現代的生活中，電梯是一種非常便利的短程運輸工具，所以，載客用的電梯要求是非常高的，目前人們所要求的是舒適和快速。為了符合這些的要求，我們採用了適應性控制法則來作其電梯的速度控制，此種控制法則是隨著環境的變化來作其參數的調整，因此，適應性控制法則會得到較好的速度規劃曲線，而且，系統的使用的限制範圍也變大。 我們主要設計控制器的概念是來自參考文獻[2][3][4][5][6]，所使用控制法則是相似於參考文獻[2]，系統所使用的摩擦力概念是由參考文獻[4]，適應性控制法則是參考文獻[3]，增益值的調整是由參考文獻[6]，所有的調整都是藉由伺服誤差向來作調整依據。 Many approaches to realize elevators suited to future intelligent buildings are necessary because elevators are extremely widely used as transportation means in buildings. The elevator system is adopting adaptive controller of velocity. It can be used in the understanding environment because the parameters of control system are adjusted to change environment. Therefore, the adaptive controller obtains better effect of control on tracking velocity curve, and that the controllable of adaptive controller is widely. The main idea of design controller is based on the methods of paper [2][3][4][5][6], to derive the control law similar to the form of [2], by Lyaponouv method. For the case with friction disturbance, to design a disturbance attune for friction approach [4]. For confirmation of bound of the parameters, we modulate the parameters to update the error between real parameter values and the estimated ones. The high gain is applied to reduce the effect of uncertainty [3]. Byrnes and Willems propose way, which adjusts K value [6]. All the adaptive laws are to update the values by the filtered servo error, to maintain the system stability for precise position control.
