Guidelines for VSS controller design of LSM-driven ropeless elevator

This paper presents a sliding mode controller design and the simulation results of an LSM-driven ropeless elevator. The ropeless elevator model here is driven by air-cored linear synchronous motors with Halbach array PMs. We design the position and attitude control system of the car cage under parameter uncertainty based on the analytical model of the elevator. We confirmed that the cage follows up with the preprogrammed references of velocity and acceleration satisfactorily. We discuss the effects of controller parameters and decomposition of the system on the performance to show the design guidelines of the sliding mode controller.