In this work, the horizontal nonlinear response of a three-degree-of-freedom vertical transportation model excited by guide rail deformations is investigated. The equation of motion contains nonlin...

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On nonlinear horizontal dynamics and vibrations control for high-speed elevators

Model-based approach for elevator performance estimation

Due to the influencing factors, such as irregularity of guide, piston wind excitation in the hoistway, and uncertain swinging of hoisting rope during the operation of high-speed traction elevator, ...

Intelligent control of active shock absorber for high-speed elevator car:

The dynamic models of an integrated system based on active steering and an active suspension are established; these include a vehicle model, an active steering system model, an active suspension system model, a tyre model and a road input model. The performance evaluation indices of the integrated system are proposed, including the steering road feel, the steering sensitivity and the ride comfort. On the basis of the target cascading theory, an analytical target cascading method is researched. Considering the coupling factors of the integrated system, the optimization model of the integrated system is established with the target cascading method. Then, the parameters are optimized based on a multi-island genetic algorithm, and the optimized results are compared with those of the collaborative optimization method. Thus, a theoretical foundation and technical support for the integration design of the automotive chassis can be provided.

Research on the multi-disciplinary design method for an integrated automotive steering and suspension system:

High-speed elevator horizontal vibration (HsEHV) is a problem that seriously affects ride comfort. To solve this problem, a design parameter optimization method for HsEHV reduction was studied. A dynamic equation of HsEHV was established, and its response value was calculated using a precise integration method. The influence of the design parameters on horizontal vibration was also analyzed. An optimization model of the design parameters for HsEHV reduction was constructed, and the response surface model of objective function (the peak-to-peak value of horizontal vibration acceleration) was constructed using Latin hypercube sampling. We adopted a multiobjective genetic algorithm to optimize the design parameters for horizontal vibration reduction and used the min-max standardization method to select an optimal solution set. Finally, a KLK2 high-speed elevator made by Canny Elevator Co., Ltd., was utilized as an example to analyze the influencing factors of HsEHV, optimize the design parameters to reduce horizontal vibration, and verify the optimized results using numerical calculation and prototype testing.

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A Vibration-Related Design Parameter Optimization Method for High-Speed Elevator Horizontal Vibration Reduction

When elevators travel at high speed, horizontal vibrations of the car tend to occur due to guide rail deformations, deteriorating ride comfort. Therefore, several active control systems have been developed to reduce these vibrations. These systems consist of six actuators, which independently move the guide rollers. To reduce costs and installation time, it is necessary to develop a system with a minimum number of actuators and a simplified controller. We developed a system with only three actuators. The controller incorporates an H-infinity control design method for maintaining stability of the system when there is a change in load. Furthermore, from a practical point of view, it is important to reduce the order of the controller so that the time for on-site parameter tuning can be reduced. Therefore, we reduced the H-infinity controller to a P controller. We demonstrated that the maximum amplitude of vibrations of a car with active control system can be reduced to almost half the vibration amplitude without control.

Study on Active Vibration Control for High-Speed Elevators

The invention provides a space-saving elevator which enables ease of adjustment of position, tension and the like of a sling while the space is saved by miniaturizing a sling suspension structure. A rod component (12) is mounted on an end part of the sling (1) through a sleeve cylinder (14), and an elevator car or a counterweight is suspended on the lower end part of the rod component through a spring. The space-saving elevator is provided with a torque rod (9), an arm part (10) and the rod component, wherein the torque rod is used as the spring and is arranged in such a way the torque rod is level with the elevator car (2), one end is fixed on an end part in the left-right direction or in the front-back direction of the elevator car, the other end is a movable part and can move in the torque direction at the central part of the elevator car relative to a shaft center, the arm part (10) is mounted on the movable part of the torque rod, and the rod component is connected with the front end of the arm part.

Space-saving elevator

When elevators travel at high speed, horizontal vibrations of the car tend to be set up by guide rail deformation. Therefore, it is important to identify the deformation accurately to improve ride quality. In this paper, we discuss a method for estimating the rail deformation by an inverse transfer function and operational acceleration data. The acceleration data indicates the vibration caused by both the rail deformation and external forces acting on the car, that is, the rope sway and wind pressure excite the car directly when it is moving by a counter weight. To identify the rail deformation from these data accurately, we propose an elevator model that has guide levers and a car. Moreover, the estimation error occurs when accelerometers are installed inaccurately. To avoid this error, the weighting function based on the modal vector is also introduced. The validity of the method is shown by the simulations and experiments.

Identification Method of Elevator Rail Deformation Using Operational Acceleration Data

Kimihiko NAKANO**, Ryuzo HAYASHI***, Yoshihiro SUDA**, Naoaki NOGUCHI**** and Atsushi ARAKAWA**** ** Institute of Industrial Science, The University of Tokyo 4-6-1 Komaba Meguro-ku Tokyo 153-8505 Japan E-mail: knakano@iis.u-tokyo.ac.jp ***Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo, 184-8588 Japan **** Mechanical Engineering Research Laboratory, Hitachi, Ltd, 832-2 Horiguchi, Hitachinaka, Ibaraki 312-0034 Japan

Active Vibration Control of an Elevator Car Using Two Rotary Actuators

The present invention provides an elevator with a damping device, comprising: guide rails (71a, 70b) arranged on a left-right axis which are arranged at left and right of an elevator car (1) and passes a centre-of-gravity position of the elevator car (1); a plurality of acceleration detectors (7, 8, 9, 10, 11, 12) for detecting vibration of the elevator car (1) in left-right and front-back directions; and a first controller (13) and a second controller (14) for controlling actuators (30a, 30b, 501, 50b, 601, 60b) according to outputs of the acceleration detectors, wherein the first controller controls translation quantity of the front-back direction, rotating quantity around the left-right axis, and rotating quantity around a vertical axis, the second controller controls translation quantity of the left-right direction, and rotating quantity around a front-back axis. Therefore, various vibration modes can be suppressed by a simple structure and a smaller number of actuators and sensors, and vibration of the elevator car can be effectively suppressed.

Atsushi Arakawa

Papers

Study on Active Vibration Control for High-Speed Elevators

Space-saving elevator

Identification Method of Elevator Rail Deformation Using Operational Acceleration Data

Active Vibration Control of an Elevator Car Using Two Rotary Actuators

Elevator with damping device