Transverse vibrations of ropes spanning a high-speed elevator are induced by resonance when a building sways because of an earthquake or wind force. Hence, an effective solution is demanded. In this study, we undertake to suppress the vibration of an elevator rope by using an input device placed in the vicinity of the upper boundary of the rope. This input device has gaps between an actuator and the rope to prevent the progression of their abrasion. A nonstationary control method is effective for the control of a time-varying system with which an elevator rope and a crane wire are categorized. In addition, a sliding mode controller is robust toward nonlinearity at the position where input is introduced. Thus, in this paper, we present a method of vibration control for the elevator rope, which is based on the nonstationary sliding mode control method using the input device with gaps. The effectiveness and robustness of the proposed controller are examined by numerical calculation that simulates input saturation, stroke limitation, gap-width expansion, and varying parameters, in the presence of model errors of the elevator rope. The results indicate effective vibration suppression and high robustness in the above cases except for the case of varying parameters.

The excitation of transverse vibration of an elevator rope is caused by the resonance with the building-sway by an earthquake or wind-induced vibration, hence, a useful active solution for its issue is demanded. In this paper, therefore, the vibration suppression for the elevator rope with the nonstationary sliding mode control using a time-varying switching hyperplane is performed by moving the rope directly near its boundary by use of a control device with gaps between actuator and rope. The nonstationary sliding mode controller has the effectiveness for the control of the object with time-varying characteristics and the robustness for the nonlinearity of the control device. The performance and robustness of the proposed controller are verified through the numerical calculation for the practical case, consequently, the good results are obtained.

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