A novel elevator load torque identification method based on friction mode

This paper presents a method to identify the elevator load torque when the brake is released. With the friction model, the identification process is converted to a searching question. The principle of the method is illustrated in detail, and the factors that influence the identification process and sliding distance are also analysed. Finally, the proposed method is implemented and verified by the results on a permanent magnet synchronous motor drived gearless elevator with an absolute encoder ECN413 from Heidenhain.