US 9,242,837 B2 · System and method for controlling semi-active actuators arranged to minimize vibration in elevator systems

Abstract

A method controls a set of semi-active actuators arranged in an elevator system represented with a model of a virtual elevator system having a single virtual semi-active actuator arranged to compensate a virtual disturbance proportional to a sum of disturbances from the set of disturbances. The method determines the virtual disturbance during an operation of the elevator car using a motion profile of position of the elevator car during the operation and a disturbance profile of the virtual disturbance, and determines amplitude of a virtual force of the virtual semi-active actuator using the model and the virtual disturbance. A gain of a controller for controlling the set of semi-active actuators is adjusted based on the amplitude of the virtual force and a reference force of the virtual semi-active actuator.

Claims16

Dependent claims

A method for controlling a set of semi-active actuators arranged in an elevator system to minimize a vibration of an elevator car caused by a set of disturbances in a horizontal direction on the elevator car moving, in a vertical direction, comprising:

representing the elevator system with a model of a virtual elevator system having a single virtual semi-active actuator arranged to compensate a virtual disturbance proportional to a sum of disturbances from the set of disturbances, wherein a compensative, force of the virtual semi-active actuator is proportional to a sum of compensative forces of the set of semi-active actuators;
determining the virtual disturbance during an operation of the elevator car using a motion profile of position of the elevator car during the operation and a disturbance profile of the virtual disturbance;
determining an amplitude of an virtual force of the virtual semi-active actuator using the model and the virtual disturbance;
and
adjusting a gain of a controller for controlling the set of semi-active actuators based on the amplitude of the virtual force and a reference force of the virtual semi-active actuator, wherein steps of the method are performed by a processor.

2 more elements

A system for controlling a set of semi-active actuators arranged in an elevator system to compensate for a set of disturbances, comprising:

a sensor for determining an acceleration signal indicative of a horizontal acceleration of the elevator car during an operation of the elevator system;
a virtual disturbance module for determining a virtual disturbance using a motion profile of position of an elevator car during an operation of the elevator system and a disturbance profile of the virtual disturbance;
a controller for controlling each actuator of the set of semi-active actuators according to a control policy of the virtual semi-active actuator using the disturbance profile of the virtual disturbance and the acceleration signal measured during the operation of the elevator car with usage of the set of actuators;
an amplitude estimator for determining an amplitude of an virtual force of the virtual semi-active actuator using the model and the virtual disturbance;
and
a tuning module for adjusting a gain of a controller for controlling the set of semi-active actuators based on the amplitude of the virtual force and a reference force of the virtual semi-active actuator.

3 more elements

Dependencies are inferred from the claim text.

System and method for controlling semi-active actuators arranged to minimize vibration in elevator systems

Life of this patent

System and method for controlling semi-active actuators arranged to minimize vibration in elevator systems

Life of this patent

Abstract

Claims16