Weight-transducerless active disturbance rejection control strategy for gearless permanent magnet elevator machine

A torque control strategy adopting active disturbance rejection control (ADRC) is proposed to attenuate the sliding of direct-drive traction systems without weight-transducer information.By using the extended state observer (ESO) and the nonlinear error feedback (NLEF) controller, the active disturbance rejection controller is designed to accelerate the dynamic response and enhance the system robustness.As a result, the sliding distance and speed can be reduced during the elevator startup.In order to select the optimal parameters, the performance by the control gain is analyzed.In addition, the stability of NLEF controller is analyzed via Lyapunov theory.The feasibility of the proposed strategy is verified by the experimental results on an 11.7 kW elevator traction machine.