Residual Vibration And Random Vibration Response Analysis And Active Vibration Control Method Of High Speed Elevator

High-speed elevators run faster and have greater lifting power than ordinary elevators,which also triggers more intense vibrations.These vibrations have a wider vibration spectrum than the low-speed conditions,a larger amplitude,a higher vibration energy density,and are more likely to cause harmful resonances,which have a greater adverse effect on passenger boarding safety and reliability of related equipment such as instrumentation..Considering that the high-speed elevator is a large and complex electromechanical system,its vibration is affected by various factors such as equipment manufacturing and installation error,traction lifting force,dynamic deformation of the guiding system,etc.,showing the characteristics of multi-dimensional and multi-system interaction.The main form of longitudinal vibration is the flexible residual vibration under impact load.The lateral and lateral vibrations are mainly characterized by coupled random vibration under random excitation.Therefore,starting from the vibration mechanism,the vibration response of high-speed elevators is analyzed and diagnosed by wire stripping and roughing,and according to the obtained vibration analysis results,it is of great theoretical and engineering value to adopt appropriate active control method for vibration and noise reduction.The vibration of high-speed elevator is mainly divided into three dimensions of vibration on the horizontal and vertical sides in space.The existing research results show that there is a high coupling characteristic between lateral and lateral vibration,and the coupling characteristics between longitudinal and lateral directions.It is very weak.At the same time,the vibration excitation and vibration environment of the longitudinal vibration and the lateral lateral vibration are different,and the vibration response induced thereby is different from the perspective of the vibration mechanism.Therefore,the vibration of the high-speed elevator in the three-dimensional space can be regarded as the superposition of the transversevibration and the longitudinal vibration.The active control method should also be designed separately for the two types of vibration.The main research contents of this paper are as follows:(1)According to the longitudinal dimension vibration of high-speed elevator traction system,the characteristics of time-varying and flexible residual vibration of high-speed elevator traction system are analyzed based on the vibration mechanism.The flexible residual vibration phenomenon of the traction system is caused by the impact load of the lifting motor.A time-varying dynamic equation with a flexible dissipative energy factor suitable for high-speed elevators is established.In order to solve the established dynamic equations,from the boundary conditions and time-varying characteristics,the properties of the trial function represented by the two models with the upper end fixed end and the upper fixed lower end are analyzed.Reasonable pre-processing reduces the threshold of the former in the actual engineering use process,and finally chooses the former as the trial function of the high-speed elevator vibration equation.The step load signal is used to represent the impact load and used as the external excitation.On this basis,the dynamic equation is solved by the Duhame integral method.Finally,the analytical solution of the flexible residual vibration of the traction system in the acceleration and deceleration phase is obtained.(2)Based on the mathematical expression of the analytical solution of the flexible residual vibration,it can be found that the flexible residual vibration is the main form of longitudinal vibration.In view of the large flexibility and small damping of residual vibration,analog flexible spacecraft solar panels and other flexible systems use the input shaping control method as the control strategy for the longitudinal dimension vibration of high-speed elevators.The basic control principle of the input shaping method is described.At the same time,the longitudinal vibration model of the second-order system is derived and the input shaping control algorithm suitable for time-varying system on high-speed elevator is obtained.According to the obtained algorithm,the original control signal and the shaping signal of the traction motor are convoluted to obtain a new control signal.The new control signal has the same lifting effect as the original control signal,but does not cause strong residual vibration.(3)The high-speed elevator lateral and lateral vibrations have high coupling and need to be considered together to be considered as a composite two-dimensional horizontal vibration in a horizontal plane perpendicular to the longitudinal vibration.Aiming at the lateral lateral vibration with coupling properties caused by random excitation,the Lagrangian method is used to establish the lateral lateral dynamic vibration equation of the high-speed elevator car.In the established dynamic equation,the centroid position is an important geometric parameter.Considering that the high-speed elevator has a design that separates the car frame from the car body compared to the ordinary elevator,the centroid position parameter under the influence of longitudinal vibration is time-varying and has certain uncertainty.In view of this,the finite element software simulation method and mathematical physics method are used to analyze the numerical characteristics of the centroid position fluctuation uncertainty,and the influence law of the centroid position fluctuation on the external excitation effect is analyzed.The active control force of the active guide shoe is taken as input,and the deformation of the guide rail is used as the disturbance excitation.Finally,the lateral lateral vibration dynamics equation of the elevator car system with generalized force under generalized coordinates is obtained.(4)Based on the obtained lateral vibrational dynamics equations,compared with the random vibration of other mechanical systems,robust variance control is adopted as the control strategy.The comparison analyzes the advantages and disadvantages of the robust control method compared with the traditional optimization control method,and proposes their respective scope of application.The idea of variance control is briefly described,and the rationality of the robust variance control method for the lateral random vibration of high-speed elevators is illustrated.The uncertainty of centroid position fluctuation is expressed by the product of perturbation by the small gain theorem,and the twenty-four-dimensional vibration control equation is obtained.According to the obtained vibration control equation,the expected value of the diagonal component of the state variance matrix is selected as the control parameter.The robust parameter uncertainty control algorithm suitable for high-speed elevator is derived from the classical robust control model.The controller is obtained by the LMI toolbox.mathematical model.(5)The input shaping control method is used to simulate the high-speed elevator longitudinal vibration model,and the discrete process is used to write the whole process of the time-varying control system simulation system.The analysis results show that the input shaping control method has high-speed elevator flexible residual longitudinal vibration.Good vibration damping effect can basically eliminate the longitudinal residual vibration of high-speed elevators.The robust variance control method is used to simulate the lateral vibration model of high-speed elevators.The simulation results show that the robust control algorithm obtained in this paper is for the high-speed elevator lateral direction.Random vibration has a certain control effect.