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1.发明授权Elevator system having a force-estimation or position-scheduled current command controller 失效电梯系统具有力估计或位置调度电流指令控制器
公开(公告)号：US5814774A
公开(公告)日：1998-09-29
申请号：US626749
申请日：1996-03-29
CPC分类号： F16C32/0451 , B60L13/08 , B66B7/044 , B60L2200/26
摘要： The invention provides an elevator system for controlling movement of an elevator car with respect to guide rails in an elevator hoistway, having a force-estimation or position-scheduled current command controller and a magnet driver circuit without the need for a flux sensor. The force-estimation or position-scheduled current command controller responds to a force command signal, and further responds to a sensed gap signal, for providing a force-estimation or position-scheduled current command controller signal as a current command to the magnet driver circuit. The magnet driver circuit responds to the force-estimation or position-scheduled current command controller signal, for providing a magnet driver circuit signal to control said horizontal movement of the elevator car with respect to the guide rail in the elevator hoistway, whereby the horizontal movement of the elevator car is controlled without sensing magnetic flux. Other applications include any system that uses an electromagnet to produce an attractive or repulsive force across a large air gap, such as magnetic levitation trains or shuttles, and magnetic bearings.
摘要翻译： 本发明提供一种用于控制电梯轿厢相对于电梯井道中的导轨的运动的电梯系统，其具有力估计或位置调度的电流指令控制器和磁驱动器电路，而不需要磁通传感器。 力估计或位置调度电流指令控制器响应于力指令信号，并进一步响应感测到的间隙信号，以向磁铁驱动器电路提供力估计或位置调度的电流指令控制器信号作为电流指令 。 磁驱动器电路响应于力估计或位置调度电流指令控制器信号，用于提供磁体驱动器电路信号以控制电梯轿厢相对于电梯井道中的导轨的水平运动，由此水平运动 在不感测磁通的情况下控制电梯轿厢。 其他应用包括使用电磁铁在大气隙（例如磁悬浮列车或梭子）和磁性轴承上产生有吸引力或排斥力的任何系统。
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2.发明授权Elevator active guidance system having a model-based multi-input multi-output controller 失效电梯主动导向系统具有基于模型的多输入多输出控制器
公开(公告)号：US5866861A
公开(公告)日：1999-02-02
申请号：US703493
申请日：1996-08-27
摘要： In an elevator active guidance system, in order to avoid the action of one actuator (23) from interfering with the action of another, a controller (21) is provided that uses a force law based on a model of the elevator (40), and uses information from all of the sensors (22) in combination to determine, according to the force law, the force each actuator (23) should provide. The model of the elevator (40) is used to determine how the elevator (40) will respond to the forces exerted by the actuators (23). In the preferred embodiment, the elevator (40) is assumed to respond to the actuator forces as a rigid body. The full model is built up from this basic assumption, finally including all of the geometric and inertial attributes of the elevator necessary to describe its rigid body motion in response to forces from actuators (23).
摘要翻译： 在电梯主动导向系统中，为了避免一个致动器（23）的作用妨碍另一致动器（23）的动作，提供了使用基于电梯（40）的模型的力定律的控制器（21） 并且组合地使用来自所有传感器（22）的信息，以根据力定律确定每个致动器（23）应提供的力。 电梯（40）的型号用于确定电梯（40）如何响应由致动器（23）施加的力。 在优选实施例中，假设电梯（40）作为刚体响应于致动器力。 完整的模型是从这个基本假设建立起来的，最后包括电梯的所有几何和惯性属性，用于响应于来自致动器（23）的力描述其刚体运动。
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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：US20100032248A1
公开(公告)日：2010-02-11
申请号：US12513908
申请日：2006-12-20
申请人： Yisug Kwon , Randall K. Roberts
发明人： Yisug Kwon , Randall K. Roberts
IPC分类号： B66B7/00
CPC分类号： B66B11/0273
摘要： A damper assembly (22) is useful for controlling elevator ride quality. The damper assembly (22) includes a resilient member that deflects responsive to a load. An effective stiffness of the resilient member is less than an associated rate of deflection of the resilient member. The resilient member includes a first portion (30, 40) that deflects prior to a second portion (32, 42) responsive to an initial loading on the damper assembly (22).
摘要翻译： 阻尼器组件（22）可用于控制电梯行驶质量。 阻尼器组件（22）包括响应于负载而偏转的弹性构件。 弹性构件的有效刚度小于弹性构件的相关联的偏转速度。 所述弹性构件包括响应于所述阻尼器组件（22）上的初始载荷而在第二部分（32,42）之前偏转的第一部分（30,40）。
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公开(公告)号：US20090194371A1
公开(公告)日：2009-08-06
申请号：US12303292
申请日：2006-06-07
申请人： Richard C. McCarthy , Richard Peruggi , Randall K. Roberts , Greg A. Schienda , Harold Terry , Gilbert W. Wierschke
发明人： Richard C. McCarthy , Richard Peruggi , Randall K. Roberts , Greg A. Schienda , Harold Terry , Gilbert W. Wierschke
IPC分类号： B66B1/24
CPC分类号： B66B1/3492 , B66B5/0031
摘要： A pair of elevator cars (10, 11) traveling in the same hoistway have their positions sensed (20-23, 29-32) to provide for each a position signal (35, 37) from which velocity signals (64, 65) are derived; lookup tables (66, 61) of safe stopping distance (B, S) for braking and safeties are formed as a function of all possible combinations of velocity (V(U), V(L)) of said cars. Comparison of safe stopping distances for contemporaneous velocities of said cars with actual distance between said cars provides signals (85, 98, 99) to drop the brakes (49, 50) of one or more of the cars, and provides signals (82) to engage the safeties (18, 18a, 19, 19a) of all cars if the cars become closer or if acceleration detectors (117, 118) determine a car to be in freefall.
摘要翻译： 在同一井道中行进的一对电梯轿厢（10,11）具有检测位置（20-23,29-32），为每个位置信号（35,37）提供速度信号（64,65） 派生 作为所述轿厢的速度（V（U），V（L））的所有可能的组合的函数形成用于制动和安全的安全停止距离（B，S）的查找表（66,61）。 将所述轿厢的同时速度的安全停止距离与所述轿厢之间的实际距离进行比较，提供了一个或多个轿厢的制动器（49,50）的信号（85,98,99），并将信号（82）提供给 如果汽车越来越近，或者如果加速度检测器（117,118）确定汽车处于自由落体状态，则将所有轿厢的安全装置（18,18a，19,19a）进行接合。
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6.发明授权Method and apparatus for adjusting an elevator car based on stored horizontal displacement and acceleration information 失效基于存储的水平位移和加速度信息来调节电梯轿厢的方法和装置
公开(公告)号：US5544721A
公开(公告)日：1996-08-13
申请号：US279826
申请日：1994-07-25
申请人： Randall K. Roberts
发明人： Randall K. Roberts
摘要： Elevator horizontal vibrations are actively controlled by retrieving data stored in memory indicative of the out-of-straightness of the elevator car's guide rails. The stored data is compiled during a learning run by summing the car's relative displacement with respect to the rail with a doubly integrated acceleration signal indicative of the car's deviation from true vertical.
摘要翻译： 通过检索存储在存储器中的指示电梯轿厢的导轨的不平直度的数据来主动地控制电梯水平振动。 存储的数据在学习运行期间通过将车辆相对于轨道的相对位移与表示汽车与真实垂直偏差的双积分加速度信号相加来编译。
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公开(公告)号：US09010499B2
公开(公告)日：2015-04-21
申请号：US12303292
申请日：2006-06-07
申请人： Richard C. McCarthy , Richard Peruggi , Randall K. Roberts , Greg A. Schienda , Harold Terry , Gilbert W. Wierschke
发明人： Richard C. McCarthy , Richard Peruggi , Randall K. Roberts , Greg A. Schienda , Harold Terry , Gilbert W. Wierschke
CPC分类号： B66B1/3492 , B66B5/0031
摘要： A pair of elevator cars (10, 11) traveling in the same hoistway have their positions sensed (20-23, 29-32) to provide for each a position signal (35, 37) from which velocity signals (64, 65) are derived; lookup tables (66, 61) of safe stopping distance (B, S) for braking and safeties are formed as a function of all possible combinations of velocity (V(U), V(L)) of said cars. Comparison of safe stopping distances for contemporaneous velocities of said cars with actual distance between said cars provides signals (85, 98, 99) to drop the brakes (49, 50) of one or more of the cars, and provides signals (82) to engage the safeties (18, 18a, 19, 19a) of all cars if the cars become closer or if acceleration detectors (117, 118) determine a car to be in freefall.
摘要翻译： 在同一井道中行进的一对电梯轿厢（10,11）具有检测位置（20-23,29-32），为每个位置信号（35,37）提供速度信号（64,65） 派生 作为所述轿厢的速度（V（U），V（L））的所有可能的组合的函数形成用于制动和安全的安全停止距离（B，S）的查找表（66,61）。 将所述轿厢的同时速度的安全停止距离与所述轿厢之间的实际距离进行比较，提供了一个或多个轿厢的制动器（49,50）的信号（85,98,99），并将信号（82）提供给 如果汽车越来越近，或者如果加速度检测器（117,118）确定汽车处于自由落体状态，则将所有轿厢的安全装置（18,18a，19,19a）进行接合。
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8.发明授权Method and apparatus for storing sensed elevator horizontal displacement and acceleration signals 失效用于存储感测到的电梯水平位移和加速度信号的方法和装置
公开(公告)号：US5524730A
公开(公告)日：1996-06-11
申请号：US309566
申请日：1994-09-20
申请人： Randall K. Roberts
发明人： Randall K. Roberts
IPC分类号： B66B3/00 , B66B1/00 , B66B7/00 , B66B7/02 , B66B7/04 , B66B11/02 , G01B5/20 , G01B7/00 , G01B21/00 , G01C7/00 , B66B1/24
摘要： An elevator hoistway rail profile is made by summing a doubly integrated car horizontal acceleration signal with a relative rail-car displacement signal and storing the summed signal according to the vertical position of the car in the hoistway.
摘要翻译： 通过将双重集成的轿厢水平加速度信号与相对轨道车辆位移信号相加并根据轿厢在井道中的垂直位置存储求和信号来制作电梯井道轨道轮廓。
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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：US5750945A
公开(公告)日：1998-05-12
申请号：US659065
申请日：1996-06-03
摘要： An elevator motion control system compares a dictated flight path signal (101), indicative of a desired elevator flight path along a nominal flight trajectory, with a measured flight path signal (108), indicative of actual elevator motion, and provides a motion command signal (115) to both a high pass filter (117) and a low pass filter (116) such that the frequency of the motion command signal is split into high and low frequency components (141,118). An active elevator hitch (36) is used to implement the high frequency/low stroke portion of the motion command signal while the elevator motor (28) is used to implement the low frequency/high stroke portion of the motion command signal. A time delay (106) delays the dictated flight path signal prior to its use with the measured flight path signal for providing the motion command signal, the duration of the time delay corresponding to the delay associated with a motion perturbation propagating along a main rope (14) between the elevator motor and the elevator car (12). The active elevator hitch (36) includes a support plate (40) interconnected to the elevator car, a hitch plate (46), and at least one force actuator (56) having a variable extension. The force actuator is connected between the hitch plate and the support plate, and the variable extension is controlled for varying the vertical position of the elevator car along the elevator flight path for damping at least the high frequency components of elevator car vertical oscillations.
摘要翻译： 升降机运动控制系统将指示沿着标称飞行轨迹的所需电梯飞行路径的指定飞行路径信号（101）与指示实际升降机运动的测量飞行路径信号（108）进行比较，并提供运动命令信号 （115）到高通滤波器（117）和低通滤波器（116），使得运动指令信号的频率被分成高频和低频分量（141,118）。 当电梯电机（28）用于实施运动指令信号的低频/高冲程部分时，主动电梯牵引（36）用于实现运动指令信号的高频/低冲程部分。 时间延迟（106）在其使用之前延迟所规定的飞行路径信号与所测量的飞行路径信号以提供运动命令信号，延迟时间对应于沿着主绳索传播的运动扰动的延迟 14）在电梯电梯和电梯轿厢（12）之间。 主动电梯悬挂装置（36）包括互连到电梯轿厢的支撑板（40），搭接板（46）和至少一个具有可变伸出力的力致动器（56）。 力促动器连接在悬挂板和支撑板之间，并且可变延伸部被控制以改变电梯轿厢沿着电梯飞行路径的垂直位置，用于至少阻尼电梯轿厢垂直振荡的高频分量。
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