Nonstationary Robust Control for Vibration of Elevator Rope

It is performed to suppress the transverse vibration of the elevator ropes on a high-rise building caused by resonance between building-sway and rope-sway. The elevator rope has the characteristics due to its flexibility and length-varying and some constraints for the active vibration control. Hence, for compensating the influence of the time-varying characteristics and spillover, the nonstationary robust controller which has the robustness against unstructured and structured uncertainties is employed for the active vibration suppression of the rope. The suppression and robust stabilizing performances of the controller are demonstrated through the numerical calculations for the case in which the building is subjected to the ground disturbance like an earthquake and the tension of the rope varies. Thereupon, the control input system actuated by an alternate current motor is located right below the traction sheave and then it moves the rope directly in the presence of gaps between the rope and actuator. Consequently, the nonstationary robust controller shows the advantages in terms of the robustness on the uncertainties and the performance as compared to the optimal controller; and then it can adequately suppress the transverse vibration of the rope.