Research on adaptive robust sliding mode control of Horizontal vibration of high-speed elevator car system considering time delay

Abstract

In this paper, a new adaptive robust sliding mode control (ASMC) strategy is proposed for high-speed elevator car systems with input delay and unknown nonlinear dynamic characteristics. Firstly, considering the inherent time delay of the system, the active control model of the four-degree-of-freedom time-delay car system with the symmetrical distribution of the actuator is established. Then, for the car system with unknown disturbance, a robust integral sliding mode control strategy is designed, and an adaptive law is designed to ensure the reachability of sliding mode motion. Then, considering the time delay of vibration signal transmission and actuator actuation, a time-delay optimal adaptive robust sliding mode control strategy (TDASMC) based on the state transformation method is designed, and the stability of the system is proved by constructing the Lyapunov function. Finally, Matlab software is used for simulation analysis, and the results show that the proposed control strategy can attenuate more than 45% of the peak and RMS of the horizontal vibration acceleration, and the large vibration suppression degree is not more than 14% under different working conditions, which has good vibration suppression performance and robustness.

Keywords

High-speed elevator car system horizontal vibration time lag adaptive robust sliding mode

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