1 Input data - speed
Parameter Value
Initial speed vi m/s
Final speed vf m/s
2.1 Input data - acceleration (style 1)
Parameter Value
Target acceleration at m/s2
Initial jerk ji m/s3
Final jerk jf m/s3
2.2 Input data - acceleration (style 2)
Parameter Value
Nominal speed vn m/s
Nominal acceleration time tn s
Initial S curve si %
Final S curve sf %
3 Results
Parameter Value
Peak acceleration ap 0.5 m/s2
Initial jerk duration t1 0.5 s
Duration of constant acceleration t2 1.5 s
Final jerk duration t3 0.5 s
Total duration t 2.5 s
Distance traveled during the initial jerk z1 0.021 m
Distance traveled in constant acceleration z2 0.75 m
Distance traveled during the final jerk z3 0.479 m
Total traveled distance z 1.25 m
Notes
  • For good comfort, keep the jerk less than 2m/s3 and the target acceleration less than 1m/s2
  • Always check that the motor is able to generate the additional torque necessary for the desired acceleration. As a rule of thumb, given the following hypotheses:
    • rope elevators with 50% balancing of the car load capacity
    • weight of the cabin equal to its load capacity
    • car is full loaded and accelerating upward (worst case)
    the additional torque (expressed as a percentage of the static torque, i.e. the torque required to keep the car stationary or at a constant speed under the same load conditions) is approximately 7 times the taget acceleration (expressed as a percentage of g , gravity acceleration, 9.8m/s2). For example, with target acceleration equal to 5% of g, the additional torque required for acceleration will be approximately 5% x 7 = 35% of the static torque.
  • The relationships between input data in style 1 and 2 are as follows:
    • ji,f=100*vn/(2*si,f*tn2)
    • at=vn/tn