In this work we study the problem of rope sway dynamics control for elevator systems, with timevarying rope lengths. We formulate this problem as a nonlinear control problem and propose nonlinear controllers based on Lyapunov theory for time-varying systems. We study the stability of the proposed controllers, and test their performances on a numerical example. IFAC 2014This work may not be copied or reproduced in whole or in part for any commercial purpose. Permission to copy in whole or in part without payment of fee is granted for nonprofit educational and research purposes provided that all such whole or partial copies include the following: a notice that such copying is by permission of Mitsubishi Electric Research Laboratories, Inc.; an acknowledgment of the authors and individual contributions to the work; and all applicable portions of the copyright notice. Copying, reproduction, or republishing for any other purpose shall require a license with payment of fee to Mitsubishi Electric Research Laboratories, Inc. All rights reserved. Abstract: In this work we study the problem of rope sway dynamics control for elevator systems, with time-varying rope lengths. We formulate this problem as a nonlinear control problem and propose nonlinear controllers based on Lyapunov theory for time-varying systems. We study the stability of the proposed controllers, and test their performances on a numerical example.

Abstract. Most elevators applied to tall buildings include compensating ropes to satisfy the balanced rope tension between the car and the counter weight. The compensating ropes receive tension by the compensating sheave, which is installed at the bottom space of the elevator shaft. The compensating sheave is only suspended by the compensating ropes, therefore, the sheave can move vertically while the car is traveling. This paper shows the elevator dynamic model to evaluate the vertical motion of the compensating sheave. Especially, behavior in emergency cases, such as brake activation and buffer strike, was investigated to evaluate the maximum upward motion of the sheave. The simulation results were validated by experiments and the most influenced factor for the sheave vertical motion was clarified. IntroductionConventional elevators move vertically by the traction machine, which suspends the car and the counter weight by the rope. The rope weight which is installed in high-rise buildings becomes so heavy that the car and the counterweight have to hang the compensating rope, to keep the rope tension balance, at the traction machine. The compensating sheave applies the tension to the compensating rope, and the sheave is guided at the bottom of the elevator shaft. As the compensating sheave is suspended by the compensating rope, the sheave weight is equivalent to the rope tension. The applied tension prevents the rope from sway motion while the car is running.Conventionally, a lot of research concerning elevator ride comfort, or evaluation of rope resonance condition, have been investigated. Some papers show the compensating rope vibration due to the building sway motion. However, there is not much research focusing on the dynamic behavior of the compensating sheave. This paper shows the compensating sheave model which includes the car, counter weight and the compensating rope. The proposed model is verified by the experiment, and the model can clarify the mechanism of the sheave vertical motion. The simulation model can also show the influence of each elevator parameter against the sheave vertical motion.

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