| 摘要 |
PURPOSE: A load detecting and compensating apparatus for elevator is provided to control the elevator easily, and reduce the cost and the load of sensor that detects the load by modeling the control of elevator in linear type. CONSTITUTION: A load detecting and compensating apparatus comprises the first subtracter that a wanted potential value of elevator and the present potential value by moving of elevator are inputted in and subtracted, a proportional derivative controller(30) that the output of the first subtracter is inputted in and performs the proportional derivative, the second subtracter(40) that the outside force and the output of a proportional derivative controller and the output of a force estimator(90) are inputted in and subtracted, an elevator(50) that the output of the second subtracter is inputted in and moves just as much as the value, a disturbance observer that re-composes the non linear disturbance by reverse-modeling and removes by feedback, an output estimator(70) that learns the output of disturbance of observer, the third subtracter(80) that the disturbance of elevator and the disturbance of output estimator are inputted in and then offers output, and the force estimator contains the third subtracter.
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