Research On Intelligent Control Of Horizontal Vibration Of High-speed/ultra-high-speed Elevators

Due to the continuous advancement of urbanization and the contraction of land space resources,buildings are forced to trend towards high-rise,which makes the demand for elevator operating speed rise.While elevators are developing towards high-speed and ultra-high speed,the problem of horizontal vibration is becoming more and more intense,which will greatly affect the riding comfort of passengers,and even cause severe reactions such as vertigo and vomiting.In addition,the instruments on the elevator will also be affected by violent vibration,resulting in their aging,damage and failure,which will lead to more serious safety accidents.Considering the complex coupling vibration excitation of elevators from guide rail and guide shoe,hoistway air flow and traction rope swing under high-speed and ultra-high-speed operating,this thesis constructs an intelligent horizontal vibration control strategy of high-speed/ ultra-high-speed elevator to meet the complex control requirements under the coupling excitation.The main research contents are summarized into the following three parts:（1）According to the control needs under different operating speeds,a 6 degrees of freedom（DOF）horizontal vibration dynamic model for high-speed elevators and an 8-DOF horizontal vibration dynamic model for ultra-high-speed elevators are constructed,respectively.For guide shoes,as the core control components,considering the strong nonlinear characteristics brought by the intelligent fluids in adjustable dampers,taking the magnetorheological（MR）damper used in this thesis as the representative,a data-driven nonparametric inversed model is constructed based on fuzzy neural networks（FNN）.The actual response of the MR damper is measured on the vibration mechanics tester,and the accuracy of the inverse model is verified by comparing with the actual response.With the help of the 120 m elevator experimental tower from the cooperative company,the high-speed / ultra-high-speed elevator experimental platform is built,the actual responses of the elevator car in the operating environment are measured and calculated,obtain the actual vibration signals are obtained and conducted to train and test the controller.The complex coupling vibration excitation in the time domain and frequency domain are analyzed,and then are improved the design of the controllers according to the vibration characteristics.（2）Based on the high-speed elevator horizontal vibration dynamic model and the nonparametric inversed model of MR dampers,a variable universe fuzzy intelligent control method based on firefly algorithm and backpropagation algorithm FNN is proposed.To effectively suppress the horizontal vibration of the car caused by uncertain factors such as guide rail irregularity and piston wind in the hoistway,a variable universe fuzzy main controller is designed to control the input current of the MR damper.At the same time,an FNN auxiliary controller is designed for the variable universe expansion factors to realize the accurate adjustment of the universe.And the firefly algorithm and backpropagation algorithm are introduced to train the FNN auxiliary controller.The experimental platform of high-speed elevators is built and the simulation tests are carried out through the measured excitation signals and two kinds of simulated excitation signals.The results show that the index values of the elevator horizontal vibration acceleration and angle acceleration of the proposed controller are lower than those of passive control and FNN control,which shows that the control method can effectively suppress the horizontal vibration of high-speed elevators.（3）According to the requirements of the elevator horizontal vibration control after the operating speed is increased to the ultra-high-speed,based on the ultra-high-speed elevator horizontal vibration dynamic model and the nonparametric inverse model of MR dampers,an enhanced variable universe FNN horizontal vibration intelligent control method with input saturation for ultra-high-speed elevators is proposed.This method takes into account the multilayer structure of the guide shoes,car frame and car in the actual elevator and the uncertainty of operating parameters,and further considers the action mode of different sources excitation and their complex coupling control requirements.By the Type-Ⅱ fuzzy control method,the fuzziness of the variable universe fuzzy controller is enhanced and the tolerance of the controller to the uncertainties and time variability of operating parameters is improved.With the help of the T-S FNN,the precise adjustment ability of the universe is enhanced,and an anti-saturation controller is constructed to compensate the over-saturation problem caused by the neural networks.The experimental platform of ultra-high-speed elevator is built and the simulation tests are carried out through the measured excitation signal and the coupled excitation signal.The results show that the index values of the elevator horizontal vibration acceleration and angle acceleration from the proposed controller are lower than those of the comparative controllers,which shows that the control method can effectively suppress the horizontal vibration of ultra-high-speed elevators.