抄録
This paper presents the modeling and controller design of a ropeless elevator model that employs a pair of linear synchronous motors (LSMs) with Halbach array magnets as the field. Analytical formulations are given to a conceptual design model. We apply a sliding mode control to design the motion control with three degrees of freedom. The control inputs are the thrust and normal forces of the two LSMs. We show that a decentralized control structure gives a better performance than a centralized control structure and that feedforward control is required in order to compensate for the gravitational force. The simulation results show that the elevator behavior is well controlled in spite of mutual interactions among the control variables.
