Patent ID: 8849465
Filing Date: 2014-09-30
Classification: B66B

Abstract:
1. 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 on the elevator car in a horizontal 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; augmenting the model with the virtual disturbance and a time derivative of the virtual disturbance as state variables to produce an augmented model; inverting the augmented model to define a relationship between a second order time derivative of the virtual disturbance and an acceleration signal; determining, using the relationship, the second order time derivative of the virtual disturbance for each acceleration value of the acceleration signal; integrating twice the second, order time derivative to produce a value of the virtual disturbance forming a time profile of the virtual disturbance; producing a disturbance profile of the virtual disturbance based on a time profile of the virtual disturbance and a vertical position trajectory; determining the virtual disturbance during an operation of the elevator car using a motion profile of a position of the elevator car during an operation and a disturbance profile of the virtual disturbance; determining a state of the elevator system using the model of the virtual elevator system, the virtual disturbance and a signal indicative of a horizontal acceleration of the elevator car during the operation; controlling each actuator of the set of semi-active actuators based on the state of the elevator system and according to a control policy of the virtual semi-active actuator, wherein steps of the method are performed by a processor.