Elevator system

Abstract

One elevator system includes an elevator car, counterweight, traction sheave, support wrapped around the traction sheave and suspending the car and the counterweight, a compensation sheave, a compensation member wrapped around the compensation sheave and being affixed at a first end to the elevator car and at a second end to the counterweight, and a tensioner. The support is driven by rotation of the traction sheave to raise and lower the car, and the tensioner is in communication with the traction sheave for linearly displacing a rotational centerpoint of the traction sheave. Another elevator system has an elevator car, counterweight, compensation sheave, compensation rope wrapped around the compensation sheave and being affixed to the car and the counterweight, a traction sheave driving a support suspending the car and the counterweight, and a tensioner in communication with the traction sheave for inducing a variation in tension of the compensation rope.

Claims

1. An elevator system, comprising: an elevator car; a counterweight; a compensation sheave; a compensation rope affixed at a first end to the elevator car and at a second end to the counterweight, the compensation rope being wrapped around the compensation sheave; a traction sheave driving a support suspending the elevator car and the counterweight; and a tensioner connected with the traction sheave for moving the traction sheave from an initial position to induce a variation in tension of the compensation rope.

2. The elevator system of claim 1, wherein the tensioner comprises a servo actuator configured to adjust a position of the traction sheave.

3. The elevator system of claim 1, wherein the tensioner comprises a hydraulic piston configured to adjust a position of the traction sheave.

4. The elevator system of claim 1, wherein the tensioner comprises a motor configured to do at least one of: (a) vary an angular speed of the traction sheave; or (b) provide an oscillating angular movement of the traction sheave.

5. The elevator system of claim 1, wherein the tensioner comprises means for adjusting a height of the traction sheave and means for rotating the traction sheave.

6. The elevator system of claim 5, further comprising a controller adapted to: (a) compare: (1) a natural frequency of a building structure housing the elevator car, and (2) a natural frequency of the compensation rope; and (b) when the compared frequencies in step (a) are within a predetermined threshold, direct the tensioner to induce a variation in tension of the compensation rope.

7. The elevator system of claim 1, further comprising another tensioner in communication with the compensation sheave for adjusting a position of the compensation sheave.

8. The elevator system of claim 1, further comprising a controller adapted to: (a) compare: (1) a natural frequency of a building structure housing the elevator car, and (2) a natural frequency of the compensation rope; and (b) when the compared frequencies in step (a) are within a predetermined threshold, direct the tensioner to induce a variation in tension of the compensation rope.

9. An elevator system, comprising: an elevator car; a counterweight; a traction sheave; a support wrapped around the traction sheave and suspending the elevator car and the counterweight, the support being driven by rotation of the traction sheave to raise and lower the elevator car; a compensation sheave; a compensation member affixed at a first end to the elevator car and at a second end to the counterweight, the compensation member being wrapped around the compensation sheave; and a first tensioner connected with the traction sheave for linearly displacing a rotational center point of the traction sheave from an initial position to induce tension of the compensation rope.

10. The elevator system of claim 9, further comprising a second tensioner in communication with the compensation sheave for linearly displacing a rotational center point of the compensation sheave.

11. The elevator system of claim 10, further comprising a controller adapted to: (a) compare: (1) a natural frequency of a building structure housing the elevator car, and (2) a natural frequency of the compensation member; (b) when the compared frequencies in step (a) are within a first predetermined threshold, direct the first tensioner to linearly displace the rotational center point of the traction sheave; and (c) when the compared frequencies in step (a) are within a second predetermined threshold, direct the second tensioner to linearly displace the rotational center point of the compensation sheave.

12. The elevator system of claim 11, wherein: the first tensioner includes at least one item selected from the group consisting of a hydraulic piston and a ball screw actuator; and the second tensioner includes at least one item selected from the group consisting of a hydraulic piston and a ball screw actuator.

13. The elevator system of claim 12, wherein the support comprises at least one rope, and wherein the compensation member includes at least one rope.

14. The elevator system of claim 9, further comprising a controller adapted to: (a) compare: (1) a natural frequency of a building structure housing the elevator car, and (2) a natural frequency of the compensation member; and (b) when the compared frequencies in step (a) are within a predetermined threshold, direct the first tensioner to linearly displace the rotational center point of the traction sheave.

15. A suspension system for use with an elevator car and a counterweight, the suspension system comprising: a traction sheave; a support wrapped around the traction sheave and suspending the elevator car and the counterweight, the support being driven by rotation of the traction sheave to raise and lower the elevator car; a compensation sheave; a compensation member affixed at a first end to the elevator car and at a second end to the counterweight, the compensation member being wrapped around the compensation sheave; means for monitoring a frequency of the support; and means for actively controlling the frequency of the support by inducing a variation in tension of the compensation rope through at least one of: (a) linearly displacing a rotational center point of the traction sheave from an initial position, (b) varying an angular speed of the traction sheave, or (c) providing an oscillating angular movement of the traction sheave.

16. The suspension system of claim 15, wherein the means for monitoring a frequency of the support is an accelerometer.

17. The suspension system of claim 16, wherein the means for actively controlling the frequency of the support is: a tensioner connected with the traction sheave; and a controller in data communication with the accelerometer and the tensioner for selectively actuating the tensioner based on data from the accelerometer.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 illustrates a first preferred embodiment of an elevator system according to the invention,

(2) FIG. 2 illustrates a preferred version of a PID controller that may be used in association with the elevator system of FIG. 1; and

(3) FIG. 3 illustrates a second preferred embodiment of an elevator system according to the invention.

DETAILED DESCRIPTION

(4) Referring to FIG. 1, a general design of an elevator system 10 is shown. It comprises an elevator car 18 and a counterweight 20, which are connected to one another via a hoist rope 19 constituting a suspension (support) means. Obviously, the suspension means could be embodied as a plurality of hoist ropes, or belts.

(5) The hoist rope 19 is wrapped around a traction sheave 40, which is driven by a hoist motor 42, which is shown purely schematically. Especially the hoist motor 42 can be provided coaxially with respect to a shaft 40a of traction sheave 40, e. g. in the view of FIG. 1 behind the traction sheave.

(6) The elevator system 10 comprises one or more servo actuators 44 interacting with the traction sheave 40. In case of a coaxial arrangement of traction sheave and hoist motor the servo actuator(s) can interact with the hoist motor. The servo actuator 44 is configured to move the traction sheave vertically within a predetermined range u.sub.1(t). Such a vertical movement has to be performed at as suitable frequency and amplitude, preferably according to suitable feedback control algorithms.

(7) Also, by means of hoist motor 42, which under normal operating conditions serves to rotate the traction sheave 40 in one angular direction over a sufficient period of time to transport elevator car 18 e.g. from a first landing to a second landing, the traction sheave 40 can perform a rotational oscillatory movement. This is symbolized by double arrow 46. Such an oscillatory movement has to be performed at a suitable frequency and amplitude, again according to suitable feedback control algorithms. Typically there will be different frequencies and angular displacements depending on specific operating conditions. For example, when the elevator car is moving, the rope length continuously changes, which leads to a corresponding continuous change in its natural frequency. Thus, during such movement, there is less time for the rope displacement to grow with resonance.

(8) However, when the elevator car stops moving, i.e. is in a stationary position, the length and thus the natural frequency of the rope will be constant, and the displacement amplitudes will be able to increase. Therefore, in case of a moving elevator car, smaller compensation frequencies as well as angular displacements of the traction sheave will be sufficient, whereas larger compensation frequencies and angular displacements will be expedient in case of a stationary elevator car.

(9) The elevator car 18 and the counterweight 20 are also connected by means of a compensation rope 16, which is wrapped around a compensation sheave 14 in the lower part of the elevator shaft. The compensation rope 16 is fixed at a first end to the underside of the elevator car 18, and at a second end to the underside of the counterweight 20.

(10) The compensation rope 16 may be affixed to the elevator 18 and/or counterweight 20 with a rope tension equalizer such as that described, for example, in U.S. Pat. No. 8,162,110. Any suitable rope, such as aramid or wire rope, may be used in accordance with versions described herein. In one version, rope having a relatively high natural frequency may be used.

(11) The position of the compensation rope 16 relative to the building is also a factor in determining whether resonance will occur. Referring again to FIG. 1, the compensation rope 16 may be attached to terminations on the bottom of the elevator car 18 and/or counterweight 20 associated with a first moveable carriage 30 and a second moveable carriage 32, respectively. In one version, the first and second moveable carriages are moveable in both the front to back (X) and side to side directions (Y). Attached to the carriage are a plurality of servo actuators 34, 36 that move the first and second moveable carriages in the X and Y directions. Movement of the location of the termination of the compensation rope 16 may help prevent the elevator system 10 from entering into resonance with the building by shifting the frequency of the compensation rope 16.

(12) In the version of the elevator system 10 shown in FIG. 1, one or more servo actuators 44, as described above, are modulated in response to a control algorithm that actively damps the oscillation of the ropes by varying the tension in the compensation ropes by means of manipulation of the traction sheave 40. The term tendon control in this connection refers to actively adjusting the tension or active suppression of a tension member or compensation rope to alter the natural frequency of the tension member.

(13) The servo actuator 44 may be a servomotor, servomechanism, or any suitable automatic device that uses a feedback loop to adjust the performance of a mechanism in modulating tendon control. The actuators could be hydraulic piston and cylinders, ball screw actuators, or any actuator commonly used in the machine tool industry. In particular, the servo actuator 44 may be configured to control the mechanical position of the traction sheave 40 along a vertical axis by creating a mechanical force to urge the traction sheave 40 in a generally upward or downward direction. Mechanical forces may be achieved with an electric motor, hydraulics, pneumatics, and/or by using magnetic principles.

(14) In one version, the servo actuator 44 operates on the principle of negative feedback, where the natural frequency of the compensation rope 16 is compared to the natural frequency of the building as measured by any suitable transducer or sensor. A controller 48 associated with the servo actuator 44 may be provided with an algorithm to calculate the difference between the natural frequency of the compensation rope 16 and the natural frequency of the building. If the difference between these frequencies is within a predetermined range, the controller may instruct the servo actuator 44 to adjust the position of the traction sheave 14 and thus, for example, the tension of the compensation rope 16 so that any swaying motion of the rope is actively damped. It will be appreciated that any suitable feedback control theory may be applied to versions described herein.

(15) In one version, to measure the natural frequency of a building, an accelerometer is positioned in the elevator machine room or any other suitable position, for example in the elevator shaft, and the output of the accelerometer is twice integrated to produce displacement. During periods of high velocity winds the building will sway. The twice integrated output of the accelerometer may be used to determine the displacement of the machine room from its normal location.

(16) Several control strategies can be applied to affect tendon control such as, for example, bilinear control, positive integral force feedback, exponential stabilization, proportional, integral, and derivative (PID) feedback, and fuzzy logic control. Any suitable control means may be associated with the controller to modulate the natural frequency of the compensation rope 16. Any suitable active vibration control (AVC) techniques involving actuators to generate forces and applying them to the structure in order to reduce its dynamic response may be utilized.

(17) Referring to FIG. 2, the rope sway may be modulated, for example, by a PID controller that monitors the natural frequencies of the compensation rope 16 and the building to prevent resonance. Modulating the natural frequency of the compensation rope 16 in the disclosed manner allows for the tension member to be actively damped. FIG. 2 illustrates a schematic of one version of a proportional-integral-derivative controller or PID controller that may be used to actively damp a tension member. The PID controller may be implemented in software in programmable logic controllers (PLCs) or as a panel-mounted digital controller. Alternatively, the PID controller may be an electronic analog controller made from a solid-state or tube amplifier, a capacitor, and a resistance. It will be appreciated that any suitable controller may be incorporated, where versions may use only one or two modes to provide the appropriate system control. This may be achieved, for example, by setting the gain of undesired control outputs to zero to create a PI, PD, P, or I controller.

(18) It will be appreciated that any suitable modifications to the PID controller may be made including, for example, providing a PID loop with an output deadband to reduce the frequency of activation of the output. In this manner the PID controller will hold its output steady if the change would be small such that it is within the defined deadband range. Such a deadband range may be particularly effective for actively damping tension members where a precise setpoint is not required. The PID controller can be further modified or enhanced through methods such as PID gain scheduling or fuzzy logic.

(19) Referring now to FIG. 3, a further preferred embodiment of the invention is shown, which comprises an adjustable traction sheave 40 as described in connection with FIG. 1, as well as an adjustable compensation sheave 14, provided in the lower part of the elevator shaft.

(20) This embodiment differs from the embodiment of FIG. 1 only in that compensation sheave 14 is also moveable by means of at least one servo-actuator 12. Thus, parts already described with reference to FIG. 1 are provided with the same reference numerals. The servo actuator 12 is configured to move the compensation sheave 14 vertically within a predetermined range u.sub.2(t). It is also possible to move compensation sheave 14 horizontally.

(21) All observations made above with respect to the traction sheave 40 are also applicable to the compensation sheave 14. Especially, the actuator 12 can be modulated in response to a control algorithm that actively dampens oscillation of the compensation ropes. Here again, the servo actuator 12 may be a servo motor, servo mechanism or any other suitable automatic device that uses a feedback loop to adjust the performance of a mechanism in modulating tendon control. Again, the actuators can be hydraulic pistons and cylinders, or any other embodiment as described above. The servo actuator 12 can also operate on the principle of negative feedback, as described above.

(22) Especially, it is advantageously possible to provide a controller associated with the servo actuators 44 and 12, and provide this with an algorithm to calculate the difference between the natural frequency of the compensation rope 16 and the natural frequency of the building, as described above.

(23) The described adjustment of the traction sheave and of the compensation sheave can advantageously be combined, for example in that adjustment of the traction sheave serves to address a first vibration made of the compensation rope, and adjustment of the compensation sheave to address the second vibration mode, or vice versa.