高速电梯提升系统动力学建模及振动控制方法研究

发布时间：2018-05-27 00:02

本文选题：高速电梯 + 提升系统　；参考：《上海交通大学》2014年博士论文

【摘要】：电梯作为高层建筑垂直运输的交通工具，在日常生活中的作用越来越不可忽视，平稳安全无疑是人们对其性能的基本要求。然而，由于设计、制造以及安装等方面的缺陷，电梯在运行过程中，不可避免地会产生各种各样的振动现象，其中很大一部分与电梯的提升系统有关。另外，随着电梯运行速度和提升高度的增加，提升系统在运行时对外界干扰更加敏感，异常的振动更容易发生，其后果会加剧钢丝绳的磨损和疲劳，缩短钢丝绳的使用寿命，，同时，轿厢内可能产生噪声，其结果会使轿厢内的乘客感到不适，影响电梯的使用寿命以及乘坐舒适性。加之，随着城市化进程的快速发展，人们对电梯提升系统的安全性和舒适性提出了更高的需求。而要解决这种矛盾，就需要对电梯提升系统在运行过程中所表现出的动力学行为进行深入而详细的了解，以掌握其特点和规律，同时采取可行的控制策略对其振动进行控制。本文采用理论、分析与实验相结合的研究方法，系统研究了电梯提升系统动力学特性，并设计了振动控制器，为电梯提升系统的安全可靠运行提供了理论与技术支持。本文首先基于多体动力学理论，考虑变形产生的几何非线性因素对提升系统的影响，应用广义Hamliton原理建立了提升系统纵向-横向-侧向空间耦合自由振动模型。同时，考虑提升系统顶端横向外界激励，建立了提升系统受迫振动理论模型，给出了其数学模型的详细数值求解方法，并采用自行设计的提升系统测试实验台，验证了数学模型的正确性。其次基于提升系统纵向-横向耦合振动模型，从三个方面分析了提升系统的参数振动特性，一方面建立了电梯运行时提升系统的振动能量表达式，基于该能量方程，应用Lyapunov第二法关于稳定性的理论，分析了提升系统在运行过程中的瞬态稳定性特性；一方面推导出了提升系统的固有频率计算公式，并对提升系统的固有频率特性进行了分析；一方面从电梯结构参数和运行状态参数分析研究了影响提升系统参数振动特性的效果及其因素。为了掌握高速电梯提升系统在外界激励作用下的振动特性，基于电梯提升系统振动模型，以高速电梯提升系统为例，从导轨不平顺激励、曳引系统横向激励以及参数激励三个方面对提升系统的振动特性进行了深入分析，结果表明：提升系统的外界激励源主要来自于导向系统和曳引系统等因素，且这些因素对提升系统的横向振动影响较大；提升系统是一个典型的参变系统，当运行状态参数有小的简谐干扰时，提升系统会发生参数共振现象，参数共振对提升系统的纵向振动影响较大。为了抑制高速电梯提升系统的振动，提出了增加张紧钢丝绳装置的被动控制方法以及以耗散提升系统能量为目的的主动控制方法来抑制提升系统的振动。并结合算例对两种控制方法的效果进行了数值仿真分析，结果表明两种方法均能达到抑制提升系统振动的目的。最后建立了电梯轿厢-轿厢架-导轨耦合系统动力学模型，该模型可以较好地模拟导靴与导轨之间的接触和脱离关系，从而为电梯轿厢系统的动态特性的深入研究提供了一个较全面的数学模型基础。本文的研究成果为电梯舒适性和安全性的相关研究提供了重要的理论基础，也为高速电梯提升系统的动力学行为以及振动控制的深入分析提供了途径和方法。
[Abstract]:As a vehicle for vertical transportation in high buildings, the function of elevator is more and more unnegligible in the daily life. It is undoubtedly the basic requirement of people's performance. However, because of the defects in design, manufacturing and installation, all kinds of vibration phenomena can not be avoided in the process of operation. The larger part is related to the lifting system of the elevator. In addition, with the increase of the elevator running speed and elevating height, the lifting system is more sensitive to the external disturbance during operation, and the abnormal vibration is easier to occur. The consequence will aggravate the wear and fatigue of the wire rope, shorten the service life of the wire rope, and at the same time, it may produce noise in the car. The results will make the passengers feel discomfort in the car, affect the lifespan and ride comfort of the elevator. In addition, with the rapid development of the urbanization process, people have put forward higher demand for the safety and comfort of elevator hoisting system. To solve this contradiction, the elevator lifting system needs to be shown in the process of operation. A thorough and detailed understanding of the dynamic behavior is carried out in order to grasp its characteristics and laws. At the same time, the vibration is controlled by a feasible control strategy. In this paper, the theory, analysis and experiment are used to study the dynamic characteristics of elevator hoisting system, and a vibration controller is designed for elevator hoisting system. All reliable operation provides theoretical and technical support.
In this paper, based on the multibody dynamics theory, considering the influence of the geometric nonlinear factors produced by deformation to the lifting system, the longitudinal lateral lateral spatial coupling free vibration model of the lifting system is established by using the generalized Hamliton principle. At the same time, the theoretical model of forced vibration of the lifting system is established considering the lateral external excitation at the top of the lifting system. In this paper, a detailed numerical solution method for its mathematical model is given, and a self-designed lifting system test bench is used to verify the correctness of the mathematical model.
Secondly, based on the longitudinal and lateral coupling vibration model of the lifting system, the vibration characteristics of the lifting system are analyzed from three aspects. On the one hand, the expression of the vibration energy of the lifting system is established. Based on the energy equation, the theory of the Lyapunov second method is applied to the stability, and the transients of the lifting system in the operation process are analyzed. On the one hand, the formula of the natural frequency of the lifting system is derived, and the inherent frequency characteristics of the lifting system are analyzed. On the one hand, the effect and the factors affecting the vibration characteristics of the lifting system are studied from the analysis of the structural parameters and the operating state parameters of the elevator.
In order to grasp the vibration characteristics of the high speed elevator hoisting system under the external excitation, based on the elevator lifting system vibration model, taking the high speed elevator hoisting system as an example, the vibration characteristics of the lifting system are analyzed from three aspects of the guide rail unevenness excitation, the lateral excitation of the traction system and the parameter excitation. The results show that the lifting system is promoted. The external excitation source of the system mainly comes from the guidance system and the traction system and other factors, and these factors have great influence on the lateral vibration of the lifting system. The lifting system is a typical parametric system. When the operating state parameters have small harmonic interference, the lifting system will have the parameter resonance phenomenon, and the parameter resonance will be the longitudinal vibration of the lifting system. It has a great influence on the vibration.
In order to suppress the vibration of the high speed elevator hoisting system, the passive control method of increasing the tension wire rope device and the active control method with the purpose of dissipating the energy of the lifting system are put forward to suppress the vibration of the lifting system. The results of the two control methods are simulated and analyzed with a numerical example, and the results show that the two methods are all It can achieve the purpose of restraining the vibration of the system.
Finally, the dynamic model of the elevator sedan car frame rail coupling system is established. The model can well simulate the contact and disengagement relationship between the guide boots and the guide rail, thus providing a more comprehensive mathematical model foundation for the in-depth study of the dynamic characteristics of the elevator car system.
The research results of this paper provide an important theoretical basis for the study of elevator comfort and safety, and provide a way and method for the dynamic behavior of the high speed elevator hoisting system and the deep analysis of vibration control.
【学位授予单位】：上海交通大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TU976.3

【参考文献】