Abstract
For a transverse vibration control of an elevator rope, a controller considering its nonstationary characteristics is effective in suppressing its vibrations, because the elevator rope is a kind of time-varying system. In addition, a length of elevator rope varies with time, hence, it is difficult to locate actuators and sensors for the control on arbitrary position such as center of rope and abdomen of modal vibration. As a result, we situate them at the end of rope or near the boundary based on the estimation of Hankel singular value expressing the degree to control and observe state values of controlled object. moreover, the controller having robustness for various uncertainties is valid within reducing the vibrations of object that has a flexible feature. Consequently, the main objectives of this paper are to suppress the transverse vibrations of elevator rope with nonstationary robust control methods. The suppression and robust stabilizing performances of controller are demonstrated through the numerical calculations for the case that the elevator system is subjected to shifts of tension of wire and disturbance from a building. Finally, we derive the sufficient suppression of transverse vibration of elevator rope.
