Patent ID: 8768522
Filing Date: 2014-07-01
Classification: B66B,G05B

Abstract:
1. The method for controlling a set of semi-active actuators arranged in an elevator system to compensate a vibration of an elevator car caused by a set of disturbances during an operation of the elevator system, comprising: determining, based on a model of the elevator system, a control policy for controlling the set of semi-active actuators, wherein the control policy includes a state function representing an operation of the elevator system and a function of displacement representing and operation of the set of semi-active actuators; approximating, using the model of the elevator system, the state function as a first function of a parameter the vibration; approximating, using the model of the elevator system, the function of displacement as a second function of the parameter, comprising: wherein F is a function, χ represents the function of displacement, {dot over (χ)} is a time derivative of the function of displacement, ξ represents a signal estimated based on the measured signal, y represents the measured signal, u represents a control input for controlling the virtual semi-active actuator, u represents unknown variables of the disturbed dynamics, wherein ξ, y, and u are the known variables; and controlling the set of semi-active actuators in accordance with the control policy based on a measured signal of the parameter, wherein steps of the method are performed by a processor.