TH41992A - The elevator active navigation system with a model-based multi-input, multi-signal control system. - Google Patents

Abstract

DC60 (07/02/43) In the active navigation system of an elevator, to avoid interference between the operation of one actuator (23) and the operation of another actuator, a controller (21) is provided using a law of force based on the model of the elevator (40), and to use data from all the sensors (22) together to determine (conforming to the law of force) the force in each actuator (23) that will be exerted by the elevator (40) is used to determine how the elevator (40) will respond to the force acting by the model actuator (23). In what manner should the elevator (40) respond to the force from the actuators in a rigid manner, a full model is constructed from the basic assumptions that include the geometric and inertial characteristics of the elevator that are necessary to describe its rigid motion in response. In response to the forces exerted by the actuators (23) in the active navigation system of the elevator, to avoid interference between the operation of one actuator (23) and the operation of another actuator, a controller (21) is provided, using the laws of force based on the model of the elevator (40), and to use data from all the sensors (22) together to determine (conform to the laws of force) the forces exerted by each actuator (23) of the elevator (40) are taken to determine how the elevator (40) will respond to the forces exerted by the model actuators (23). In what it should be, the elevator (40) is assumed to respond to the forces exerted by the actuators in a rigid manner. A full model is constructed from the basic assumptions, including the geometric and inertial characteristics of the elevator, that are necessary to describe its rigid motion in response to the forces exerted by the actuators (23).

Claims (1)

The elevator shaft axis and two positions in a second detection direction perpendicular to the elevator shaft axis for providing control data signals that define its direction; b) a controller that responds to control data signals for transmitting multiple force command signals according to the law of force; and c) multiple actuators, each responding to a corresponding command signal for transmitting both positive and negative forces to positions and in directions corresponding to the positions and detection directions of the corresponding sensors, where the law of force determines the value of the force for output by each actuator according to a model relating to the geometric characteristics and inertia of the elevator in the elevator motion caused by the forces transmitted by the actuators. 2. Active Navigation System As described in claim 1, where the model is rigid with damping of motion perpendicular to the elevator shaft axis, and the dynamic equation MQ = KQ + CQ + BH is used to predict the elevator motion perpendicular to the elevator shaft axis, where Q is a column matrix with five elements of coordinate system. The general structure, when combined, describes the elevator's motion perpendicular to the elevator shaft axis and relates to a column matrix with six elements G representing the gap values specified by the sensors according to the transformation equation G = TQ - R, where T is a six-by-five matrix derived from the elevator's geometric characteristics, R is a six-element column matrix representing the track irregularities corresponding to each sensor, H is a six-element column matrix, one element for each actuator, each element representing the magnitude and direction of the force exerted by each actuator, B is a five-by-six matrix with elements calculated from the elevator's geometric characteristics in relation to the forces acting by the actuators and the elevator's motion as shown in general coordinates, M and K are five-by-five matrices, M with elements calculated based on the elevator's inertia and K with elements calculated based on the restoring torque acting on the elevator, and C is a five-by-five matrix with elements representing the damping of the elevator motion. In the directions of the first and second inspection, perpendicular to the elevator shaft axis. 3. Active navigation system as described in claim 2, where the law of force is a chemical formula, where Kp, Kd, and K1 are five-by-five diagonal matrices with chosen elements so that the control equation, independent of the chemical formula system, will have a solution Q that directs the movement of the elevator in the first and second inspection directions, perpendicular to the elevator shaft axis, within a predetermined operating framework. 4. Active navigation system as described in claim 3, where each actuator consists of two oriented and aligned electromagnets for pulling the elevator along the same axis in opposite directions (Clause 4, page 2, figure 9). 1. Active navigation system for elevators in elevator shafts with two rails mounted on opposite walls. The rails are positioned parallel to the elevator shaft axis, extending along the length of the shaft. An elevator with four guide heads is attached for guiding the elevator along the rails. The active navigation system consists of: a) sensors that respond to the absolute acceleration of the elevator and the elevator's position relative to the rails at four positions; one position in the first detection direction perpendicular to the elevator shaft axis, and two positions in the first detection direction perpendicular to the shaft axis.