Active vibration control of an elevator system using magnetorheological damper actuator

Abstract

Abstract:We investigated the horizontal response of a vertical transportation with nonlinearities under excitation by guide rail deformations. A LQR control strategy was used in order to improve the comfort of passengers. To this end, a magnetorheological damper (MR damper) was used. The control force of the damper is a function of the voltage applied in the coil of the MR damper that is based on the force given by the controller. Numerical simulations were performed to investigate the nonlinear behaviour of the adopted mathematical model. Moreover, other issues such as robustness of the control technique were evaluated considering parametric errors and noise measurement. The results show that the LQR control strategy using MR damper can be effective in reducing the vibration of the vertical transport.Keywords: optimal feedback control; vertical transportation; MR damper; high-speed elevator; parametric uncertainties; wavelet-based scale index; nonlinear model; chaos; LQR control; nonlinear dynamics.

Active Control System Applied to Vibration Level Control in High-Speed Elevators

“…The numerical simulations were carried out taking into account the parameters described in Table 1 [7,35]. In Fig.…”

“…The advantage of applying the PID control strategy using the acceleration variation, in comparison to other strategies, such as the SDRE proposed in [35], and the LQR proposed in [7], for example, is that the control by the acceleration proposed in this paper, we can get the signal directly from the sensor (accelerometer), without the need to integrate twice to get displacement and position, which is necessary for SDRE control and LQR control.…”

“…Using Lagrange's formulation, one can write the second-order differential Equations ( 5) that represent the vertical transport system as [7,35]:…”

“…The alternative movements of the elevator up and down the shaft during operation generate vibrations, causing discomfort to passengers [1][2][3][4][5]. In some cases, however, lateral vibration levels in the elevator cabin are so high that they can result in low comfort and reduced ride quality for the passengers, which are the main problems in high-speed elevator systems [6][7][8][9][10].…”

“…In light of the need to improve its movement quality without losing the efficiency of the elevators within the limits of horizontal and vertical vibrations, research on control systems applied to the control of lateral and longitudinal accelerations has grown recently in order to guarantee the quality of passenger's ride [8]. In [7], active vibration control is proposed for a vertical transport model excited by the guide rail deformations considering the horizontal nonlinear response of the three degrees of freedom model. In [8], a design parameter optimization method is used to reduce the horizontal vibration of high-speed elevators.…”