An energy-based control model for autonomous lifts

In this paper are presented some preliminary results on an autonomous lift subsystem made with the interconnection of a DC/AC controlled converter, a salient permanent magnet synchronous motor (SPMSM), the charge and counterweight and the mechanical transmission system. These results are firstly the derivation of a Bond Graph and a related Port-Controlled Hamiltonian (PCH) models and, secondly, the analysis of two identification methods to estimate online the SPMSM parameters.