电梯导轨不平顺度测量、建模及轿箱水平振动特性的研究
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摘要
作为电梯的导向装置,电梯导轨在电梯系统中占有十分重要的地位。在电梯运行中,导轨的不平顺度是轿箱水平振动的主要激励源,直接影响到电梯乘坐的舒适性和安全性。因此,导轨不平顺度的测量、控制已成为电梯安装和检修过程中的一项重要工作。
然而在目前的导轨不平顺度测量方法中,普遍存在着测量时间长,精度低等缺陷。探索一种准确、高效的导轨不平顺度测量方法已成为电梯行业中一个亟待解决的课题。另一方面,测量手段的限制也使得导轨不平顺度的理论建模以及其激励下的轿箱水平振动特性研究等工作在很大程度上受到了制约。
针对上述情况,本论文在电梯导轨不平顺度的测量、建模,以及导轨不平顺度激励下的轿箱水平振动特性等三个领域进行了较为深入的研究。所完成的主要工作及创造性研究包括:
1.研制了一种电梯导轨多参数动态测量系统,实现了对导轨不平顺度的准确、高效测量。
在测量系统中,采用基于位置敏感探测器(PSD)的激光准直测量技术,实现了对单列导轨整体的直线度、铅垂度以及局部的弯曲、失调、台阶等参数的测量;采用双电感传感器差动测量法实现了对两列导轨间距变化的测量;采用数字量接近传感器实现了对导轨接头及安装支架位置的准确测量。在软件设计中,应用COM技术将LabVIEW与MATLAB相结合构成功能强大的虚拟仪器开发平台,实现了整个测量系统的集成化和自动化。
在导轨铅垂度测量中,提出了一种自动稳平和位置锁定相结合的激光铅直基准建立方法,建立了铅垂误差不大于2″的高精度激光铅垂基准。
为保证大行程测量时PSD传感器读数的准确性,论文提出了一种基于神经网络的PSD空间三维非线性修正技术,并设计完成了现场自动标定装置。
实验室和现场进行的大量实验表明:该测量系统可以准确、高效地完成对电梯导轨的多参数测量任务。例如,对50 m高的导轨进行测量,测量时间不到2 min,测量系统的标准偏差小于1 mm。
测量系统的成功构建为电梯导轨的现场测量提供了一种新的、高效的方法和手段,也为后续的导轨建模及轿箱振动分析打下了良好的基础。
As the guiding device, guide rails play an important role in the elevatorsystem. The irregularities of guide rails are the main exciting sources of thehorizontal vibration of a running elevator cabin. They have great influence onthe comfort and safety of the ride. The measurement and control for the railirregularities is an important work in assembling and inspecting an elevator.
However, the current measuring methods generally have some drawbackssuch as low accuracy and efficiency. It is an imperative task to explore anaccurate and efficient method for measuring the irregularities of guide rails. Inaddition, the studies on the modeling of rail irregularities and horizontalvibration of the cabin, which is caused by the rail irregularities, are restricted toa large extent because of the lack of accurate and efficient measuring methods.
This dissertation deals with the research on the measurement and modelingof the irregularities of guide rails, and on this basis studies the properties ofhorizontal vibration of the cabin caused by the rail irregularities. The main workdone and the creative ideas of this thesis are as follows.
1. The development of a multi-parameter accurate and efficient systemfor measuring irregularities of the elevator rails
In the measuring system, a laser collimating technique based on positionsensitive detector (PSD) is used to measure the elevator rail errors, such as thestraightness and verticality errors in the whole range of guide rails, the localbowing, misalignment and step errors of guide rails. A differential measurementmethod with two inductive transducers is applied to determine the distancevariance between right and left guide rails. Several proximity switches aremounted to sense the positions of rail joints and brackets. In the process ofsoftware design, a powerful development platform is established by combiningLabVIEW and MATLAB with COM technique, which makes the systemintegrated and automatic.
A new method for establishing a high precision laser vertical reference isproposed in the thesis. It is based on combining the auto-leveling and positionlocking techniques. With this method, a laser vertical reference with verticality
error no more than two arc-seconds is set.A spatial 3-D nonlinear correction technique is put forward in the thesis tocorrect the nonlinearity errors of the PSD in long distance measurements. Also,an in situ automatic calibration device is developed.The experiments at lab and in situ show that the system can realize themulti-parameter measurement efficiently and accurately. For example, the timerequired for measuring a 50 m high guide rail is no more than 2 minutes, and thestandard deviation of measurement is less than 1 mm.The successful development of the measuring system provides a newefficient method to test the irregularities of guide rails in situ. It also offers agood basis for studying the modeling of irregularities and analyzing thehorizontal vibration of the cabin.2. Different probabilistic modeling approaches are explored tocharacterize the properties of two kinds of rail irregularities: localirregularities and overall irregularities.As for the probabilistic characterization of local irregularities of guide rails,appropriate methods for extracting local errors, such as step, misalignment andbowing of the rails, are put forward first. On this basis, the approaches forprobabilistic characterization are presented and the probabilistic models areestablished. The location and scale parameters, which reflect the assemblingquality of guide rails, are tested separately by utilizing the parametric ornonparametric statistical methods.In the analysis of the random characteristics of overall irregularities of therails, a model describing the overall irregularities in three different domains:amplitude domain, space domain and frequency domain is proposed based onthe theory of stochastic process. With establishment of an appropriate ARMAmodel for rail overall irregularities, their random characters are explored.Furthermore, a reasonable explanation of the physical background causing theseirregularities is given.These probabilistic models provide a set of reasonable theoretical analysismethods for evaluating the assembling qualities of guide rails and optimizingthe assembling schemes. In addition, they lay a theoretical basis for studying thehorizontal vibration of elevator cabin.
3. A Study on the properties of horizontal vibration of elevator cabinunder different excitations caused by rail irregularities is carried out.A twelve-degrees-of-freedom nonlinear vibration model of the cabin-railcoupled dynamic system is established, and the numerical solution method usingthe state-space approach is described in detail. Based on this, the properties ofthe horizontal vibration of elevator cabin under different running conditions,such as the variation of the excitation intensity or the variation of velocity, areexplored. The reasons causing these properties are also studied in the thesis.The exploration of the properties of the horizontal vibration provides animportant theoretical foundation for determining the reasonable tolerances of theguide rails in manufacturing and assembling. In the mean time, it is helpful forimpelling the studies on optimization of the cabin structure and vibration controlof the cabin system.
然而在目前的导轨不平顺度测量方法中,普遍存在着测量时间长,精度低等缺陷。探索一种准确、高效的导轨不平顺度测量方法已成为电梯行业中一个亟待解决的课题。另一方面,测量手段的限制也使得导轨不平顺度的理论建模以及其激励下的轿箱水平振动特性研究等工作在很大程度上受到了制约。
针对上述情况,本论文在电梯导轨不平顺度的测量、建模,以及导轨不平顺度激励下的轿箱水平振动特性等三个领域进行了较为深入的研究。所完成的主要工作及创造性研究包括:
1.研制了一种电梯导轨多参数动态测量系统,实现了对导轨不平顺度的准确、高效测量。
在测量系统中,采用基于位置敏感探测器(PSD)的激光准直测量技术,实现了对单列导轨整体的直线度、铅垂度以及局部的弯曲、失调、台阶等参数的测量;采用双电感传感器差动测量法实现了对两列导轨间距变化的测量;采用数字量接近传感器实现了对导轨接头及安装支架位置的准确测量。在软件设计中,应用COM技术将LabVIEW与MATLAB相结合构成功能强大的虚拟仪器开发平台,实现了整个测量系统的集成化和自动化。
在导轨铅垂度测量中,提出了一种自动稳平和位置锁定相结合的激光铅直基准建立方法,建立了铅垂误差不大于2″的高精度激光铅垂基准。
为保证大行程测量时PSD传感器读数的准确性,论文提出了一种基于神经网络的PSD空间三维非线性修正技术,并设计完成了现场自动标定装置。
实验室和现场进行的大量实验表明:该测量系统可以准确、高效地完成对电梯导轨的多参数测量任务。例如,对50 m高的导轨进行测量,测量时间不到2 min,测量系统的标准偏差小于1 mm。
测量系统的成功构建为电梯导轨的现场测量提供了一种新的、高效的方法和手段,也为后续的导轨建模及轿箱振动分析打下了良好的基础。
As the guiding device, guide rails play an important role in the elevatorsystem. The irregularities of guide rails are the main exciting sources of thehorizontal vibration of a running elevator cabin. They have great influence onthe comfort and safety of the ride. The measurement and control for the railirregularities is an important work in assembling and inspecting an elevator.
However, the current measuring methods generally have some drawbackssuch as low accuracy and efficiency. It is an imperative task to explore anaccurate and efficient method for measuring the irregularities of guide rails. Inaddition, the studies on the modeling of rail irregularities and horizontalvibration of the cabin, which is caused by the rail irregularities, are restricted toa large extent because of the lack of accurate and efficient measuring methods.
This dissertation deals with the research on the measurement and modelingof the irregularities of guide rails, and on this basis studies the properties ofhorizontal vibration of the cabin caused by the rail irregularities. The main workdone and the creative ideas of this thesis are as follows.
1. The development of a multi-parameter accurate and efficient systemfor measuring irregularities of the elevator rails
In the measuring system, a laser collimating technique based on positionsensitive detector (PSD) is used to measure the elevator rail errors, such as thestraightness and verticality errors in the whole range of guide rails, the localbowing, misalignment and step errors of guide rails. A differential measurementmethod with two inductive transducers is applied to determine the distancevariance between right and left guide rails. Several proximity switches aremounted to sense the positions of rail joints and brackets. In the process ofsoftware design, a powerful development platform is established by combiningLabVIEW and MATLAB with COM technique, which makes the systemintegrated and automatic.
A new method for establishing a high precision laser vertical reference isproposed in the thesis. It is based on combining the auto-leveling and positionlocking techniques. With this method, a laser vertical reference with verticality
error no more than two arc-seconds is set.A spatial 3-D nonlinear correction technique is put forward in the thesis tocorrect the nonlinearity errors of the PSD in long distance measurements. Also,an in situ automatic calibration device is developed.The experiments at lab and in situ show that the system can realize themulti-parameter measurement efficiently and accurately. For example, the timerequired for measuring a 50 m high guide rail is no more than 2 minutes, and thestandard deviation of measurement is less than 1 mm.The successful development of the measuring system provides a newefficient method to test the irregularities of guide rails in situ. It also offers agood basis for studying the modeling of irregularities and analyzing thehorizontal vibration of the cabin.2. Different probabilistic modeling approaches are explored tocharacterize the properties of two kinds of rail irregularities: localirregularities and overall irregularities.As for the probabilistic characterization of local irregularities of guide rails,appropriate methods for extracting local errors, such as step, misalignment andbowing of the rails, are put forward first. On this basis, the approaches forprobabilistic characterization are presented and the probabilistic models areestablished. The location and scale parameters, which reflect the assemblingquality of guide rails, are tested separately by utilizing the parametric ornonparametric statistical methods.In the analysis of the random characteristics of overall irregularities of therails, a model describing the overall irregularities in three different domains:amplitude domain, space domain and frequency domain is proposed based onthe theory of stochastic process. With establishment of an appropriate ARMAmodel for rail overall irregularities, their random characters are explored.Furthermore, a reasonable explanation of the physical background causing theseirregularities is given.These probabilistic models provide a set of reasonable theoretical analysismethods for evaluating the assembling qualities of guide rails and optimizingthe assembling schemes. In addition, they lay a theoretical basis for studying thehorizontal vibration of elevator cabin.
3. A Study on the properties of horizontal vibration of elevator cabinunder different excitations caused by rail irregularities is carried out.A twelve-degrees-of-freedom nonlinear vibration model of the cabin-railcoupled dynamic system is established, and the numerical solution method usingthe state-space approach is described in detail. Based on this, the properties ofthe horizontal vibration of elevator cabin under different running conditions,such as the variation of the excitation intensity or the variation of velocity, areexplored. The reasons causing these properties are also studied in the thesis.The exploration of the properties of the horizontal vibration provides animportant theoretical foundation for determining the reasonable tolerances of theguide rails in manufacturing and assembling. In the mean time, it is helpful forimpelling the studies on optimization of the cabin structure and vibration controlof the cabin system.
引文
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