抄録
An elevator is the indispensable vertical transport, especially for high-rise buildings. Since the car and the counterweight are attached to the rope terminals to drive the elevator in a balanced manner, the length of the rope varies according to the position of the car. Therefore, from the elevator control viewpoint, it is necessary to treat the rope as a variable spring with varying rigidity and the car as a variable mass that varies with the number of passengers. Since the riding comfort is the key item of the elevator's quality, the vertical vibration of the car, especially at low frequency, should be controlled. In this report, we assume the elevator as a positioning problem, associated with the low-rigidity control model, and propose an elastic support control. This control suppresses the vibration of the car by controlling the motor of the traction machine through an elastic support, which has been researched for use in machine tools and robot arms. Specifically, this paper indicates that the optimum control parameters of the traction machine are obtained under the symmetry condition that the mass of the car and the spring constant of rope suspending the car are equal to those of the counterweight. Additionally, it effectively reduces the residual vibration by installing a mass damper in the counterweight, and using this in combination with the elastic support control.
