CN2512757Y - Device by using calculating flow feedback to control hydraulic lift - Google Patents
Device by using calculating flow feedback to control hydraulic lift Download PDFInfo
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- CN2512757Y CN2512757Y CN 01274219 CN01274219U CN2512757Y CN 2512757 Y CN2512757 Y CN 2512757Y CN 01274219 CN01274219 CN 01274219 CN 01274219 U CN01274219 U CN 01274219U CN 2512757 Y CN2512757 Y CN 2512757Y
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Abstract
The utility model relates to a device by using calculating flow feedback to control hydraulic lift which comprises a main pressure oil way, an up control oil way, a down control oil way and systems such as electric control. On the basis of ordinary valve elevator control valve, the utility model is to adopt the digital flow measuring method of pressure compensation, install a pressure sensor at the outlet of hydraulic pump and the inlet of hydraulic cylinder( load end). The hydraulic pump outlet pressure is measured in the up circuit and the pressure at the inlet of the hydraulic cylinder( load end) is measured in the down circuit. After feeding back to the control system, the calculating flow of the up and the down circuit is respectively required by calculating. After comparing with the given ideal flow, the opening size of the control valve is calculated and finally the control system exports the control current of guiding valve electric magnet according to the opening size to realize the flow detection and feedback control of the hydraulic pressure system. Compared with the traditional system for installing flow meter, the utility model simplifies the machinery structure with an energy saving of about 10 percent, high stable state control precision of flow and good dynamic control performance.
Description
Technical field
The utility model relates to the control system of general elevator, relates in particular to the device that adopts calculated flow rate controlled reset hydraulic elevator.
Background technology
Valve control hydraulic elevator is to use hydraulic elevator form more widely now, and it mainly is to use the running velocity that throttling governing technology in the hydraulic technique is come the modulated pressure elevator.From the situation of present hydraulic elevator hydraulic control system development, the electro-hydraulic proportional control system of a kind of employing flow-displacement-electric feedback form is a present speed controller characteristic curve valve control preferably application system.Flow-displacement-electric feedback system belongs to the little closed loop control of flow feedback, flow counter generally is installed in pipeline detects flow and carry out controlled reset, and the uplink and downlink flow is controlled by two proportional throttle valves respectively.
A kind of pipeline flowmeter technology is disclosed in U.S. Pat 5115684.This technology is applied in the elevator control, has improved the accuracy of flow feedback, thereby has improved the controller performance of valve control system.This flow counter and control cock are integrated the hydraulic elevator flow electricity feedback control system of formation, advantage mainly contains: the flow control performance is good, can realize the better tracking of flow, thereby its speed control performance is greatly improved than the mechanical switch valve control system to the inviscid flow discharge curve.But its shortcoming also clearly: the principle of work of flow sensor is that the pressure reduction when flowing through restriction according to fluid and the area of restriction are measured flow, therefore when the oil temperature changes, the flow characteristic of the restriction of sensor also can be subjected to the influence that viscosity changes, particularly hour at flow, flow system is subjected to the influence of Reynolds number big especially, thereby cause discharge measurement inaccurate, simultaneously, restriction flowmeter itself also can bring the temperature rise and the energy consumption of system; The flow of this system feedback is come realization machine-electricity conversion by Hall element, so the temperature of flow feedback element control accuracy, particularly elevator low velocity when also having influenced the elevator operation performance when moving of wafing; The result who causes so clearly is exactly the flow control performance decrease.And the controller performance of controller is limited, to the comformability of working conditions change in the running process of elevator, also is that system robustness is poor, can not realize optimal control.
At this shortcoming of valve control hydraulic elevator, the control technology of hydraulic elevator has had development again.Commonplace is to adopt frequency converter to control elevator, and such system can obtain excellent control performances under the situation of open loop, thereby has avoided the flow feedback element.The integral structure imagination that is disclosed the frequency control hydraulic elevator by U.S. Pat 4593792 begins, and numerous producers and research structure have been done a large amount of work in this respect.In addition, the owner of flowmeter technology patent above-mentioned discloses a kind of half valve control, the hydraulic elevator of half frequency conversion form in the U.S. Pat 6142259 of declaring in 1998.The valve control system of these hydraulic elevators all more traditional flow-displacement-electricity feedback aspect energy-conservation has had very much progress, but the adding of frequency converter makes the cost of system also significantly raise.
Summary of the invention
The utility model purpose is a kind of device that adopts calculated flow rate controlled reset hydraulic elevator of development, and the valve control hydraulic elevator that original flow-displacement-electricity is fed back improves, the shortcoming of avoiding traditional flow to feed back.
The technical solution of the utility model is as follows:
1) line pressure oil piping system:
Threephase asynchronous machine drives the hydraulic pressure screw pump, one end of hydraulic pressure screw pump is through the oil filter connected tank, the ring-shaped chamber of the rising throttling main valve that another termination is often opened, the ring-shaped chamber one road of rising throttling main valve is through the valve port connected tank, another road connects the ring-shaped chamber of normally closed decline throttling main valve and connects control oil channel by meticulous oil filter by check valve respectively; The end of pipe rupture valve of leading up to of the ring-shaped chamber of normally closed decline throttling main valve links to each other with plunger cylinder, and then drives the motion of lift car by assembly pulley mechanism; Fuel tank is inserted by manual lowering valve in another road of the ring-shaped chamber of normally closed decline throttling main valve;
2) up control oil channel system:
Ring-shaped chamber exit end by rising throttling main valve is drawn, through behind the meticulous filter screen, one the tunnel connects the back of the body chamber of safety valve, another road connects the resistance of first immobile liquid, the other end of first immobile liquid resistance hinders with second immobile liquid, the annular oil cavity of safety valve and the control oil pocket of rising priority valve link to each other, the other end of second immobile liquid resistance connects the back of the body chamber that rises the throttling main valve, the oil back chamber of rising priority valve inserts fuel tank through the oil back chamber of safety valve, compression indicator and pressure sensor are connected on the exit end of hydraulic pressure screw pump, measure pump discharge pressure;
3) descending control oil channel system:
Ring-shaped chamber by decline throttling main valve picks out, through meticulous filter screen, link to each other with the resistance of the 3rd immobile liquid, the other end of the 3rd immobile liquid resistance then links to each other with the control oil pocket of resistance of the 4th immobile liquid and decline priority valve, the 4th immobile liquid resistance other end inserts the back of the body chamber of decline throttling main valve, the direct connected tank of the oil back chamber of decline priority valve, compression indicator and pressure sensor are connected on the ring-shaped chamber of decline throttling main valve;
4) electric control system:
The load pressure signal that the Hydraulic Pump delivery pressure signal that command signal in the PLC electrical control cabinet, pressure sensor detect, pressure sensor detect inserts microcomputerized controller simultaneously, the signal of microcomputerized controller output control rising proportion electro-magnet and decline proportion electro-magnet.
The hydraulic elevator of calculated flow rate controlled reset is on the basis of using common valve control valve lift control, adopt the application principle of digital flow method of measurement in hydraulic elevator of pressure compensating method, be load end setting pressure sensor exactly in the entrance of hydraulic pressure delivery side of pump and hydraulic actuating cylinder, in up loop, measure the Hydraulic Pump delivery pressure, and the entrance of measuring hydraulic actuating cylinder in descending loop is the pressure of load end, after feeding back to control system, obtain respectively by certain algorithm/calculated flow rate in descending loop, with the desirable flow of setting relatively after, converse the aperture size of control valve port again, export the control current of priority valve electromagnet by control system according to this aperture size at last, thereby realize the flow detection controlled reset of hydraulic efficiency pressure system.
The utility model has the advantages that: 1) structurally, because the characteristics of controlled object (hydraulic elevator system) itself, the utility model need not to detect spool displacement, only just can obtain the required full detail of calculated flow rate parameter by indirect gaging pressure parameter, make physical construction simplify greatly, thereby reduced cost; 2) aspect energy consumption, comparable orthodox method energy-conservation 5～10%: suppose that throttle type sensor pressure reduction is 2～3bar, then account for 5～10% of elevator maximum pressure scope 20～60Bar, and this part loss does not exist in the calculated flow rate controlled reset; 3) aspect system's temperature rise,,, help improving the controller performance of system so fluid temperature rise ratio orthodox method is low because there be not of the throttling heating of throttle-type flow detecting element at the valve port place; 4) on control accuracy, also exceed the control system that traditional use traffic meter feeds back flow.In addition, the strong robustness of native system, the closed loop adjustment speed of response is fast; Need not to adopt range of pressure restricted, the differential pressure transducer that cost is high only needs the usual pressure sensor to get final product; Also need not in hoistway, to install any auxiliary device.
Description of drawings
Fig. 1 is a structure principle chart of the present utility model;
Fig. 2 is a microcomputerized controller control process scheme drawing of the present utility model.
The specific embodiment
As shown in Figure 1, adopt the device of calculated flow rate controlled reset hydraulic elevator to comprise:
1) line pressure oil piping system:
Threephase asynchronous machine 19 drives hydraulic pressure screw pump 20, hydraulic pressure screw pump 20 one tunnel inserts fuel tank through oil filter 21, the rising throttling main valve 5 of another Lu Changkai, rising throttling main valve 5 one tunnel is through valve port connected tank 29, another road connects the ring-shaped chamber of normally closed decline throttling main valve 6 and connects meticulous oil filter 17 by check valve 22 respectively; The end of pipe rupture valve 9 of leading up to of the ring-shaped chamber of normally closed decline throttling main valve 6 links to each other with plunger cylinder 7, and then drives the motion of lift car 10 by assembly pulley mechanism; Fuel tank 29 is inserted by manual lowering valve 8 in another road of the ring-shaped chamber of normally closed decline throttling main valve 6;
2) up control oil channel system:
Ring-shaped chamber exit end by rising throttling main valve 5 is drawn, through behind the meticulous filter screen 17, one the tunnel connects the back of the body chamber of safety valve 11, another road connects first immobile liquid resistance 13, the other end of first immobile liquid resistance 13 links to each other with second immobile liquid resistance 14, the annular oil cavity of safety valve 11 and the control oil pocket of rising priority valve 1, the other end of second immobile liquid resistance 14 connects the back of the body chamber that rises throttling main valve 5, the oil back chamber of rising priority valve 1 inserts fuel tank 29 through the oil back chamber of safety valve 11, compression indicator 27 and pressure sensor 25 are connected on the exit end of hydraulic pressure screw pump 20, measure pump discharge pressure;
3) descending control oil channel system:
Ring-shaped chamber by decline throttling main valve 6 picks out, through meticulous filter screen 18, link to each other with the 3rd immobile liquid resistance 15, the other end of the 3rd immobile liquid resistance 15 then links to each other with the control oil pocket of resistance 16 of the 4th immobile liquid and decline priority valve 2, the other end of the 4th immobile liquid resistance 16 inserts the back of the body chamber of decline throttling main valve 6, the direct connected tank 29 of the oil back chamber of decline priority valve 2, compression indicator 28 and pressure sensor 26 are connected on the ring-shaped chamber of decline throttling main valve 6;
4) electric control system:
The load pressure signal that the Hydraulic Pump delivery pressure signal that command signal in the PLC electrical control cabinet 24, pressure sensor 25 detect, pressure sensor 26 detect inserts microcomputerized controller 12 simultaneously, the signal of microcomputerized controller 12 output control rising proportion electro-magnets 3 and decline proportion electro-magnet 4.
The operational process of ascending for elevator is as follows:
Start: after the PLC programmable logic controller (PLC) 24 in the elevator control cabinet is received rising calling signal in stop or the sedan-chair, provide electrical motor contactless switch action control signal, so electrical motor 19 starts, drive 20 runnings of hydraulic pressure screw pump, export hydraulic oil in pipeline, this moment, hydraulic oil all flowed back to fuel tank by the rising throttling main valve of often opening 5.Meanwhile, pressure sensor 25,26 continuous detected pressures signal feedback are given microcomputerized controller 12.This moment, check valve 22 was not opened as yet, and pressure sensor 26 detected load end pressure P d do not participate in control.Microcomputerized controller 12 detects the pump discharge pressure Pu that obtains according to pressure sensor 25, five road PLC control signals that transmit in conjunction with PLC programmable logic controller (PLC) 24 again, obtain the control signal of this moment by microcomputerized controller, through power amplifier output, be exactly the control signal of proportion electro-magnet 3 of rising accordingly.Rising priority valve 1 moves under this signal control, and then control rising throttling main valve 5, and its valve port opening is dwindled gradually.This moment, pressure sensor 25 detected pump discharge pressure Pu began to increase rapidly, and because check valve 22 is not opened yet, the pressure P d of pressure sensor 26 detected load ends there is no too big variation.When the oil pressure in the pipeline also is that pump discharge pressure Pu reaches when equating with load end pressure P d, just back down check valve 22, make fluid enter oil cylinder, promote plunger, drive car 10 with corresponding speed upward movement, start-up course finishes.
Operation: in the operational process, pressure sensor 25,26 is testing pump delivery pressure Pu and load end pressure P d respectively, and wherein pump discharge pressure Pu participates in upload control, and load end pressure P d only does reference value.Control system is calculated cooresponding valve port flow according to certain algorithm by pressure gauge, in case flow surpasses the comparative figure of setting in the program, just begins to load ideal curve.Afterwards, constantly at that time calculated flow rate and desirable flow are compared, adjust the control signal of output by microcomputerized controller 12 according to the difference of the two, the aperture of final control rising throttling main valve valve port, making the actual operation curve of elevator can in time follow the tracks of ideal curve, also is that elevator is according to the ideal curve operation of setting.
Stop: when elevator is about to arrive at a station, PLC programmable logic controller (PLC) 24 in the elevator control cabinet detects from elevator hoistways and passes the stop signal of coming, and corresponding five road PLC signals are passed to microcomputerized controller 12, send the control signal of cooresponding rising proportion electro-magnet 3 again by microcomputerized controller 12, the action of control rising priority valve 1, make the valve port opening of rising throttling main valve 5 increase, electrical motor 19 stalls simultaneously, this moment, the delivery pressure of screw pump 20 reduced rapidly, deadweight is turn-offed check valve 22 by car, and elevator stops.
The descending operational process of elevator is as follows:
When lift car 10 was descending, electrical motor 19 did not turn round, and elevator only relies on the potential energy of self to descend.In this process, check valve 22 is closed all the time.When descending, have only pressure sensor 26 detected load end pressure P d to participate in control.On mode, descending process and up process basically identical.What difference only was microcomputerized controller 12 outputs is the control signal of decline proportion electro-magnet 4, the action of control decline priority valve 2, and then the valve port opening of control decline throttling main valve 6.
Also have essential fender guard in some elevator hydraulic system in the system, comprise safety valve 11, manual lowering valve 8, pipe rupture valve 9 and pressure relay 23.
Advantage of the present utility model is mainly reflected on the mode to valve, also promptly from microcomputerized controller 12 received signals and handle this control process that finally sends instruction, shown in the block diagram of Fig. 2.To be specifically described this process below.
It is the PLC signal that PLC programmable logic controller (PLC) 24 transmits that microcomputerized controller 12 incoming signals have three the tunnel: the one tunnel, and this road signal is that all elevators are common, and which stage is the running state that is used for characterizing elevator be in.In this experimental system, which computing module is the flow rate calculation below this signal is also determining will adopt.Another road is exactly that pressure sensor 25,26 detects the system pressure signal that transmits, and the processing of being carried out at this road signal is the key point of native system.The elevator of conventional flow electricity controlled reset generally is to feed back by the electric signal that characterizes displacement, and then obtains flow information.The characteristics of this method are more complicated on the flow counter hardware configuration, and the precision of control also is limited by this, are difficult for improving.And the utility model is the pressure signal of feedback system, only need install pressure sensor additional get final product, realizes being very easy to from hardware, has still correspondingly increased the operand of software.This has been transformed into the complexity of hardware on the software with regard to being equivalent to.The advantage of doing like this is conspicuous: the optimization by control algorithm on software improves control accuracy, and its feasibility is inquired into and actual operation is all come easily than the improvement on the hardware; And, can attempt some more advanced control theories are applied to compare by experiment, optimize in the control of hydraulic elevator, obtain a satisfied result.
After microcomputerized controller 12 obtains pressure signal,,, just can calculate the flow Q of system through computing definitely in conjunction with the control current value i of the proportion electro-magnet of current preservation according to selected computing module
*In order to make calculated flow rate can reflect the actual flow of system truly, we must consider the influence of the temperature rise of fluid to flow.Therefore last road feedback signal temperature signal T that is exactly fluid.Microcomputerized controller 12 will carry out certain compensation to calculated flow rate according to this temperature signal.Through above computing, obtain the final calculated flow rate Q of system
*After, the desirable flow of the system that determines with it with by ideal curve compares, and the difference in flow of gained is exactly to adjust the foundation of microcomputerized controller 12 outputs.Difference in flow can obtain exporting to the value of the control current i of priority valve electromagnet again through certain calculating thus, after the power amplifier in the microcomputerized controller 12 amplifies output, this control process has just been finished in the action of control priority valve, and then the fluid flow of control working connection.Such control process carries out again and again, therefore also just can control the operation of elevator continuously.
About the concrete computation process that relates in the control process, select and to be described below.
Because the control to the elevator operation finally is in the control that is embodied in car speed, also promptly is embodied in the control to the fluid flow in the working connection that connects plunger cylinder 7 and rising throttling main valve 5 and decline throttling main valve 6.Therefore can not directly compare, need finally convert each feedback signal that microcomputerized controller 12 obtains to flow signal and compare again, could reflect the running state of car so more intuitively, exactly with force value.This switching process can utilize the flow formula of flow regulating valve valve port and immobile liquid resistance and the force balance on each valve to concern and realize.Can obtain enough steady-state equation numbers by these two groups relations, and then solve the calculated flow rate value.
Formula below the flow formula of flow regulating valve valve port and immobile liquid resistance is all available calculates:
Wherein:
Q---flow (l);
C
d---coefficient of flow;
A (x)---flow area (m
2), x wherein is a valve port opening;
Δ P---two ends pressure reduction (Pa);
Density (the kg/m of ρ---hydraulic oil
3).
Flow coefficient C in the formula
dCan not be regarded as constant here, and can regard as and be expressed as C by the function of difference of pressure and temperature
d(Δ P, T), wherein pressure differential deltap P gets the actual pressure differential of calculated valve port or immobile liquid resistance, and temperature T is got the measured value at that time that sampling is returned.For the influence of temperature T, be a tempolabile signal if consider it, can also adopt the fuzzy neural network intelligent algorithm to compensate, make the correction of flow parameter have self study and adaptive characteristics.The method of these compensation can be verified comparison by experiment, therefrom chooses the control satisfactory method.
Because do not detect the displacement of spool, valve port opening x is also by calculating.Can be solved by steady-state equation group above-mentioned, x is the function of relevant detection pressure P when up (be pump discharge pressure Pu, then be the pressure P d of load end when descending) and priority valve magnet control current i.Therefore, the flow area A (x) of valve port in fact also is the function of these two amounts, can be expressed as A (P, i).In addition, if consider dynamic factor, then the flow area A (x) of valve port also will do certain correction.In a word, parameters C
d(Δ P, T) and A (P, i) performance to system has a significant impact, and chooses suitable parameters by experiment, the calculated flow rate that obtains could reflect actual flow more truly.
In sum, comprise that each parameter fixes on the setting of interior software adjustment device really, not only the degree of regulation to system has a significant impact, and affect the speed etc. of closed loop adjustment response, must revise repeatedly by the means of emulation and experiment, key is to make calculated flow rate can reflect the actual flow of system in time, exactly.So just can demonstrate fully the advantage of calculated flow rate feedback system.
Claims (1)
1. device that adopts calculated flow rate controlled reset hydraulic elevator is characterized in that it comprises:
1) line pressure oil piping system:
Threephase asynchronous machine [19] drives hydraulic pressure screw pump [20], one end of hydraulic pressure screw pump [20] is through oil filter [21] connected tank [29], the ring-shaped chamber of the rising throttling main valve [5] that another termination is often opened, the ring-shaped chamber one road of rising throttling main valve [5] is through valve port connected tank [29], another road connects the ring-shaped chamber of normally closed decline throttling main valve [6] and connects control oil channel by meticulous oil filter [17] by check valve [22] respectively; The end of pipe rupture valve [9] of leading up to of the ring-shaped chamber of normally closed decline throttling main valve [6] links to each other with plunger cylinder [7], and then drives the motion of lift car [10] by assembly pulley mechanism; Fuel tank [29] is inserted by manual lowering valve [8] in another road of the ring-shaped chamber of normally closed decline throttling main valve [6];
2) up control oil channel system:
Ring-shaped chamber exit end by rising throttling main valve [5] is drawn, behind meticulous filter screen [17], one the tunnel connects the back of the body chamber of safety valve [11], another road connects first immobile liquid resistance [13], the other end of first immobile liquid resistance [13] and second immobile liquid resistance [14], the control oil pocket of the annular oil cavity of safety valve [11] and rising priority valve [1] links to each other, the other end of second immobile liquid resistance [14] connects the back of the body chamber that rises throttling main valve [5], the oil back chamber of rising priority valve [1] inserts fuel tank [29] through the oil back chamber of safety valve [11], compression indicator [27] and pressure sensor [25] are connected on the exit end of hydraulic pressure screw pump [20], measure pump discharge pressure;
3) descending control oil channel system:
Ring-shaped chamber by decline throttling main valve [6] picks out, through meticulous filter screen [18], link to each other with the 3rd immobile liquid resistance [15], the other end of the 3rd immobile liquid resistance [15] then links to each other with the control oil pocket of the 4th immobile liquid resistance [16] and decline priority valve [2], the other end of the 4th immobile liquid resistance [16] inserts the back of the body chamber of decline throttling main valve [6], the direct connected tank of oil back chamber [29] of decline priority valve [2], compression indicator [28] and pressure sensor [26] are connected on the ring-shaped chamber of decline throttling main valve [6];
4) electric control system:
The load pressure signal that the Hydraulic Pump delivery pressure signal that command signal in the PLC electrical control cabinet [24], pressure sensor [25] detect, pressure sensor [26] detect inserts microcomputerized controller [12] simultaneously, the signal of microcomputerized controller [12] output control rising proportion electro-magnet [3] and decline proportion electro-magnet [4].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01274219 CN2512757Y (en) | 2001-12-12 | 2001-12-12 | Device by using calculating flow feedback to control hydraulic lift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01274219 CN2512757Y (en) | 2001-12-12 | 2001-12-12 | Device by using calculating flow feedback to control hydraulic lift |
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| Publication Number | Publication Date |
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| CN2512757Y true CN2512757Y (en) | 2002-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01274219 Expired - Fee Related CN2512757Y (en) | 2001-12-12 | 2001-12-12 | Device by using calculating flow feedback to control hydraulic lift |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100586831C (en) * | 2007-09-25 | 2010-02-03 | 上海三菱电梯有限公司 | Frequency-changing hydraulic elevator system |
-
2001
- 2001-12-12 CN CN 01274219 patent/CN2512757Y/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100586831C (en) * | 2007-09-25 | 2010-02-03 | 上海三菱电梯有限公司 | Frequency-changing hydraulic elevator system |
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