METHOD OF ESTIMATING AND COMPENSATING INTERFERENCE TORQUE OF LIFTING SYSTEM
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United States of America Patent
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Issued Date -
May 18, 2023
app pub date -
May 11, 2022
filing date -
May 11, 2022
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Abstract
A method of estimating and compensating an interference torque of a lifting system includes steps of: continuously integrating a speed of a motor and specifying an integration value to be zero if the integration value is negative when the elevator car moves upward and downward in a hoist way; estimating a rope load constant of a wire rope according to an initial position and a maximum travel position, and calculating a rope load torque according to the maximum travel position, the rope load constant and a present position of the motor; estimating a car and counterweight load torque according to a car weight of the elevator car and a counterweight weight; estimating an interference torque according to the rope load torque and the car and counterweight load torque, and performing a feedforward compensation to the motor based on the interference torque.
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