Study on Fuzzy Sliding Mode Active Disturbance Rejection Control Method for Horizontal Vibration of High-Speed Elevator Car System

Abstract

To effectively control the horizontal vibration of high-speed elevator car system caused by the factors such as the irregularity of the guide rail and the nonlinearity of spring-damping in guide shoes, this paper proposes an active disturbance rejection (ADR) control method based on fuzzy sliding mode. Firstly, considering the nonlinear characteristics of the spring-damping in the guide shoes, the horizontal vibration dynamic model of the elevator car system is established. Then, the guide rail excitation and the linear and nonlinear disturbances of the car are summarized into the total disturbances of the car system, which can be estimated by the designed extended state observer. On this basis, a sliding mode active disturbance rejection (SADR) control is presented, which makes the anti-vibration and anti-disturbance control of the car system highly robust. For the chattering problem caused by sliding mode control, the fuzzy control method is designed to eliminate it, and the fuzzy sliding mode active disturbance rejection (FSADR) control for the horizontal vibration of the car system is further realized. Finally, MATLAB/Simulink is utilized for simulation tests. The simulation results show that, compared with ADR and SMADR, the root mean square value, maximum value and A95 peak value of horizontal vibration acceleration through FSADR are significantly reduced. Therefore, the FSADR control method designed in this paper can effectively suppress the horizontal vibration generated during the operation of high-speed elevators.