Controlling sway of elevator cable with movement of elevator car

An elevator system comprising:

• an elevator car supported by an elevator rope wrapped around a sheave, such that a rotation of the sheave changes a length of the elevator rope between the sheave and the elevator car thereby controlling a movement of the elevator car within an elevator shaft of the elevator system;
• a motor to control a rotation of the sheave changing the length of the elevator rope;
• at least one elevator cable connected to the elevator car and the elevator shaft;
• at least one input interface for accepting a request of the elevator car to move from a current position in the elevator shaft to a different position necessitating a change of the length of the elevator rope;
• a memory to store a model of a cable as a function of a sway of the cable and a motion profile of an elevator car defining one or combination of the length, a velocity, and an acceleration of the elevator rope as a function of time;
• and
• a controller including a processor to determine the motion profile of the elevator car causing the requested change of the length of the elevator rope that reduces the sway of the cable according to the model of the cable, and to cause the motor to rotate the sheave and to move the elevator car according to the determined motion profile.

A non-transitory computer readable storage medium embodied thereon a program executable by a processor for performing a method, wherein the memory stores a set of analytical functions and a set of cost functions corresponding to a set of patterns of elementary paths, each pattern represents a continuous path, each analytical function is determined for a corresponding pattern to provide an analytical solution for input states of the vehicle defining a continuous path connecting the input states by a sequential compositions of the elementary paths following the corresponding pattern, and each cost function is determined to provide a cost of the corresponding pattern indicative of a cost of the motion of the vehicle according to the continuous path connecting the input states and represented by the corresponding pattern, the method comprising:

• receiving a call for a movement of the elevator car requesting a change of the length of the elevator rope;
• accessing a model of a cable relating a sway of the cable to a motion profile of an elevator car defining one or combination of the length, a velocity, and an acceleration of the elevator rope as a function of time;
• determining the motion profile of the elevator car causing the requested change of the length of the elevator rope that minimizes the sway of the cable according to the model of the cable;
• and
• controlling the motion of the elevator car according to the determined motion profile.