Dynamic modelling and input-energy comparison for the elevator system

The elevator system driven by a permanent magnet synchronous motor (PMSM) is studied in this paper. The mathematical model of the elevator system includes the electrical and mechanical equations, and the dimensionless forms are derived for the purpose of practicable upward and downward movement. In this paper, the trapezoidal, cycloidal, five-degree (5-D) and seven-degree (7-D) polynomial and industry trajectories are designed and compared numerically in various motion and the absolute input energies. From numerical simulations, it is found that the trapezoidal trajectory consumes the minimum energy; the 7-D polynomial trajectory consumes the maximum one. The less end-point constraints are required, the less energy is consumed. Finally, the proposed sliding mode controller (SMC) is employed to demonstrate the robustness and well tracking control performance numerically.