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US 9,434,577 B2Granted
Semi-active feedback control of elevator rope sway
AssigneeMitsubishi Electric Research Laboratories, Inc.
InventorMouhacine Benosman
Life of this patent
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Abstract
A method controls an operation of an elevator system. The method receives an amplitude of a sway of an elevator rope and a velocity of the sway of the elevator rope determined during the operation of the elevator system. The method modifies a damping coefficient of a semi-active damper actuator connected to the elevator rope according to a function of the amplitude and the velocity of the sway.
Claims17
A method for controlling an operation of an elevator system, comprising:
- receiving an amplitude of a sway of an elevator rope and a velocity of the sway of the elevator rope determined during the operation of the elevator system;
- modifying, in response to the receiving, a damping coefficient of a semi-active damper actuator connected to the elevator rope according to a function of the amplitude and the velocity of the sway, wherein steps of the method are performed by a processor;
- and
- determining a control law stabilizing a state of the elevator system, wherein the control law determines a value of the damping coefficient based on the function, such that the value of the damping coefficient ensures a negative definiteness of a derivative of a control Lyapunov function, wherein the control law assigns the value of the damping coefficient of the semi-active damper actuator based on a sign of a product of the amplitude of the sway of the elevator rope and the velocity of the sway of the elevator rope.
1 more element
An elevator system, comprising:
- an elevator car and a counterweight of the elevator car;
- an elevator rope connected to the elevator car or to the counterweight;
- a semi-active damper actuator connected to the elevator rope;
- a sway unit for determining an amplitude of a sway of an elevator rope and a velocity of the sway of the elevator rope;
- and
- a control unit for determining a damping coefficient of the semi-active damper actuator according to a function of the amplitude and the velocity of the sway of the elevator rope, wherein the control unit determines the damping coefficient according a control law stabilizing a state of the elevator system, wherein the control law determines a value of the damping coefficient based on the function, such that the value of the damping coefficient ensures a negative definiteness of a derivative of a control Lyapunov function, wherein the control law includes a disturbance rejection component to force the derivative of the Lyapunov function to be negative definite with an external disturbance.
3 more elements
A method for controlling an operation of an elevator system, comprising:
- receiving an amplitude of a sway of an elevator rope and a velocity of the sway of the elevator rope determined during the operation of the elevator system;
- modifying, in response to the receiving, a damping coefficient of a semi-active damper actuator connected to the elevator rope according to a function of the amplitude and the velocity of the sway;
- determining a control law stabilizing a state of the elevator system, wherein the control law determines a value of the damping coefficient based on the function, such that the value of the damping coefficient ensures a negative definiteness of a derivative of a control Lyapunov function;
- determining the control law for the elevator system based on a model of the elevator system without an external disturbance;
- and
- modifying the control law with a disturbance rejection component to force the derivative of the Lyapunov function to be negative definite with the external disturbance, wherein steps of the method are performed by a processor.
3 more elements
Dependencies are inferred from the claim text.