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公开(公告)号：US5652414A
公开(公告)日：1997-07-29
申请号：US292660
申请日：1994-08-18
CPC分类号： B66B7/044
摘要： The invention features an elevator system including an elevator car (12) having a frame that operates on guide rails of an elevator shaft of a building. The elevator car (12) has a rigid body motion in a global coordination system (X, Y, Z) kinematically defined by five degrees of freedom including side-to-side translation along the X axis, front-to-back translation along the Y axis, a pitch rotation about the X axis, a roll rotation about the Y axis, and a yaw rotation about the Z axis. The elevator system includes local parameter sensing means (14), responsive to local parameter sensed in each of the five degrees of freedom in the global coordination system (X, Y, Z), for providing local parameter signals (G.sub.m, A.sub.m); coordinated control means (16), responsive to the local parameter signals (G.sub.m, A.sub.m), for providing coordinated control signals (CC.sub.x1, CC.sub.x2, CC.sub.y1, CC.sub.y2, CC.sub.y3); and local force generating means (18), responsive to the local force coordinated control signals (CC.sub.x1, CC.sub.x2, CC.sub.y1, CC.sub.y2, CC.sub.y3), for providing coordinated local forces (F.sub.x1, F.sub.x2, F.sub.y1, F.sub.y2, F.sub.y3) to maintain desired gaps between the frame and the guide rails to coordinate the position of the elevator car (12) with respect to the elevator shaft of the building.
摘要翻译： 本发明的特征在于一种电梯系统，其包括具有在建筑物的电梯井的导轨上操作的框架的电梯轿厢（12）。 电梯轿厢（12）在由五个自由度运动地定义的全局协调系统（X，Y，Z）中具有刚性体运动，包括沿X轴的侧向平移，沿着X轴的前后平移 Y轴，围绕X轴的俯仰旋转，围绕Y轴的旋转旋转以及围绕Z轴的偏转旋转。 电梯系统包括响应于在全局协调系统（X，Y，Z）中的五个自由度中的每一个中感测到的局部参数的本地参数检测装置（14），用于提供局部参数信号（Gm，Am）; 协调控制装置（16），响应于本地参数信号（Gm，Am），用于提供协调控制信号（CCx1，CCx2，CCy1，CCy2，CCy3）; 以及局部力发生装置（18），其响应于局部力协调控制信号（CCx1，CCx2，CCy1，CCy2，CCy3），用于提供协调的局部力（Fx1，Fx2，Fy1，Fy2，Fy3）以保持 框架和导轨，以协调电梯轿厢（12）相对于建筑物的电梯井的位置。
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公开(公告)号：US5308938A
公开(公告)日：1994-05-03
申请号：US555132
申请日：1990-07-18
CPC分类号： B66B7/046 , B66B1/44 , B66B11/0286 , B66B7/042
摘要： A method and apparatus for actively counteracting a disturbing force acting on a suspended elevator cab moving vertically in a hoistway is disclosed. A manifestation of the disturbing force such as acceleration is sensed and counteracted, for example, by effectively exerting counterforces against the cab. The magnitude and phase of the counterforce is selected according to the magnitude and phase of the system response to a disturbing force. The invention may be carried out using an electromagnet actuator for actuating the suspended cab in response to a control signal from a control means which is in turn responsive to the sensed signal. The control means may be analog or digital or a combination of both. A preferred analog-digital approach is disclosed in which the digital part is responsive to accelerometer signals, the analog part is responsive to a force command signal from the digital part and provides a force feedback signal for comparison to the force command signal. In a pendulum car embodiment, three pairs of electromagnets form three actuators situated between the floor of the frame and the bottom of the suspended cab.
摘要翻译： 公开了一种用于主动地抵抗作用于在井道中垂直移动的悬挂电梯轿厢的扰动力的方法和装置。 例如，通过有效地对驾驶室施加抵制力来感测和抵消诸如加速度的干扰力的表现。 反作用力的大小和相位根据系统对扰动力的响应的大小和相位进行选择。 本发明可以使用电磁致动器来执行，该电磁致动器响应于来自控制装置的控制信号而致动悬挂的驾驶室，控制装置又响应于感测到的信号。 控制装置可以是模拟的或数字的，或两者的组合。 公开了一种优选的模拟数字方法，其中数字部分响应于加速度计信号，模拟部分响应于来自数字部分的力命令信号，并且提供用于与力命令信号进行比较的力反馈信号。 在摆车实施例中，三对电磁体形成位于框架的底板和悬挂的驾驶室的底部之间的三个致动器。
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公开(公告)号：US5329077A
公开(公告)日：1994-07-12
申请号：US31084
申请日：1993-02-16
摘要： Rail learning is combined with feedback in a control for improving ride quality in an elevator. For example, a pre-stored signal indicative of a horizontal deviation of the rail's surface from a vertical reference is retrieved and used along with a sensed signal indicative of a horizontal position (or other parameter indicative of a disturbance of the elevator) relative to the rail's surface (or a reference) for controlling an actuable horizontal suspension for reducing horizontal disturbances of the elevator while guiding an elevator vertically in a hoistway along a rail. As another example, a sensed force signal is averaged over a plurality of trips under differing load conditions and the average is pre-stored for retrieval at various vertical points in the hoistway and may be used, in combination with a feedback loop, to predict horizontal forces about to act on the car.
摘要翻译： 轨道学习与控制中的反馈相结合，以改善电梯的乘坐质量。 例如，指示轨道表面与垂直基准的水平偏离的预先存储的信号被检索并与指示水平位置（或指示电梯的干扰的其他参数）的感测信号相对于 轨道表面（或参考），用于控制可致动的水平悬架，以减少电梯的水平扰动，同时沿着轨道垂直地引导升降梯。 作为另一示例，感测的力信号在不同负载条件下在多个行程上被平均，并且平均值被预先存储以用于在井道中的各个垂直点处的检索，并且可以与反馈回路结合使用来预测水平 部队要对车行事。
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公开(公告)号：US5816369A
公开(公告)日：1998-10-06
申请号：US805873
申请日：1997-04-15
申请人： Clement A. Skalski
发明人： Clement A. Skalski
IPC分类号： B66B7/04
CPC分类号： B66B7/046
摘要： A method of installing roller guides in an elevator system so as to be centered on their respective T-rails. In the case of an elevator using either and active or semi-active roller guide system, the method uses the position transducers that are part of the roller guide to indicate how to reposition the roller guide after it is loosely bolted and approximately positioned on the elevator car. For an elevator not using an active roller guide or semi-active roller guide, the present invention temporarily attaches position transducers to the roller guide before bolting the roller guide to the elevator car. These position transducers are removed after centering the roller guide on the T-rail.
摘要翻译： 一种在电梯系统中安装滚子导轨以便以其各自的T形导轨为中心的方法。 在使用有源或半主动式滚子引导系统的电梯的情况下，该方法使用作为滚子导轨的一部分的位置传感器来指示如何在滚子引导件被松动地螺栓连接并大致定位在电梯上之后重新定位 汽车。 对于不使用主动滚子导轨或半主动滚子引导件的电梯，本发明在将滚子引导件螺栓连接到电梯轿厢之前将位置传感器临时附接到滚子引导件。 这些位置传感器在将导轨定位在T型导轨上之后被移除。
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公开(公告)号：US5749444A
公开(公告)日：1998-05-12
申请号：US550969
申请日：1995-10-31
申请人： Clement A. Skalski
发明人： Clement A. Skalski
CPC分类号： F16C32/0444 , B66B7/044 , F16C32/0472 , F16F15/035
摘要： A contactless slide guide or magnetic bearing for guiding an elevator vertically along a hoistway rail has one or more electromagnet actuators spring-mounted within a yoke attached to the elevator car at a corner thereof. The positioning of the electromagnets within the yoke is such that they are positioned extremely close to the surface of the rail so as to form a magnetic bearing having a gap of just a few millimeters, and which is controlled in a position feedback control loop to keep the gap constant. The contactless slide guide may be used for low-rise buildings with a rigid connection between the yoke and the elevator, or may be used in conjunction with an active suspension system more typically used in mid- to high-rise buildings. The active suspension system may be used, for example, in conjunction with a pendulum car suspended within the elevator frame to which contactless slide guides are attached at the top and bottom. The active suspension is controlled with a feedback control system that is completely separate from the position control loops used to control the individual contactless slide guides.
摘要翻译： 用于沿着井道导轨垂直地引导电梯的非接触式滑动导轨或磁性轴承具有一个或多个电磁铁致动器，该电动机驱动器弹簧安装在附接到电梯轿厢的轭的拐角处。 电磁铁在磁轭内的定位使得它们被定位成非常接近导轨的表面，以形成具有几毫米间隙的磁性轴承，并且其被控制在位置反馈控制回路以保持 间隙常数。 非接触式滑动导轨可以用于在轭架和电梯之间具有刚性连接的低层建筑物，或者可以与中高层建筑物中通常使用的主动悬架系统结合使用。 主动悬架系统可以例如与悬挂在电梯架内的摆车一起使用，非接触式滑动导轨在顶部和底部附接到该悬架系统。 主动悬架由与用于控制各个非接触式滑动导轨的位置控制环完全分开的反馈控制系统控制。
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公开(公告)号：US5400872A
公开(公告)日：1995-03-28
申请号：US50742
申请日：1993-04-20
CPC分类号： B66B11/0286 , B66B1/44 , B66B7/042
摘要： A method and apparatus for actively counteracting a disturbing force acting on a suspended elevator cab in a frame moving vertically in a hoistway is disclosed. A manifestation of the disturbing force such as acceleration is sensed and counteracted, for example, by effectively adding mass to the cab in proportion to the sensed acceleration. This may be accomplished by using an electromagnet actuator for actuating the suspended cab in response to a control signal from a control means which is in turn responsive to the sensed signal. Whatever type of actuator is used, it may be used as well to bring the suspended cab to rest with respect to a hoistway sill prior to transferring passengers. The control means may be analog or digital or a combination of both. A preferred analog-digital approach is disclosed in which the digital part is responsive to accelerometer signals, the analog part is responsive to a force command signal from the digital part and provides a position feedback signal in return. In a preferred embodiment, four electromagnet actuators are situated in the corners of the cab between the floor of the frame and the bottom of the suspended cab. Each actuator may act along a line which intersects the walls of the cab at a forty-five degree angle. A single axis embodiment is also disclosed.
摘要翻译： 公开了一种用于主动地抵抗在井道中垂直移动的框架中作用在悬挂的电梯轿厢上的扰动力的方法和装置。 感测和抵消诸如加速度的干扰力的表现，例如通过根据所感测到的加速度与驾驶室有效地增加质量。 这可以通过使用电磁致动器来实现，其响应于来自控制装置的控制信号来驱动悬挂的驾驶室，控制装置又响应于感测到的信号。 无论使用什么类型的执行器，也可以使用悬挂式驾驶室在乘客转移之前相对于井道门槛而休息。 控制装置可以是模拟的或数字的，或两者的组合。 公开了一种优选的模拟数字方法，其中数字部分响应于加速度计信号，模拟部分响应于来自数字部分的力命令信号并提供位置反馈信号作为回报。 在优选实施例中，四个电磁铁致动器位于驾驶室的角落之间的框架的底板和悬挂的驾驶室的底部之间。 每个致动器可以沿着与驾驶室的壁相交的线以四十五度角行进。 还公开了单轴实施例。
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公开(公告)号：US6137255A
公开(公告)日：2000-10-24
申请号：US364082
申请日：1999-07-30
申请人： Clement A. Skalski
发明人： Clement A. Skalski
CPC分类号： G05B19/232 , E05F15/60 , G05B2219/37313 , G05B2219/37324 , G05B2219/37388 , G05B2219/45242
摘要： A control system (10) for a door operator (12) for moving a door includes a position sensor (54) to be coupled to the door (28) for sensing the position of the door and generating a position signal. An acceleration sensor (48) is to be coupled to the door for sensing the acceleration of the door (28) and generating an acceleration signal. An integrator (50) integrates the acceleration signal to generate a first velocity signal. A differentiator (56) differentiates the position signal to generate a second velocity signal. A blending filter (42) blends the first and second velocity signal to generate a filtered velocity signal, and a controller (32) regulates the velocity of the door (28) in response to the time and position of the door in a door open or close operation.
摘要翻译： 一种用于移动门的门操作器（12）的控制系统（10）包括一个与门（28）连接的位置传感器（54），用于感测门的位置并产生位置信号。 加速度传感器（48）将耦合到门以感测门（28）的加速度并产生加速度信号。 积分器（50）积分加速度信号以产生第一速度信号。 微分器（56）区分位置信号以产生第二速度信号。 混合过滤器（42）将第一速度信号和第二速度信号混合以产生滤波的速度信号，并且控制器（32）响应门打开的门的时间和位置来调节门（28）的速度 关闭操作。
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8.发明授权
公开(公告)号：US5597988A
公开(公告)日：1997-01-28
申请号：US636259
申请日：1996-04-23
申请人： Clement A. Skalski
发明人： Clement A. Skalski
摘要： A control system for compensating for horizontal vibrations in a travelling elevator includes at least one horizontal vibration sensor disposed in a plane wherein high frequency vibrations are spatially filtered. Each sensor is provided with a control circuit that provides control signals to actuators associated with roller guide wheels for applying force against a rail as needed to reduce vibrations.
摘要翻译： 用于补偿行驶电梯中的水平振动的控制系统包括设置在高频振动被空间过滤的平面中的至少一个水平振动传感器。 每个传感器设置有控制电路，其向与滚子导轮相关联的致动器提供控制信号，以根据需要施加力以减小振动。
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公开(公告)号：US5439075A
公开(公告)日：1995-08-08
申请号：US208416
申请日：1994-03-09
CPC分类号： B66B7/022 , B66B1/44 , B66B11/0286 , B66B7/042 , B66B7/046
摘要： An elevator car vertically guided along a hoistway rail has horizontal motions controlled by means of an actuator wherein horizontal acceleration of the elevator car and relative horizontal displacement between the car and the rail is sensed for controlling such horizontal motions by means of the actuator. Guiding means can be provided in the form of roller clusters at the corners of the car for engaging hoistway rails on opposite sides of the car wherein, for each roller cluster, plural actuators are included with accompanying springs wherein the roller cluster actuators are responsive to the controller for actuating the elevator car horizontally with respect to the hoistway rail. The roller cluster actuators can be electromagnets. Each wheel of the roller cluster can have stop means assocaiated therewith that is operable to limit the extent of movement of the guide wheel in a direction away from the guide rail.
摘要翻译： 沿着井道导轨竖直引导的电梯轿厢具有通过致动器控制的水平运动，其中电梯轿厢的水平加速度和轿厢和轨道之间的相对水平位移被检测以通过致动器来控制这种水平运动。 引导装置可以在汽车的拐角处以滚子组的形式提供，用于在轿厢的相对侧上接合井道轨道，其中对于每个滚子组，多个致动器包括在伴随的弹簧中，其中滚子组致动器响应于 用于相对于井道导轨水平地致动电梯轿厢的控制器。 滚子组执行器可以是电磁体。 辊组的每个轮可以具有与其相关联的止动装置，其可操作以限制导轮在远离导轨的方向上的移动程度。
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10.发明授权Elevator control system featuring all-electromagnet vibration and centering elevator car controller for coupling a roller arranged on a pivot arm to a guide rail 失效具有全电磁振动和定心电梯轿厢控制器的电梯控制系统，用于将布置在枢轴臂上的辊连接到导轨
公开(公告)号：US5955709A
公开(公告)日：1999-09-21
申请号：US989448
申请日：1997-12-12
摘要： An elevator control system has a roller guide assembly comprising a plurality of rollers arranged in a cluster having at least one roller connected thereto for coupling an elevator car to a guide rail mounted on an elevator hoistway wall. The roller guide assembly comprises a pivot arm for pivoting on a horizontal pivot axis in relation to a longitudinal axis of the guide rail. The elevator control system features one or more electromagnet actuators for providing both vibration and centering control and without any solenoid for providing centering control.
摘要翻译： 一种电梯控制系统，具有一个辊子导向组件，该组件包括布置在一组中的多个辊子，该组件具有连接至少一个辊子，用于将电梯轿厢连接到安装在电梯井道壁上的导轨上。 滚子引导组件包括枢转臂，用于相对于导轨的纵向轴线在水平枢转轴线上枢转。 电梯控制系统具有一个或多个电磁致动器，用于提供振动和定心控制，并且没有任何螺线管用于提供对中控制。
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