Abstract
In this paper we present an application of the ILQ design method with frequency-shaping to the opening-and-closing speed control problem of an elevator door. We have applied the design results to an actual equipment, and performed an opening-and-closing experiment. By proper shaping of the frequency response of the closed loop transfer function from the noise to the output, an unnecessary vibration of speed generated by the uncertainty was proved to be suppressed. As a result, the proposed method has been verified to show better performance than that of the existing control method.
