Automatic Setup of Hydraulic Elevator Controls Using ILC and Virtual Outputs
Sprache des Titels:
Mechatronics and Robotics
Hydraulic elevators are used in very different locations
and under very different conditions and the tuning of
their control system during commissioning and maintenance
tends to be very demanding. As the operation of hydraulic
elevators is intended to be repetitive, iterative learning control
(ILC) seems a sensible approach to reduce the effort.
Unfortunately, hydraulic elevators include non-repeatable
nonlinearities which are in conflict with the requirements
of ILC. In this paper the use of a virtual measurement is
proposed which allows to use ILC without incurring into
the convergence problems produced by the non-repeatable
dynamics. The approach relies on a suitable system design.
Both simulation and experimental results are shown.
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Notiz zur Publikation:
Mechatronics and Robotics 2004, 13. - 15. September 2004, Aachen, Germany