エレベータドアの動特性に関するモデリングとシミュレーション

概要

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Multiple elevator doors are driven by servomotor through a multi-degree-of freedom linkage system. For design of door mechanism and controller, it is preferable to adopt as simple and accurate dynamical model as possible. This paper evaluates the following various dynamical models of elevator door mechanical system. (1) Model-1: As mechanisms of door system, motor, pulleys, links and door panels, and as terms, inertial, frictional, gravity, centrifugal, and Coriolis are considered. (2) Model-2: Only inertial term of above mechanisms are considered. (3) Model-3: Only inertial term of motor, pulleys, and door panels are considered. The conclusions are as follows. (1) Link inertial term is the largest among all neglected terms, and reaches to 10 percent of maximum motor torque. Summation of nonlinear terms is within 5 percent of maximum torque. (2) Model-2 including frictional term is in good agreement with Model-1.
一般社団法人日本機械学会の論文
1998-09-25