EQUIPMENT AND METHOD FOR THE DAMPING OF OSCILLATIONS AT A LIFT CAGE

摘要

An apparatus and method are disclosed for reducing oscillations of an elevator car occurring transverse to the direction of travel. The elevator car is guided by rails and includes guide elements with a predefined range of motion. The apparatus includes a plurality of inertial sensors mounted to a frame of the elevator car and at least one actuator positioned between the elevator car and the guide elements. The inertial sensors measure oscillations transverse to the direction of travel and the at least one actuator is driven according to the output from the inertial sensors to actuate movement in an equal and opposite direction to the oscillations . The at least one actuator includes a drive motor with a stationary motor part coupled to the frame and a moving motor part coupled to the guide elements. The method includes measuring an oscillation occurring transverse to a direction of travel and driving at least one actuator positioned between the car and the guide elements. The at least one actuator substantially effects movement in an equal and opposite direction to the oscillation. The command to the at least one actuator includes combining the outputs of an acceleration feedback controller active in the higher frequency range and a position feedback controller active in the lower frequency range to determine a force target value.