Elevator ride quality

A control for guiding an elevator vertically along a rail by controlling an actuable horizontal suspension, comprising:

• a learned rail characteristic control, responsive to a vertical position signal having a magnitude indicative of a vertical position of said elevator along said rail, for providing a learned rail characteristic signal having a magnitude indicative of a force offset at said vertical position;
• and
• a feedback control, responsive to said force offset signal and responsive to a sensed signal having a magnitude indicative of a force exerted against said elevator, for providing an actuating signal for actuating said actuable horizontal suspension to counter said force, wherein said learned rail characteristic signal indicative of force offset is provided by multiplying a sensed gap signal by a stiffness signal retrieved from a memory in response to a predicted horizontal offset signal at said vertical position.

A control for guiding an elevator vertically along a rail by controlling an actuable horizontal suspension, comprising:

• a learned rail characteristic control, responsive to a vertical position signal having a magnitude indicative of a vertical position of said elevator along said rail, for providing a learned rail characteristic signal having a magnitude indicative of a force offset at said vertical position;
• and
• a feedback control, responsive to said force offset signal and responsive to a sensed signal having a magnitude indicative of a force exerted against said elevator, for providing an actuating signal for actuating said actuable horizontal suspension to counter said force, wherein said learned rail characteristic signal indicative of force offset is provided by summing a sensed gap signal with a predicted offset signal for proving a summed resulting signal and by compensating the summed resulting signal for providing said force offset signal.