036] The controller 5 is a PID controller.

[0037] The angle measurement module 4 is a gyroscope.

[0038] The elevator car dynamic balance adjustment system also includes a frequency converter and an encoder. The controller 5 is electrically connected to the gyroscope and several frequency converters respectively. Each current output end of the frequency converter is electrically connected to a motor 3. Each signal receiving end of the frequency converter is also electrically connected to an encoder. The encoder is arranged on the output shaft of the motor 3.

[0039] The frequency converter and the controller 5 communicate with each other using RS485 protocol.

[0040] The gyroscope and the controller 5 communicate with each other using RS485 protocol.

[0041] Example 2

[0042] like Figure 1 , Figure 2 and Figure 8As shown: the elevator car dynamic balancing adjustment system based on the momentum wheel comprises: an elevator car 1, a momentum wheel 2, a motor 3, an angle measuring module 4, a controller 5 and a power supply; the angle measuring module 4 is fixed at the center of the upper end surface of the elevator car 1, three motors 3 are horizontally fixed on the elevator car 1, the momentum wheel 2 is coaxially fixed on the output shaft of the motor 3, the controller 5 is electrically connected to the angle measuring module 4 and the motor 3 respectively, and the power supply provides power for the entire elevator car dynamic balancing adjustment system based on the momentum wheel.

[0043] Three motors 3 are fixed on the upper end surface of the elevator car 1 .

[0044] The three motors 3 are evenly distributed on the horizontal projection plane, and the centers of the three motors 3 on the horizontal projection plane coincide with the vertical center line of the elevator car 1 .

[0045] The momentum wheel 2 is provided with a connecting middle shaft, and the connecting middle shaft is connected to the output shaft of the motor 3 through a coupling.

[0046] A bearing is mounted on the connecting central shaft, and an outer ring of the bearing is fixedly connected to the elevator car 1 .

[0047] The controller 5 is a PID controller.

[0048] The angle measurement module 4 is a gyroscope.

[0049] The elevator car dynamic balance adjustment system also includes a frequency converter and an encoder. The controller 5 is electrically connected to the gyroscope and several frequency converters respectively. Each current output end of the frequency converter is electrically connected to a motor 3. Each signal receiving end of the frequency converter is also electrically connected to an encoder. The encoder is arranged on the output shaft of the motor 3.

[0050] The frequency converter and the controller 5 communicate with each other using RS485 protocol.

[0051] The gyroscope and the controller 5 communicate with each other using RS485 protocol.

[0052] Example 3

[0053] like Figure 4 , Figure 5 and Figure 8 As shown: the elevator car dynamic balancing adjustment system based on the momentum wheel comprises: an elevator car 1, a momentum wheel 2, a motor 3, an angle measuring module 4, a controller 5 and a power supply; the angle measuring module 4 is fixed at the center of the upper end surface of the elevator car 1, four motors 3 are horizontally fixed on the elevator car 1, the momentum wheel 2 is coaxially fixed on the output shaft of the motor 3, the controller 5 is electrically connected to the angle measuring module 4 and the motor 3 respectively, and the power supply provides power for the entire elevator car dynamic balancing adjustment system based on the momentum wheel.

[0054] Two motors 3 are fixed on the upper end surface of the elevator car 1 .

[0055] Two motors 3 are fixed on the lower end surface of the elevator car 1 .

[0056] The four motors 3 are evenly distributed on the horizontal projection plane, and the centers of the four motors 3 on the horizontal projection plane coincide with the vertical center line of the elevator car 1 .

[0057] The momentum wheel 2 is provided with a connecting middle shaft, and the connecting middle shaft is connected to the output shaft of the motor 3 through a coupling.

[0058] A bearing is mounted on the connecting central shaft, and an outer ring of the bearing is fixedly connected to the elevator car 1 .

[0059] The controller 5 is a PID controller.

[0060] The angle measurement module 4 is a gyroscope.

[0061] The elevator car dynamic balance adjustment system also includes a frequency converter and an encoder. The controller 5 is electrically connected to the gyroscope and several frequency converters respectively. Each current output end of the frequency converter is electrically connected to a motor 3. Each signal receiving end of the frequency converter is also electrically connected to an encoder. The encoder is arranged on the output shaft of the motor 3.

[0062] The frequency converter and the controller 5 communicate with each other using RS485 protocol.

[0063] The gyroscope and the controller 5 communicate with each other using RS485 protocol.

[0064] Example 4

[0065] like Figure 1 , Figure 3 and Figure 8 As shown: the elevator car dynamic balancing adjustment system based on the momentum wheel comprises: an elevator car 1, a momentum wheel 2, a motor 3, an angle measuring module 4, a controller 5 and a power supply; the angle measuring module 4 is fixed at the center of the upper end surface of the elevator car 1, four motors 3 are horizontally fixed on the elevator car 1, the momentum wheel 2 is coaxially fixed on the output shaft of the motor 3, the controller 5 is electrically connected to the angle measuring module 4 and the motor 3 respectively, and the power supply provides power for the entire elevator car dynamic balancing adjustment system based on the momentum wheel.

[0066] Four motors 3 are fixed on the upper end surface of the elevator car 1 .

[0067] The four motors 3 are evenly distributed on the horizontal projection plane, and the centers of the four motors 3 on the horizontal projection plane coincide with the vertical center line of the elevator car 1 .

[0068] The momentum wheel 2 is provided with a connecting middle shaft, and the connecting middle shaft is connected to the output shaft of the motor 3 through a coupling.

[0069] A bearing is mounted on the connecting central shaft, and an outer ring of the bearing is fixedly connected to the elevator car 1 .

[0070] The controller 5 is a PID controller.

[0071] The angle measurement module 4 is a gyroscope.

[0072] The elevator car dynamic balance adjustment system also includes a frequency converter and an encoder. The controller 5 is electrically connected to the gyroscope and several frequency converters respectively. Each current output end of the frequency converter is electrically connected to a motor 3. Each signal receiving end of the frequency converter is also electrically connected to an encoder. The encoder is arranged on the output shaft of the motor 3.

[0073] The frequency converter and the controller 5 communicate with each other using RS485 protocol.

[0074] The gyroscope and the controller 5 communicate with each other using RS485 protocol.

[0075] This example is used for discussion:

[0076] According to 5.2.4 of GB 26465-2011 Fire Elevator Manufacturing and Installation Specifications, the running time of a fire elevator from the firefighter entrance floor to the top floor should not exceed 60s. Referring to this standard, the maximum running time of the elevator in this article is 60s.

[0077] According to 4.6 of TSG T7001-2009 Rules for Supervisory Inspection and Periodic Inspection of Elevators - Traction and Forced Drive Elevators, the maximum area of ​​an elevator with a load capacity of 100kg cannot exceed 0.37m2. The length and width of the elevator car of a certain brand of this specification are 0.5m*0.5m.

[0078] For example, if a 50-kg person enters the elevator and stands in a corner of the elevator, the elevator will deflect the most.

[0079] The elevator is subject to a downward gravitational force G;

[0080] The gravitational moment is M;

[0081] The moment of inertia is J;

[0082] The angular acceleration is α;

[0083] According to the total external torque = angular acceleration * moment of inertia:

[0084] M'=J*α;

[0085] Where M'=1 / 2M, (two momentum wheels are set on the same central axis), J is the moment of inertia of momentum wheel 2, the mass of momentum wheel 2 is 500kg, the radius is 0.5m, and the cross-sectional area of ​​the ring is s=20.3cm 2 For example, the moment of inertia J = 12.5kg.m 2 ;

[0086] M=GL=50kg*10N / kg*0.25m=125N·m;

[0087] That is, α = 5 rad / s 2 ;

[0088] That is, after working for 60s, the speed of motor 3 is W=α*60s=2867r / min.

[0089] That is, the maximum speed of the motor 3 is greater than 3000 r / min to meet the working requirements.

[0090] The frequency converter of the present invention adopts Adley SD4-375M, with an input voltage of 380V and an operating frequency of 50Hz.

[0091] The motor 3 is Aideli MA4-7500M, with a power of 7.5 kW and a maximum speed of 6000 rpm.

[0092] The encoder adopts E6B2-CWZ1X.

[0093] The present invention describes the specific working method with Example 3:

[0094] The four motors 3 on the upper end surface of the elevator car 1 are evenly distributed, two of which are on the X axis and the other two are on the Y axis. The angle measurement module 4 collects the eccentric load data of the elevator car 1 in the X axis (perpendicular to the door) and Y axis (parallel to the door) directions, and then transmits it to the controller 5;

[0095] The controller 5 processes the data through the algorithm of the Euler-Lagrange equation of motion, finds the optimal solution for handling disturbances, and then converts it into the speed signal of the motor 3, and outputs the signal to the inverter; the inverter controls the rotation direction and angular acceleration of the motor 3, drives the momentum wheel 2 to generate reverse torque, offsets the eccentric load, and maintains the balance of the elevator car 1; the speed signal is fed back to the inverter through the encoder connected to the output shaft of the motor 3; during operation, the PID automatic control subsystem will also receive the eccentric load signal from the angle measurement module 4 at the same time, and then form a closed-loop control with the speed feedback signal given by the inverter to achieve real-time detection, rapid response and dynamic adjustment. The input and output signals of all sensors and controllers are transmitted using the RS485 protocol, which has a unified protocol, mature technology and strong anti-interference ability.

[0096] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Those familiar with the technology may modify or improve the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. The dynamic balance adjustment system of the elevator car based on the momentum wheel is characterized by: include: An elevator car (1), a momentum wheel (2), a motor (3), an angle measurement module (4), a controller (5) and a power supply; the angle measurement module (4) is fixed at the center of the upper end surface of the elevator car (1); four motors (3) are horizontally fixed on the elevator car (1); a momentum wheel (2) is coaxially fixed on the output shaft of the motor (3); the controller (5) is electrically connected to the angle measurement module (4) and the motor (3) respectively; and the power supply provides power for the entire elevator car dynamic balance adjustment system based on the momentum wheel; The angle measurement module (4) is a gyroscope; The elevator car dynamic balance adjustment system also includes a frequency converter and an encoder, the controller (5) is electrically connected to the gyroscope and the frequency converter respectively, each frequency converter current output end is electrically connected to a motor (3), and each frequency converter signal receiving end is also electrically connected to an encoder, and the encoder is arranged on the output shaft of the motor (3); The four motors (3) on the elevator car (1) are evenly distributed, two of which are on the X-axis and the other two are on the Y-axis. The angle measurement module (4) collects the eccentric load data of the elevator car (1) on the X-axis, i.e., in a direction perpendicular to the door, and on the Y-axis, i.e., in a direction parallel to the door, and transmits the data to the controller (5); The controller (5) processes the data through the algorithm of the Euler-Lagrange equation of motion, finds the optimal solution for handling disturbances, and then converts it into a speed signal of the motor (3), and outputs the signal to the inverter; the inverter controls the rotation direction and angular acceleration of the motor (3), drives the momentum wheel (2) to generate a reverse torque, offsets the eccentric load, and maintains the balance of the elevator car (1); the speed signal is fed back to the inverter through an encoder connected to the output shaft of the motor (3); during operation, the controller (5) will also simultaneously receive the eccentric load signal from the angle measurement module (4), and then form a closed-loop control with the speed feedback signal given by the inverter, and all input and output signals of the sensor and the controller are transmitted using the RS485 protocol.

2. The elevator car dynamic balance adjustment system based on momentum wheel according to claim 1, characterized in that: The motor (3) is fixed to the upper end surface or the lower end surface of the elevator car (1).

3. The elevator car dynamic balance adjustment system based on momentum wheel according to claim 2, characterized in that: The motors (3) are evenly distributed on a horizontal projection plane, and the center of the motor (3) on the horizontal projection plane coincides with the vertical center line of the elevator car (1).

4. The elevator car dynamic balance adjustment system based on momentum wheel according to claim 3 is characterized in that: The momentum wheel (2) is provided with a connecting middle shaft, and the connecting middle shaft is connected to the output shaft of the motor (3) via a coupling.

5. The elevator car dynamic balance adjustment system based on momentum wheel according to claim 4, characterized in that: A bearing is sleeved on the connecting central shaft, and the outer ring of the bearing is fixedly connected to the elevator car (1).

6. The elevator car dynamic balance adjustment system based on the momentum wheel according to any one of claims 1 to 5, characterized in that: The controller (5) is a PID controller.

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