A method for monitoring and damping adjustment control of elevator car unbalanced load vibration

Abstract

The present application relates to elevator damping control field, disclose a kind of elevator car unbalanced load vibration monitoring and damping adjustment control method.In the present application, the outside of car is provided with car frame, multiple frame plates are clamped on the side of car frame, multiple guide shoe adjusting components are provided on the side of frame plate, the side and bottom end of car are provided with gravity center adjusting component, the upper end of frame plate is provided with sensor installation component, data is collected by multidimensional sensing component cooperation, car load distribution, gravity center deviation and multi-dimensional vibration state are captured;Four-corner load sensor, three-axis vibration sensor, gyroscope and other equipment realize multi-source data fusion monitoring, can accurately distinguish different operating conditions of elevator, identify unbalanced load direction, magnitude and various vibration characteristics;Meanwhile, front-end signal preprocessing unit can complete signal filtering, noise reduction and temperature drift compensation, reduce signal distortion caused by clutter interference, reduce back-end data operation load, avoid control delay caused by cloud transmission.

Description

Technical Field

[0001] This invention belongs to the field of elevator vibration reduction and control technology, specifically a method for monitoring and controlling the vibration of an elevator car under eccentric load. Background Technology

[0002] Uneven distribution of passengers or goods within the elevator car can create off-center loading, shifting the car's center of gravity and causing lateral tilting, pitching, and rolling during operation. This induces continuous vibration, reducing ride comfort and exacerbating wear on one side of the guide shoes, guide rails, and traction ropes. Existing vibration reduction solutions mostly employ passive damping structures such as rubber pads and fixed dampers, whose damping parameters cannot be dynamically adjusted. A few active vibration reduction systems only collect vibration signals and cannot distinguish between guide rail excitation vibration and angular vibration caused by off-center loading torque, nor can they independently adjust damping according to the magnitude and orientation of the off-center loading.

[0003] Existing weighing devices only output the total load and cannot obtain the two-dimensional load distribution and off-center load moment of the car bottom; vibration monitoring is mostly based on single-point acceleration acquisition, which makes it difficult to decouple translational vibration from pitch and roll vibration caused by off-center load, resulting in significant control lag and limited vibration reduction effect.

[0004] However, the aforementioned elevator vibration reduction technologies mostly adopt fixed damping structures, which can only passively consume vibration energy and cannot dynamically adjust damping parameters according to the car's off-center load, vibration amplitude, and frequency. At the same time, conventional equipment is difficult to accurately detect the car's multi-dimensional vibration state and center of gravity offset, and cannot compensate for the car's off-center load torque from the root, which can easily lead to problems such as car swaying, torsion, and guide rail vibration, resulting in poor elevator running stability. Summary of the Invention

[0005] The purpose of this invention is to provide a method for monitoring and controlling the vibration of an elevator car under off-center load, in order to solve the problems mentioned above, such as the inability to adjust the damping of elevator vibration reduction, the inability to actively compensate for the off-center load of the car, the lag in regulation, the single vibration reduction method, and the difficulty in simultaneously addressing instantaneous vibration suppression and steady-state off-center load correction.

[0006] The technical solution adopted in this invention is as follows: A method for monitoring and controlling the vibration of an elevator car under eccentric load, comprising the following steps: Step 1: Install pressure weighing sensors at the four corners of the car bottom to collect pressure load data at the four support points of the car; install a three-axis accelerometer and gyroscope at the top of the car to collect the car's horizontal vibration acceleration in the X-axis, horizontal vibration in the Y-axis, and vertical vibration in the Z-axis, as well as the angular velocities of pitch, roll, and yaw; the sensor mounting assembly at the top of the frame plate carries vibration sensors to collect horizontal and torsional vibration signals transmitted from the guide rail to the guide shoe; the displacement detector on the guide shoe adjustment assembly collects the extension and retraction displacement signals of the magnetorheological damper; the center of gravity adjustment assembly collects the position and attitude signals of the counterweight; all sensor signals are synchronously transmitted to the data control box. Step 2: The signal conditioning and acquisition unit inside the data control box amplifies and filters the original sensor signals to reduce noise and eliminate interference caused by the swaying of the traction machine and wire rope; the data processing and analysis unit calculates the total load of the car, the two-dimensional offset of the center of gravity, the off-center load ratio, and the off-center load torque based on the load values ​​collected by the four corner pressure weighing sensors; it integrates the signals from the three-axis accelerometer, gyroscope, and vibration sensor to solve for the vibration amplitude and main frequency in the vertical, horizontal, and torsional directions, identify the characteristics of car tilting, translational vibration, and angular vibration, and distinguish different operating conditions; Step 3: When the car is determined to be under slight or moderate vibration, the data control box outputs multiple independent control commands: the hydraulic damper in the car frame mounting slot acts on the outer wall of the car to attenuate the vertical lifting and lowering of the car; the magnetorheological damper in the guide shoe adjustment assembly continuously and smoothly adjusts the damping force by changing the excitation current, independently controlling the horizontal and torsional damping, consuming the lateral vibration energy transmitted from the guide rail to the guide shoe, and suppressing the left-right swaying and torsional vibration of the car; the damping coefficient continuously and adaptively changes with the vibration amplitude and vibration frequency, using low damping to filter weak disturbances for small vibrations, and increasing damping to quickly dissipate vibration energy for large vibrations; the displacement detector feeds back the stroke of the magnetorheological damper to the data control box in real time for damping output correction; Step 4: If a steady-state off-center load is detected in the car, the data control box calculates the target displacement coordinates of the counterweight block based on the direction and amount of the center of gravity offset, and sends a drive command to the servo motor of the center of gravity adjustment component; the servo motor drives the threaded rod to rotate, drives the second slider to slide along the second slide groove, and the first slider slides along the guide rod, causing the counterweight block to move in the opposite direction of the off-center load, generating a reverse compensation torque to correct the position of the car's center of gravity. Step 5: The extension and retraction stroke of the magnetorheological damper, the actual position of the counterweight, and the real-time attitude signals of the car collected by the gyroscope and the triaxial accelerometer are continuously fed back to the data control box. The data control box compares the actual vibration reduction effect with the preset control target. If the car is found to be overloaded, vibrating beyond the standard, or the device is faulty, the alarm will issue an audible and visual alarm and transmit the alarm signal to the outside.

[0007] In a preferred embodiment, a car frame is provided on the outside of the car, a plurality of frame plates are snapped onto the side of the car frame, a plurality of guide shoe adjustment assemblies are provided on the side of the frame plates, a center of gravity adjustment assembly is provided on the side and bottom of the car, and a sensor mounting assembly is provided on the upper end of the frame plates.

[0008] In a preferred embodiment, the guide shoe adjustment assembly includes a connecting block, a limiting ring plate, a connecting rod, a first rectangular plate, a magnetorheological damper, a displacement detector, and a second rectangular plate; The connecting rod is fixedly installed on the outside of the frame plate, the connecting block is slidably connected to the connecting rod, a limit ring plate is fixedly connected to the side of the connecting rod, a first rectangular plate is fixedly connected to the side of the connecting block, a magnetorheological damper is fixedly connected to the side of the first rectangular plate, the other end of the magnetorheological damper is fixedly connected to the frame plate, a second rectangular plate is fixedly connected to the upper end of the first rectangular plate, a displacement detector is fixedly connected to the side of the second rectangular plate, the other end of the displacement detector is fixedly connected to the frame plate, a mounting shaft is fixedly connected to the side of the connecting block, a rubber roller is sleeved on the outside of the mounting shaft, and a fixing nut is threadedly connected to the side of the mounting shaft.

[0009] By adopting the above technical solution, the working position of the connecting block is adjusted by the set connecting rod. According to different load conditions, the position of the connecting block is moved by the set magnetorheological damper. The magnetorheological damper can change the viscosity of the magnetorheological fluid in real time by changing the excitation current. The damping force can be continuously and smoothly adjusted, and it can quickly respond to the instantaneous lateral impact and torsional vibration at the guide shoe. It can dynamically change the damping magnitude according to the degree of car swaying, thereby suppressing the left and right swaying of the car and the vibration of the guide rail rubbing against the rail. The displacement detector sets to collect the extension and retraction displacement of the magnetorheological damper and feed it back to the main control unit. The main control unit combines the vibration signal and the damping stroke signal to correct the excitation current and accurately control the damping force, avoiding over-adjustment or under-adjustment of open-loop control, and improving the damping control accuracy. The installation of the first rectangular plate and the second rectangular plate together ensures the connection stability of the structure. The installation shaft is used in conjunction with the installation of rubber rollers. The fixing nut fixes the working position of the rubber rollers, making the position of the rubber rollers stable.

[0010] In a preferred embodiment, the center of gravity adjustment assembly includes a mounting plate, a counterweight, a servo motor, a first slide rail, a second slide rail, a slide rod, a first slider, a threaded rod, and a second slider. The mounting plate has multiple sliding grooves on its side, including a first sliding groove and a second sliding groove. A sliding rod is fixedly connected inside the first sliding groove, and a threaded rod is provided inside the second sliding groove. A first slider is slidably connected inside the first sliding groove and passes through the first slider. A second slider is slidably connected inside the second sliding groove and passes through the second slider. A counterweight is fixedly connected to the lower ends of the first slider and the second slider. A servo motor is fixedly connected to the side of the mounting plate, and the output end of the servo motor is fixedly connected to the threaded rod.

[0011] By adopting the above technical solution, multiple center of gravity adjustment components are set to facilitate the adjustment of the car's center of gravity under load, which is adjusted according to the standing position of the elevator passengers. Guide shoe adjustment components set at the bottom and sides of the car adjust the car's center of gravity in both the X and Y axes to prevent the car from vibrating due to eccentric loading. A servo motor drives the second slider to rotate, thereby causing the second slider to slide in the second slide groove. The slide rod set in the first slide groove cooperates with the sliding of the first slider, so that the counterweight can slide stably, which facilitates the subsequent adjustment of the counterweight's position. The center of gravity adjustment components set at the bottom of the car adjust the car's center of gravity on the Y axis, and the center of gravity adjustment components set on the sides of the car adjust the car's center of gravity on the X axis, generating a reverse compensation torque to offset the overturning torque caused by eccentric loading, reduce the lateral pressure on the guide shoes, and reduce the swaying, torsion, and guide rail rubbing vibration induced by eccentric loading, rather than passively consuming vibration energy by damping alone. The structure and damping adjustment mechanism work together, the center of gravity compensation eliminates long-term imbalance, and the damper attenuates instantaneous vibration, resulting in better vibration reduction effect.

[0012] In a preferred embodiment, the sensor mounting assembly includes a slot plate, a vibration sensor, a snap-fit ​​plate, and mounting bolts; The card slot plate has a card slot inside, and a card plate is engaged inside the card slot. A vibration sensor is fixedly connected to the upper end of the card plate. Multiple mounting bolts are threaded to the side of the card slot plate, and the other end of the mounting bolts passes through the first threaded hole opened on the side of the card plate.

[0013] By adopting the above technical solution, the positioning of the vibration sensor is limited by the set slot plate, and the snap-fit ​​plate is snapped into the slot plate. The position of the snap-fit ​​plate is fixed by the set mounting bolts to ensure the stability of the structure. This facilitates the subsequent monitoring of vibration data of the frame plate by the vibration sensor, and real-time monitoring of the car's horizontal vibration in the X and Y directions and vertical vibration in the Z direction. It captures the car's swaying, bumping, torsion, and resonance phenomena, and uses the vibration parameters as a direct basis for damping adjustment. With closed-loop feedback, the vibration reduction effect is continuously evaluated, the damping output is dynamically optimized, resonance is suppressed, and the elevator ride smoothness is significantly improved. The structure can collect the original horizontal and torsional vibrations transmitted from the guide rail to the guide shoe. The detachable structure facilitates individual disassembly and maintenance without affecting the guide shoe clearance. The sensor avoids the harsh environment under the car, and the signal acquisition is accurate and the long-term operation is reliable.

[0014] In a preferred embodiment, the inner bottom wall of the car frame is provided with a lower mounting groove, the size of which is adapted to the size of the mounting plate. The side of the frame plate is threaded with a plurality of fixing bolts, the other end of which passes through the frame plate and is threaded to a second threaded hole provided on the side of the car frame.

[0015] By adopting the above technical solution, the lower mounting groove is used in conjunction with the adjustment operation of the mounting plate to ensure that the counterweight can slide and adjust normally. The fixing bolts fix the working position of the frame plate, so that the frame plate is installed on both sides of the car frame and used in conjunction with the sliding movement of the elevator.

[0016] In a preferred embodiment, the side of the car frame is provided with a plurality of mounting slots, and a plurality of hydraulic dampers are fixedly connected inside the mounting slots. A rectangular plate is fixedly connected to the side of the hydraulic damper, and the other end of the rectangular plate contacts the outer surface of the car.

[0017] By adopting the above technical solution, the mounting groove is used in conjunction with the installation of the hydraulic damper. The hydraulic damper contacts the car through a rectangular plate. The hydraulic damper has a large damping output, strong load-bearing capacity, and a wide damping adjustment range. It achieves gentle vibration reduction by relying on oil throttling and buffering, effectively suppressing large-amplitude lateral swaying of the car.

[0018] In a preferred embodiment, a plurality of pressure weighing sensors are fixedly connected to the inner bottom wall of the car frame at a position adjacent to the lower mounting groove.

[0019] By adopting the above technical solution, the pressure weighing sensor collects pressure data at four support points of the car in real time; the data control box calculates the total load of the car, the two-dimensional offset of the center of gravity, the pitching moment and the rolling moment based on the pressure at the four points, identifies the off-center load direction and the off-center load level, distinguishes between the load-equalizing condition and the off-center load condition, and provides load monitoring data for damping differential control and off-center load over-limit early warning.

[0020] In a preferred embodiment, a gyroscope is provided at the upper end of the car, and multiple three-axis accelerometers are provided at the upper end of the gyroscope. An alarm is provided at the upper end of the car adjacent to the gyroscope.

[0021] By adopting the above technical solution, the triaxial accelerometer is used to collect the three-dimensional linear vibration acceleration of the car, calculate the static tilt angle of the car, and obtain the translational vibration characteristics; the gyroscope detects the rotational angular velocity of the car in the pitch, roll, and yaw directions in real time, and captures the angular vibration caused by the off-center load. The data of the two are fused to achieve accurate identification of the car attitude and multi-dimensional vibration state, providing a monitoring basis for damping zone adjustment. The alarm is used to provide audible and visual warnings when the car off-center load exceeds the limit, the vibration exceeds the standard, or the device malfunctions, and transmits alarm signals to the outside.

[0022] In a preferred embodiment, a data control box is provided at the upper end of the car, adjacent to the gyroscope. The data control box is equipped with a signal conditioning and acquisition unit and a data processing and analysis unit. The magnetorheological damper, displacement detector, first slide, vibration sensor, alarm, triaxial accelerometer, gyroscope and hydraulic damper are all electrically connected to the data control box.

[0023] By adopting the above technical solution, the signal conditioning and acquisition unit set in the data control box can amplify, filter, and compensate for temperature drift of weak sensor signals, filter out noise interference caused by elevator operation, and complete synchronous analog-to-digital conversion of multiple signals, effectively avoiding signal distortion. At the same time, signal preprocessing is completed at the front end to reduce the computational load at the back end. The set data processing and analysis unit performs fusion analysis on load and vibration multi-source data, calculates off-center load parameters and vibration characteristics in real time, completes on-site condition determination, eliminates cloud transmission delay, and realizes rapid closed-loop control. It can couple off-center load and vibration information to accurately identify fault conditions and reduce false alarm rate.

[0024] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: In this invention, multi-dimensional sensing components collaboratively collect data to capture the car load distribution, center of gravity shift, and multi-dimensional vibration state. Four-corner load sensors, three-axis vibration sensors, gyroscopes, and other devices achieve multi-source data fusion monitoring, enabling precise differentiation of different elevator operating conditions and identification of off-center load location, magnitude, and various vibration characteristics. Simultaneously, the front-end signal preprocessing unit performs signal filtering, noise reduction, and temperature drift compensation, reducing signal distortion caused by noise interference, lowering the back-end data processing load, and avoiding control delays caused by cloud transmission. This provides reliable data support for subsequent refined and rapid control, effectively improving the accuracy and stability of elevator operation status monitoring. The composite vibration reduction method, which combines dynamic damping adjustment with active center of gravity compensation, optimizes the traditional single passive vibration reduction mode. The magnetorheological damper can continuously adjust the damping coefficient according to the vibration amplitude and frequency. It can adapt to small vibrations with low damping to filter micro-disturbances, and increase damping to dissipate vibration energy during large vibrations, thus adapting to different vibration conditions. At the same time, the movable balance slider can actively correct the center of gravity position according to the car's off-center load, generating a reverse compensation torque to improve the off-center load problem from the source, reduce the lateral force on the guide shoes, and reduce the continuous swaying, torsion and guide rail friction induced by off-center load, thus optimizing the elevator's running stability at multiple levels. The data control box provides real-time feedback on the operating status of the actuator and the car's attitude parameters, compares the actual control effect with the expected target, corrects adjustment errors, and improves control deviations caused by mechanical clearance and mechanism lag. The equipment adopts a modular and detachable installation structure, making sensor disassembly and maintenance convenient without interfering with the elevator's original guide clearance, ensuring good long-term operational reliability. At the same time, the equipment has fault and over-limit warning functions, which can promptly report abnormal operating conditions, assist staff in operation and maintenance, and steadily improve the safety of elevator operation and equipment adaptability. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the elevator car eccentric load vibration monitoring and damping adjustment device of the present invention; Figure 2 This is a schematic diagram of the car top structure in this invention; Figure 3 This is a schematic diagram of the lower end structure of the car in this invention; Figure 4 This is a schematic diagram of the car frame structure in this invention; Figure 5 This is a schematic diagram of the hydraulic damper structure in this invention; Figure 6 This is a schematic diagram of the center of gravity adjustment component in this invention; Figure 7 This is a schematic diagram of the sensor mounting assembly structure in this invention; Figure 8 This is a schematic diagram of the guide shoe adjustment assembly structure in this invention.

[0026] Marked in the image: 1-Car; 2-Car frame; 3-Guide shoe adjustment assembly; 301-Connecting block; 302-Limiting ring plate; 303-Connecting rod; 304-First rectangular plate; 305-Magnetorheological damper; 306-Displacement detector; 307-Second rectangular plate; 4-Center for gravity adjustment assembly; 401-Mounting plate; 402-Counterweight; 403-Servo motor; 404-First slide rail; 405-Second slide rail; 406-Slide rod; 407-First slider; 408-Threaded rod; 409-Second slider; 5-Sensor mounting assembly; 501-Slot plate; 502-Vibration sensor; 503-Snap-fit ​​plate; 504-Mounting bolts; 6-Rubber roller; 7-Frame plate; 8-Fixing bolt; 9-Alarm; 10-Triaxial accelerometer; 11-Gyroscope; 12-Data control box; 13-Rectangular plate; 14-Mounting slot; 15-Pressure weighing sensor; 16-Lower mounting slot; 17-Hydraulic damper; 18-Fixing nut; 19-Mounting shaft. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example

[0029] A method for monitoring and controlling vibration of an elevator car under eccentric load, comprising the following steps: Step 1: Install pressure load sensors 15 at the four corners of the bottom of the car 1 to collect pressure load data at the four support points of the car; install a triaxial accelerometer 10 and a gyroscope 11 at the upper end of the car 1 to collect the horizontal vibration acceleration in the X-axis, horizontal vibration in the Y-axis, and vertical vibration in the Z-axis, as well as the angular velocities of pitch, roll, and yaw; the sensor mounting assembly 5 at the upper end of the frame plate 7 carries a vibration sensor 502 to collect the horizontal and torsional vibration signals transmitted from the guide rail to the guide shoe; the displacement detector 306 on the guide shoe adjustment assembly 3 collects the telescopic displacement signal of the magnetorheological damper 305; the center of gravity adjustment assembly 4 collects the position and attitude signal of the counterweight 402; all sensor signals are synchronously transmitted to the data control box 12. Step 2: The signal conditioning and acquisition unit inside the data control box 12 amplifies and filters the original sensor signals to reduce noise and eliminate interference caused by the swaying of the traction machine and wire rope; the data processing and analysis unit calculates the total load of the car 1, the two-dimensional offset of the center of gravity, the off-center load ratio, and the off-center load torque based on the load values ​​collected by the four corner pressure weighing sensors 15; it integrates the signals from the three-axis accelerometer 10, gyroscope 11, and vibration sensor 502 to solve for the vibration amplitude and main frequency in the vertical, horizontal, and torsional directions, identify the characteristics of car tilting, translational vibration, and angular vibration, and distinguish different operating conditions; Step 3: When the car is determined to be under slight or moderate vibration, the data control box 12 outputs multiple independent control commands: the hydraulic damper 17 in the mounting slot 14 of the car frame 2 acts on the outer wall of the car 1 to attenuate the vertical lifting and lowering of the car; the magnetorheological damper 305 in the guide shoe adjustment assembly 3 continuously and smoothly adjusts the damping force by changing the excitation current, independently controlling the horizontal and torsional damping, consuming the lateral vibration energy transmitted from the guide rail to the guide shoe, and suppressing the left and right swaying and torsional vibration of the car; the damping coefficient continuously and adaptively changes with the vibration amplitude and vibration frequency, using low damping to filter weak disturbances for small vibrations, and increasing damping to quickly dissipate vibration energy for large vibrations; the displacement detector 306 provides real-time feedback of the stroke of the magnetorheological damper 305 to the data control box 12 for damping output correction; Step 4: If a steady-state off-center load is detected in the car, the data control box 12 calculates the target displacement coordinates of the counterweight 402 based on the direction and amount of the center of gravity offset, and sends a drive command to the servo motor 403 of the center of gravity adjustment component 4; the servo motor 403 drives the threaded rod 408 to rotate, drives the second slider 409 to slide along the second slide groove 405, and the first slider 407 to slide along the guide rod 406, driving the counterweight 402 to move in the opposite direction of the off-center load, generating a reverse compensation torque, and correcting the position of the car's center of gravity. Step 5: The extension stroke of the magnetorheological damper 305, the actual position of the counterweight 402, and the real-time attitude signals of the car collected by the gyroscope 11 and the triaxial accelerometer 10 are continuously fed back to the data control box 12. The data control box 12 compares the actual vibration reduction effect with the preset control target. If the car is found to be overloaded, vibrating, or malfunctioning, the alarm 9 will issue an audible and visual alarm and transmit the alarm signal to the outside.

[0030] Reference Figure 1-8 A car frame 2 is provided on the outside of the car 1. Multiple frame plates 7 are snapped onto the side of the car frame 2. Multiple guide shoe adjustment components 3 are provided on the side of the frame plates 7. A center of gravity adjustment component 4 is provided on the side and bottom of the car 1. A sensor mounting component 5 is provided on the upper end of the frame plates 7.

[0031] Reference Figure 1-4 , Figure 8 The guide shoe adjustment assembly 3 includes a connecting block 301, a limiting ring plate 302, a connecting rod 303, a first rectangular plate 304, a magnetorheological damper 305, a displacement detector 306, and a second rectangular plate 307. The connecting rod 303 is fixedly installed on the outside of the frame plate 7. The connecting block 301 is slidably connected to the connecting rod 303. A limit ring plate 302 is fixedly connected to the side of the connecting rod 303. A first rectangular plate 304 is fixedly connected to the side of the connecting block 301. A magnetorheological damper 305 is fixedly connected to the side of the first rectangular plate 304. The other end of the magnetorheological damper 305 is fixedly connected to the frame plate 7. A second rectangular plate 307 is fixedly connected to the upper end of the first rectangular plate 304. A displacement detector 306 is fixedly connected to the side of the second rectangular plate 307. The other end of the displacement detector 306 is fixedly connected to the frame plate 7. A mounting shaft 19 is fixedly connected to the side of the connecting block 301. A rubber roller 6 is sleeved on the outside of the mounting shaft 19. A fixing nut 18 is threadedly connected to the side of the mounting shaft 19. The working position of the connecting block 301 is adjusted by the connecting rod 303. The magnetorheological damper is adjusted according to different load conditions. 305 drives the position of the connecting block 301 to move. The magnetorheological damper 305 can change the viscosity of the magnetorheological fluid in real time by changing the excitation current. The damping force can be continuously and smoothly adjusted, and it can quickly respond to the instantaneous lateral impact and torsional vibration at the guide shoe. It can dynamically change the damping magnitude according to the degree of swaying of the car 1, thereby suppressing the left and right swaying of the car 1 and the vibration of the guide rail rubbing against the rail. The displacement detector 306 collects the extension and retraction displacement of the magnetorheological damper 305 and feeds it back to the main control unit. The main control unit combines the vibration signal and the damping stroke signal to correct the excitation current and accurately control the damping force, avoiding over-adjustment or under-adjustment of open-loop control, and improving the damping control accuracy. The first rectangular plate 304 and the second rectangular plate 307 cooperate with the installation of the structure to ensure the connection stability of the structure. The installation shaft 19 is used in conjunction with the installation of the rubber roller 6. The fixing nut 18 fixes the working position of the rubber roller 6, so that the position of the rubber roller 6 is stable.

[0032] Reference Figure 1-4 , Figure 6 The center of gravity adjustment component 4 includes a mounting plate 401, a counterweight 402, a servo motor 403, a first slide rail 404, a second slide rail 405, a slide rod 406, a first slider 407, a threaded rod 408, and a second slider 409. The mounting plate 401 has multiple sliding grooves on its side, including a first sliding groove 404 and a second sliding groove 405. A sliding rod 406 is fixedly connected inside the first sliding groove 404. A threaded rod 408 is installed inside the second sliding groove 405. A first slider 407 is slidably connected inside the first sliding groove 404, passing through the first slider 407. A second slider 409 is slidably connected inside the second sliding groove 405, passing through the threaded rod 408. A counterweight 402 is fixedly connected to the lower ends of the first slider 407 and the second slider 409. A servo motor 403 is fixedly connected to the side of the mounting plate 401, and the output end of the servo motor 403 is fixedly connected to the threaded rod 408. Multiple center-of-gravity adjustment components 4 facilitate adjustment of the center of gravity of the car 1 under load, adjusting according to the standing position of passengers. Guide shoe adjustment components 3 are installed at the bottom and sides of the car 1. The center of gravity of the car 1 is adjusted in both the Y and X axes to prevent eccentric vibration. The servo motor 403 drives the second slider 409 to rotate, which in turn drives the second slider 409 to slide in the second slide groove 405. The slide rod 406 in the first slide groove 404 slides in conjunction with the first slider 407, allowing the counterweight 402 to slide stably and facilitating subsequent adjustment of the counterweight 402's position. The center of gravity adjustment component 4 at the bottom of the car 1 adjusts the center of gravity of the car 1 in the Y-axis, and the center of gravity adjustment component 4 on the side of the car 1 adjusts the center of gravity of the car 1 in the X-axis, generating a reverse compensation torque to counteract the overturning torque caused by eccentric loading, reduce the lateral pressure on the guide shoes, and reduce the swaying, torsion, and guide rail rubbing induced by eccentric loading, rather than passively consuming vibration energy by damping alone. The structure and damping adjustment mechanism work together, the center of gravity compensation eliminates long-term imbalance, and the damper attenuates instantaneous vibration, resulting in better vibration reduction.

[0033] Reference Figure 1-4 , Figure 7-8 The sensor mounting assembly 5 includes a slot plate 501, a vibration sensor 502, a snap-fit ​​plate 503, and mounting bolts 504. The slot plate 501 has a slot inside, and a retaining plate 503 is engaged inside the slot. A vibration sensor 502 is fixedly connected to the upper end of the retaining plate 503. Multiple mounting bolts 504 are threaded onto the side of the slot plate 501. The other end of each mounting bolt passes through a first threaded hole on the side of the retaining plate 503. The slot plate 501, in conjunction with the vibration sensor 502, engages the retaining plate 503, and the mounting bolts 504 fix its position, ensuring structural stability and facilitating subsequent... Vibration sensor 502 monitors the vibration data of frame plate 7, and monitors the horizontal vibration of the car in the X and Y directions and the vertical vibration in the Z direction in real time. It captures the shaking, bumping, torsion, and resonance phenomena of car 1, and uses the vibration parameters as the direct basis for damping adjustment. With closed-loop feedback, it continuously evaluates the vibration reduction effect, dynamically optimizes the damping output, suppresses resonance, and significantly improves the ride smoothness of the elevator. The structure can collect the original horizontal and torsional vibrations transmitted from the guide rail to the guide shoe. The detachable structure facilitates individual disassembly and maintenance without affecting the guide shoe clearance. The sensor avoids the harsh environment under the car, and the signal acquisition is accurate and the long-term operation is reliable.

[0034] Reference Figure 1-4 The inner bottom wall of the car frame 2 is provided with a lower mounting groove 16. The size of the lower mounting groove 16 is adapted to the size of the mounting plate 401. Multiple fixing bolts 8 are threadedly connected to the side of the frame plate 7. The other end of the fixing bolts 8 passes through the second threaded hole provided on the side of the car frame 2 and is threaded through the frame plate 7. The lower mounting groove 16 is used in conjunction with the adjustment operation of the mounting plate 401 to ensure that the counterweight 402 can slide and adjust normally. The fixing bolts 8 fix the working position of the frame plate 7 so that the frame plate 7 is installed on both sides of the car frame 2 and used in conjunction with the sliding movement of the elevator.

[0035] Reference Figure 1-5 The car frame 2 has multiple mounting slots 14 on its side. Multiple hydraulic dampers 17 are fixedly connected inside the mounting slots 14. A rectangular plate 13 is fixedly connected to the side of the hydraulic damper 17. The other end of the rectangular plate 13 contacts the outer surface of the car 1. The mounting slots 14 are used in conjunction with the installation of the hydraulic dampers 17. The hydraulic dampers 17 contact the car 1 through the rectangular plate 13. The hydraulic dampers 17 have a large damping output, strong load-bearing capacity, and a wide damping adjustment range. They achieve gentle vibration reduction by relying on oil throttling and buffering, effectively suppressing large-amplitude lateral swaying of the car.

[0036] Reference Figure 1-4Multiple pressure weighing sensors 15 are fixedly connected to the inner bottom wall of the car frame 2 at the adjacent position of the lower mounting groove 16. The pressure weighing sensors 15 collect pressure data at the four support points of the car in real time. The data control box 12 calculates the total load, two-dimensional offset of the center of gravity, pitching moment and rolling moment of the car 1 based on the pressure at the four points, identifies the off-center load direction and off-center load level, distinguishes between the load-equalizing condition and the off-center load condition, and provides load monitoring data for damping differential control and off-center load over-limit early warning.

[0037] Reference Figure 1-4 A gyroscope 11 is installed at the upper end of the car 1, and multiple three-axis accelerometers 10 are installed at the upper end of the gyroscope 11. An alarm 9 is installed at the upper end of the car 1 adjacent to the gyroscope 11. The three-axis accelerometers 10 are used to collect the three-dimensional linear vibration acceleration of the car, calculate the static tilt angle of the car, and obtain the translational vibration characteristics. The gyroscope 11 detects the rotational angular velocity of the car in the pitch, roll, and yaw directions in real time, and captures the angular vibration caused by the off-center load. The data of the two are fused to achieve accurate identification of the car attitude and multi-dimensional vibration state, providing a monitoring basis for damping zone adjustment. The alarm 9 is used to provide audible and visual warnings when the car off-center load exceeds the limit, the vibration exceeds the standard, or the device malfunctions, and transmits alarm signals to the outside.

[0038] Reference Figure 1-4 A data control box 12 is located at the upper end of the car 1, adjacent to the gyroscope 11. The data control box 12 contains a signal conditioning and acquisition unit and a data processing and analysis unit. The magnetorheological damper 305, displacement detector 306, first slide rail 404, vibration sensor 502, alarm 9, triaxial accelerometer 10, gyroscope 11, and hydraulic damper 17 are all electrically connected to the data control box 12. The signal conditioning and acquisition unit within the data control box 12 amplifies, filters, and compensates for temperature drift in the weak sensor signals, filtering out noise interference from elevator operation and completing synchronous analog-to-digital conversion of multiple signals, effectively avoiding signal distortion. Simultaneously, signal preprocessing is performed at the front end, reducing the computational load at the back end. The data processing and analysis unit performs fusion analysis of load and vibration multi-source data, calculates off-center load parameters and vibration characteristics in real time, completes on-site condition determination, eliminates cloud transmission delays, and achieves rapid closed-loop control. It can couple off-center load and vibration information to accurately identify fault conditions and reduce false alarm rates.

[0039] The implementation principle of an embodiment of the elevator car eccentric load vibration monitoring and damping adjustment control method of the present invention is as follows: The working position of the connecting block 301 is adjusted by the connecting rod 303. According to different load conditions, the position of the connecting block 301 is moved by the magnetorheological damper 305. The magnetorheological damper 305 can change the viscosity of the magnetorheological fluid in real time by changing the excitation current. The damping force can be continuously and smoothly adjusted, and it can quickly respond to the instantaneous lateral impact and torsional vibration at the guide shoe. It can dynamically change the damping magnitude according to the degree of swaying of the car 1, thereby suppressing the left and right swaying of the car 1 and the vibration of the guide rail rubbing against the rail. The displacement detector 306 collects the extension and retraction displacement of the magnetorheological damper 305 and feeds it back to the main control unit. The main control unit combines the vibration signal and the damping stroke signal to correct the excitation current and accurately control the damping force, avoiding over-adjustment or under-adjustment of open-loop control, and improving the damping control accuracy. The first rectangular plate 304 and the second rectangular plate 307 are installed together to ensure the connection stability of the structure. The installation shaft 19 is used in conjunction with the installation of the rubber roller 6. The fixing nut 18 fixes the working position of the rubber roller 6, so that the position of the rubber roller 6 is stable. Multiple center-of-gravity adjustment components 4 facilitate adjustment of the center of gravity of the car 1 under load, adjusting according to the standing position of passengers. Guide shoe adjustment components 3, located at the bottom and sides of the car 1, adjust the center of gravity of the car 1 in both the X and Y axes to prevent eccentric vibration. A servo motor 403 drives the second slider 409 to rotate, causing it to slide within the second slide groove 405. A sliding rod 406, located within the first slide groove 404, slides in conjunction with the first slider 407, ensuring stable sliding of the counterweight 402. The movement facilitates subsequent adjustment of the counterweight 402 position. The center of gravity adjustment component 4 set at the bottom of the car 1 drives the center of gravity of the car 1 to adjust on the Y-axis, and the center of gravity adjustment component 4 set on the side of the car 1 drives the center of gravity of the car 1 to adjust on the X-axis, generating a reverse compensation torque to counteract the overturning torque caused by the off-center load, reduce the lateral pressure on the guide shoe, and reduce the swaying, torsion and guide rail vibration induced by the off-center load, instead of relying solely on damping to passively consume vibration energy. The structure and damping adjustment mechanism work together, the center of gravity compensation eliminates long-term imbalance, and the damper attenuates instantaneous vibration, resulting in better vibration reduction effect. By using the slot plate 501 to limit the position of the vibration sensor 502, the snap-fit ​​plate 503 is snapped into the slot plate 501. The position of the snap-fit ​​plate 503 is fixed by the mounting bolts 504 to ensure the stability of the structure. This facilitates the subsequent monitoring of vibration data of the frame plate 7 by the vibration sensor 502, real-time monitoring of the car's horizontal vibration in the X and Y directions and vertical vibration in the Z direction, capturing the shaking, bumping, torsion, and resonance phenomena of the car 1. The vibration parameters are used as the direct basis for damping adjustment. With closed-loop feedback, the vibration reduction effect is continuously evaluated, the damping output is dynamically optimized, resonance is suppressed, and the elevator ride smoothness is significantly improved. This structure can collect the original horizontal and torsional vibrations transmitted from the guide rail to the guide shoe. The detachable structure facilitates individual disassembly and maintenance without affecting the guide shoe clearance. The sensor avoids the harsh environment under the car, ensuring accurate signal acquisition and reliable long-term operation.

[0040] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for monitoring and controlling vibration of an elevator car under eccentric load, characterized in that: Includes the following steps: Step 1: Install pressure weighing sensors (15) at the four corners of the bottom of the car (1) to collect pressure load data at the four support points of the car; install a triaxial accelerometer (10) and a gyroscope (11) at the top of the car (1) to collect the horizontal vibration acceleration in the X direction, horizontal vibration in the Y direction, vertical vibration in the Z direction, and the rotational angular velocity in the pitch, roll, and yaw directions; the sensor mounting assembly (5) at the top of the frame plate (7) is equipped with a vibration sensor (502) to collect the horizontal and torsional vibration signals transmitted from the guide rail to the guide shoe; the displacement detector (306) on the guide shoe adjustment assembly (3) collects the telescopic displacement signal of the magnetorheological damper (305); the center of gravity adjustment assembly (4) collects the position and attitude signal of the counterweight (402); all sensor signals are synchronously transmitted to the data control box (12); Step 2: The signal conditioning and acquisition unit inside the data control box (12) amplifies and filters the original sensor signal to reduce noise and eliminate interference caused by the swaying of the traction machine and wire rope; the data processing and analysis unit calculates the total load, two-dimensional offset of the center of gravity, off-center load rate and off-center load torque of the car (1) based on the load values ​​collected by the four corner pressure weighing sensors (15); it integrates the signals of the three-axis accelerometer (10), gyroscope (11) and vibration sensor (502) to solve the vibration amplitude and main frequency in the vertical, horizontal and torsional directions, identify the characteristics of car tilting, translational vibration and angular vibration, and distinguish different operating conditions; Step 3: When the car is determined to be in a slight or moderate vibration condition, the data control box (12) outputs multiple independent control commands: the hydraulic damper (17) in the mounting slot (14) of the car frame (2) acts on the outer wall of the car (1) to attenuate the vertical lifting and swaying of the car; the magnetorheological damper (305) in the guide shoe adjustment assembly (3) continuously and smoothly adjusts the damping force by changing the excitation current, independently controls the horizontal and torsional damping, consumes the lateral vibration energy transmitted from the guide rail to the guide shoe, and suppresses the left and right swaying and torsional vibration of the car; the damping coefficient continuously and adaptively changes with the vibration amplitude and vibration frequency, and uses low damping to filter weak disturbances for small vibrations, and increases damping to quickly dissipate vibration energy for large vibrations; the displacement detector (306) provides real-time feedback of the stroke of the magnetorheological damper (305) to the data control box (12) for damping output correction; Step 4: If a steady-state off-center load is detected in the car, the data control box (12) calculates the target displacement coordinates of the counterweight (402) based on the direction and amount of the center of gravity offset, and sends a drive command to the servo motor (403) of the center of gravity adjustment component (4); the servo motor (403) drives the threaded rod (408) to rotate, drives the second slider (409) to slide along the second slide groove (405), and the first slider (407) slides along the guide rod (406), driving the counterweight (402) to move in the opposite direction of the off-center load, generating a reverse compensation torque, and correcting the position of the car's center of gravity. Step 5: The extension stroke of the magnetorheological damper (305), the actual position of the counterweight (402), and the real-time attitude signals of the car collected by the gyroscope (11) and the triaxial accelerometer (10) are continuously fed back to the data control box (12). The data control box (12) compares the actual vibration reduction effect with the preset control target. If the car is found to be overloaded, vibrating, or malfunctioning, the alarm (9) will issue an audible and visual alarm and transmit the alarm signal to the outside.

2. The elevator car eccentric load vibration monitoring and damping adjustment device according to claim 1, comprising a car (1), characterized in that: The car (1) is provided with a car frame (2) on the outside. Multiple frame plates (7) are snapped onto the side of the car frame (2). Multiple guide shoe adjustment components (3) are provided on the side of the frame plate (7). The car (1) is provided with a center of gravity adjustment component (4) on the side and bottom. The frame plate (7) is provided with a sensor mounting component (5) on the upper end.

3. The elevator car eccentric load vibration monitoring and damping adjustment device according to claim 2, characterized in that: The guide shoe adjustment assembly (3) includes a connecting block (301), a limiting ring plate (302), a connecting rod (303), a first rectangular plate (304), a magnetorheological damper (305), a displacement detector (306), and a second rectangular plate (307). The connecting rod (303) is fixedly installed on the outside of the frame plate (7), the connecting block (301) is slidably connected to the connecting rod (303), the side of the connecting rod (303) is fixedly connected to the limiting ring plate (302), the side of the connecting block (301) is fixedly connected to the first rectangular plate (304), the side of the first rectangular plate (304) is fixedly connected to the magnetorheological damper (305), the other end of the magnetorheological damper (305) is fixedly connected to the frame plate (7), the upper end of the first rectangular plate (304) is fixedly connected to the second rectangular plate (307), the side of the second rectangular plate (307) is fixedly connected to the displacement detector (306), the other end of the displacement detector (306) is fixedly connected to the frame plate (7), the side of the connecting block (301) is fixedly connected to the mounting shaft (19), the outside of the mounting shaft (19) is sleeved with a rubber roller (6), and the side of the mounting shaft (19) is threadedly connected to a fixing nut (18).

4. The elevator car eccentric load vibration monitoring and damping adjustment device according to claim 2, characterized in that: The center of gravity adjustment assembly (4) includes a mounting plate (401), a counterweight (402), a servo motor (403), a first slide rail (404), a second slide rail (405), a slide rod (406), a first slider (407), a threaded rod (408), and a second slider (409). The mounting plate (401) has multiple sliding grooves on its side, including a first sliding groove (404) and a second sliding groove (405). A sliding rod (406) is fixedly connected inside the first sliding groove (404). A threaded rod (408) is provided inside the second sliding groove (405). A first slider (407) is slidably connected inside the first sliding groove (404). The first sliding groove (404) passes through the first slider (407). A second slider (409) is slidably connected inside the second sliding groove (405). The threaded rod (408) passes through the second slider (409). A counterweight (402) is fixedly connected to the lower end of the first slider (407) and the second slider (409). A servo motor (403) is fixedly connected to the side of the mounting plate (401). The output end of the servo motor (403) is fixedly connected to the threaded rod (408).

5. The elevator car eccentric load vibration monitoring and damping adjustment device according to claim 2, characterized in that: The sensor mounting assembly (5) includes a slot plate (501), a vibration sensor (502), a snap-fit ​​plate (503), and mounting bolts (504). The slot plate (501) has a slot inside, and a snap-fit ​​plate (503) is snapped into the slot. A vibration sensor (502) is fixedly connected to the upper end of the snap-fit ​​plate (503). Multiple mounting bolts (504) are threadedly connected to the side of the slot plate (501). The other end of the mounting bolts (504) passes through the slot plate (501) and is threadedly connected to the first threaded hole on the side of the snap-fit ​​plate (503).

6. The elevator car eccentric load vibration monitoring and damping adjustment device according to claim 2, characterized in that: The inner bottom wall of the car frame (2) is provided with a lower mounting groove (16). The size of the lower mounting groove (16) is adapted to the size of the mounting plate (401). The side of the frame plate (7) is threaded with multiple fixing bolts (8). The other end of the fixing bolts (8) passes through the frame plate (7) and is threaded to the second threaded hole provided on the side of the car frame (2).

7. The elevator car eccentric load vibration monitoring and damping adjustment device according to claim 2, characterized in that: The side of the car frame (2) is provided with multiple mounting slots (14), and multiple hydraulic dampers (17) are fixedly connected inside the mounting slots (14). A rectangular plate (13) is fixedly connected to the side of the hydraulic damper (17), and the other end of the rectangular plate (13) contacts the outer surface of the car (1).

8. The elevator car eccentric load vibration monitoring and damping adjustment device according to claim 2, characterized in that: Multiple pressure weighing sensors (15) are fixedly connected to the inner bottom wall of the car frame (2) at a position adjacent to the lower mounting groove (16).

9. The elevator car eccentric load vibration monitoring and damping adjustment device according to claim 2, characterized in that: A gyroscope (11) is provided at the upper end of the car (1), and multiple three-axis accelerometers (10) are provided at the upper end of the gyroscope (11). An alarm (9) is provided at the upper end of the car (1) adjacent to the gyroscope (11).

10. The elevator car eccentric load vibration monitoring and damping adjustment device according to claim 2, characterized in that: A data control box (12) is located at the upper end of the car (1) adjacent to the gyroscope (11). The data control box (12) is equipped with a signal conditioning and acquisition unit and a data processing and analysis unit. The magnetorheological damper (305), displacement detector (306), first slide (404), vibration sensor (502), alarm (9), triaxial acceleration detector (10), gyroscope (11) and hydraulic damper (17) are all electrically connected to the data control box (12).

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