Automatic Setup of Hydraulic Elevator Controls Using ILC and Virtual Outputs

Mechatronics and Robotics, 2004
Author(s):Loaiza Espinosa A., del Re L.
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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