Abstract
Modeling and robust controller design of horizontal vibrations for high-speed elevators are presented in this paper. Based on the theory of rigid body dynamics, the model of the horizontal vibrations about the elevator cage is developed. The motion of the elevator cage is resolved into translation and rotation round the mass center of the cage. Taking account of the characteristics of nonlinearity, parameter uncertainties and external disturbances of the elevator cage, robust controller is designed using Lyapunov’s method. To simplify the controller design, the position controller and the attitude controller are designed based on the translation model and the rotation model, respectively. Placement, velocity and acceleration feedback and the Lyapunov method are used to design the position controller; input/output feedback linearization approach, pole placement and the Lyapunov method are used to design the attitude controller. Simulation results demonstrate the effectiveness of the proposed controller.
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