Transient response feedback control for horizontal vibration of high-speed elevator car with prescribed performance

Abstract

The high-speed elevator car is subject to violent horizontal vibration due to the wind pressure generated by the ventilation hole of the elevator rapid operation, improper adjustment of the gap and steps at the joint of the elevator car guide rail, pitting corrosion or wear on the guide surface of the guide shoe, inadequate installation and adjustment of the guide shoe or guide rail and so on. Aiming at the problems of poor transient convergence and real-time performance, low control accuracy and stability of the existing active control algorithm for the horizontal vibration control variables of the elevator car system, a transient response feedback control strategy with specified performance is proposed in this paper. Firstly, a six degree of freedom elevator car system model is established, and the state space equation is constructed based on the linear fractional transformation algorithm; Secondly, a class of preset transient performance function is introduced to construct the convergence boundary in advance to ensure that the system control variables are strictly constrained within this boundary, and the stability of the transformed variables is ensured by equivalent transformation; Finally, four different control methods including passive control, H2/H∞ control, PID control and transient response feedback control proposed in this paper are compared and analyzed by using MATLAB under two typical guideway excitation. The simulation results show that the proposed transient response feedback control strategy reduces the root mean square value and maximum value of the horizontal displacement acceleration of the elevator car system by more than 81%, effectively suppresses the horizontal vibration of the elevator car, and ensures the transient and steady-state performance of the elevator car system.