Semi-Active Elevator Actuator Control via Virtual Disturbance Model
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Solution Overview
Problem
Existing elevator systems face challenges in effectively minimizing vibration, particularly in the horizontal direction, due to the complexity of determining the system's state and the need for multiple sensors, which increases costs and reduces the effectiveness of control methods.
Innovation Solution
A system and method using semi-active actuators represented by a virtual elevator system with a single virtual semi-active actuator to compensate for disturbances, where the control policy is determined based on acceleration signals and a simplified model, minimizing the number of sensors required and optimizing actuator control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensors are used to measure system parameters for vibration control, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent combines multiple measurement functions into a single accelerometer by utilizing the equivalence between horizontal acceleration and horizontal velocity through integration. This merging principle reduces the sensor array to one accelerometer that can infer both horizontal and vertical vibration characteristics, thereby decreasing device complexity while maintaining measurement precision.
Solution Approach 2:
The patent introduces an intermediary mathematical relationship (integration of acceleration to obtain velocity) that allows a single accelerometer to provide information that would traditionally require multiple sensors. This intermediary approach enables one sensor to effectively perform the work of multiple sensors, resolving the contradiction between measurement precision and device complexity.
2Device complexity
If a simplified model with a single virtual actuator is used, then device complexity is reduced, but control precision may deteriorate
Solution Approach 1:
The patent creates a virtual copy of the multi-actuator system as a single virtual actuator model. This simplified virtual model captures the essential dynamics of the complex system, allowing control algorithms to be designed and implemented more easily while maintaining the precision needed for vibration compensation. The virtual actuator serves as a mathematical representation that preserves the critical behavior of the physical system.
Solution Approach 2:
The patent transforms the control problem by changing the parameter representation from multiple individual actuator parameters to a single aggregated virtual actuator parameter. This parameter transformation simplifies the control system structure while the underlying mathematical relationships ensure that the essential vibration compensation precision is maintained through the equivalent dynamic representation.
3Device complexity
If only acceleration signals are used for control, then the number of measured parameters is minimized, but information completeness may be insufficient
Solution Approach 1:
The patent performs preliminary mathematical processing (integration) on the acceleration signal to derive velocity information before using it for control decisions. This preliminary action ensures that the complete system state information is available from the single acceleration measurement, preventing information loss while maintaining minimal sensor configuration.
Solution Approach 2:
The patent replaces the need for multiple physical sensors with mathematical transformations of a single sensor's output. By substituting mechanical measurement systems with mathematical processing, the system recovers complete state information (position, velocity, acceleration) from a single acceleration signal, thereby minimizing sensor configuration while preserving information completeness.
Data Source
AI summary
A method controls a set of semi-active actuators arranged in an elevator system to minimize a vibration of an elevator car. The elevator system is represented with a model of a virtual elevator system having a single virtual semi-active actuator arranged to compensate a virtual disturbance. The virtual disturbance is determined using a motion profile of position of the elevator car during the operation and a disturbance profile of the virtual disturbance. A state of the elevator system is determined 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. Each actuator of the set of semi-active actuators is controlled based on the state of the elevator system and according to a control policy of the virtual semi-active actuator.