Propulsion and guidance control in ropeless linear elevator with pitching motion

Ropeless linear elevator (RLE) is expected to be a new transport solution for skyscrapers and very deep underground applications in the near future. In our laboratory, an experimental model of RLE has been designed and manufactured using the theory of a controlled-PM linear synchronous motor (LSM) developed by the first authors. We have succeeded in the contactless guidance control by controlling controlled-PM (CPM) on both side of the cage when moving vertically in the RLE system. In this paper, the guidance motion speed of one of the two CPM's is considered as the disturbance of the other CPM through the feed-forward control, it is shown experimentally that the pitching motion of the cage can be decreased much more effectively