Mechatronics 15 (2005) 1159–1174

Comparison of energy-saving on the speed

control of the VVVF hydraulic elevator
with and without the pressure accumulator
Xu Bing a, Yang Jian b,*
, Yang Huayong a

a
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University,
Hangzhou, 310027 Zhejiang, PR China
b
College of Urban Railway Transportation, Shanghai University of Engineering Science,
350 Xianxia Road, Shanghai 200336, PR China

Accepted 31 May 2005

Abstract

The speed control system of variable voltage variable frequency (VVVF) hydraulic elevator
with the pressure accumulator has been designed, which is a kind of the innovation energy-
saving hydraulic elevator. The control system of the VVVF hydraulic elevator with the pres-
sure accumulator is analyzed, and the speed control of the VVVF hydraulic elevator with the
pressure accumulator is studied using the PID control algorithm. The comparison of the
experimental researches of energy-saving is carried out for the speed control of the VVVF
hydraulic elevator with and without the pressure accumulator. The experimental results show
that the VVVF hydraulic elevator with the pressure accumulator has higher efficiency com-
pared with the VVVF hydraulic elevator without the pressure accumulator.
Ó 2005 Elsevier Ltd. All rights reserved.

Keywords: VVVF hydraulic elevator; Energy-saving; Pressure accumulator; Comparison

*
Corresponding author. Address: College of Urban Railway Transportation, Shanghai University of
Engineering Science, 350 Xianxia Road, Shanghai 200336, PR China. Tel.: +86 21 621901276; fax: +86 21
62190127.
E-mail address: yang2580@pub.sz.jsinfo.net (J. Yang).

0957-4158/$ - see front matter Ó 2005 Elsevier Ltd. All rights reserved.
doi:10.1016/j.mechatronics.2005.06.009
1160 B. Xu et al. / Mechatronics 15 (2005) 1159–1174

Nomenclature

Mh equivalent mass (kg)

fL equivalent frictional force (N)
Ah area of piston (m2)
pLWU load pressure in the upward direction without the pressure accumulator
(MPa)
pLWD load pressure in the downward direction without the pressure accumu-
lator (MPa)
vWU speed of cabin in the upward direction without the pressure accumula-
tor (m/s)
vWD speed of cabin in the downward direction without the pressure accumu-
lator (m/s)
pLAU load pressure in the upward direction with the pressure accumulator
(MPa)
pLAD load pressure in the downward direction with the pressure accumulator
(MPa)
vAU speed of cabin in the upward direction with the pressure accumulator
(m/s)
vAD speed of cabin in the downward direction without the pressure accumu-
lator (m/s)
pAmU working pressure of motor when hydraulic pump–motor in the accu-
mulator circuit works at the state of motor (MPa)
nAmU working revolution of motor when hydraulic pump–motor in the accu-
mulator circuit works at the state of motor (rpm)
QxlU flow rate of internal leakage of motor when hydraulic pump–motor in
the accumulator circuit works at the state of motor (m3/s)
pApD working pressure of pump when hydraulic pump–motor in the accumu-
lator circuit works at the state of pump (MPa)
nApD working revolution of pump when hydraulic pump–motor in the accu-
mulator circuit works at the state of pump (rpm)
qApD rated displacement of pump when hydraulic pump–motor in the accu-
mulator circuit works at the state of pump (m3/rev.)
QxlD flow rate of internal leakage of pump when hydraulic pump–motor in
the accumulator circuit works at the state of pump (m3/s)
cxs internal leakage coefficient of pump–motor in the accumulator circuit

1. Introduction

Hydraulic power transmission had a record of longer history in the applications

of industry. But its energy consumption is larger, so it is difficult to be widely applied
in the industry. In order to improve the efficiency of hydraulic power transmission,
researchers have put forward many methods aiming at the energy-saving. The com-
 B. Xu et al. / Mechatronics 15 (2005) 1159–1174 1161

ponent design, control system itself and control algorithm were studied for the sys-
tem of hydraulic power transmission [1–3]. The energy-saving of hydraulic system
was studied using the programmable valve, which is a unique combination of five
proportional cartridge valves connected in some ways [4,5]. The combination of a
hydraulic pump with a variable speed electric motor increases the efficiency of mo-
tion control system [6].
With the rapid development of the modern science and technology, especially the
perfection of electro-hydraulic proportional technology, hydraulic elevator with elec-
tro-hydraulic proportional valves appeared [7]. In recent years the designers gradu-
ally adopt the methods of pressure–flow rate–displacement and electro-calibration in
the design of hydraulic elevator, which makes hydraulic elevator more perfect in
steady-state precision, dynamic response and high stability. With the development
of computer control, microcomputer processing also begins to be applied to the con-
trol of hydraulic elevator so as to realize modern control strategy. Hydraulic elevator
is based on the technique cores of VVVF. The perfect control of the VVVF hydraulic
elevator is realized through combining the control of motor revolutions with flow
rate transducer or the speed transducer of good performance. It is volume control
system with energy-saving and without relief losses [8].
In this paper, the speed control system of the VVVF hydraulic elevator with the
pressure accumulator has been designed, which is a kind of innovation energy-saving
hydraulic elevator. The speed control of the VVVF hydraulic elevator with pressure
accumulator is studied. The comparison of the experiments of energy-saving are car-
ried out for the speed control of the VVVF hydraulic elevator with and without the
pressure accumulator. The experimental results show that in the downward direc-
tion, the efficiency of the VVVF hydraulic elevator with the pressure accumulator
is 60%, and the efficiency of the VVVF hydraulic elevator without the pressure accu-
mulator is only 37%, and in the upward direction, the efficiency of the VVVF
hydraulic elevator with the pressure accumulator is 57%, and the efficiency of the
VVVF hydraulic elevator without the pressure accumulator is only 44%.

2. Control system of the VVVF hydraulic elevator with the pressure accumulator

As shown in Fig. 1, the control system of the VVVF hydraulic elevator with pres-
sure accumulator consists of two parts. The first is the main circuit containing
hydraulic pump–motor 2. The second is the accumulator circuit containing hydraulic
pump–motor 3. The purpose of the accumulator circuit is that additional power is
supplied for the VVVF hydraulic elevator in the upward direction, and in the down-
ward direction the pressure energy of cabin itself is stored in the pressure accumula-
tor for the next use.
While the elevator begins to ascend, the upward signal is sent by the computer
controller. In the accumulator circuit, hydraulic pump–motor 3 (hydraulic motor)
provides the additional power for electrical motor 1. If the additional power of
the accumulator is larger than that of the payload, inverter is demanded to provide
electromagnetic braking torque and avoid the startup impacting upward, otherwise,
1162 B. Xu et al. / Mechatronics 15 (2005) 1159–1174

Signals

Computer controller 9

Cabin
8

P2
Accumulator

10
Inverter

6 11
5 12

4 M
3 2 1 14 13

Fig. 1. Control system of the VVVF hydraulic elevator with the pressure accumulator: (1) electrical
motor; (2) hydraulic pump–motor for main circuit; (3) hydraulic pump–motor for accumulator circuit; (4)
and (14) one way valves; (5) and (13) safety valves; (6) on–off solenoid valve; (7), (10) and (12) pressure
transducers; (8) photoelectric encoder; (9) piston; (11) pilot one way valve.

inverter is demanded to provide driving power to finish the process of startup accel-
eration. In the main circuit, hydraulic pump–motor 2 is working at the state of
hydraulic pump. When the output pressure of the pump is larger than that of cabin
itself, the hydraulic oil opens a one-way valve 11 and flows into the cylinder to make
the piston 9 move upward. When the cabin is close to the stopping position, the stop-
ping signal is sent by the computer controller, and on–off solenoid valve 6 is turned
off, then the output signal of inverter stops at the same time and the elevator stops.
While the elevator begins to run down, the pressure pre-balance is controlled first
at both sides of the one-way valve 11. When the control of the pressure pre-balance
is finished, the hydraulic elevator starts to descend, and hydraulic pump–motor 2 is
working at the state of hydraulic motor and some pressure energy of cabin itself is
stored in the pressure accumulator for the next use. The control signal given by
the computer controller drives the electrical motor 1 to run from a positive direction
to a reverse direction. The electrical motor 1 begins to generate electricity at this
time. During the entire downward process, the computer controller continuously cal-
 B. Xu et al. / Mechatronics 15 (2005) 1159–1174 1163

ibrates control signals according to the desired speed and practical speed. So the
practical speed always coincides with the desired speed.
In the control system of the VVVF hydraulic elevator with the pressure accumula-
tor, it is necessary to adjust the parameters of the pressure accumulator exactly, which
is the premise that the elevator works well. The force moment (TLM) of shaft for
hydraulic pump–motor 2 and hydraulic pump–motor 3 is produced by the cylinder
pressure of the elevator and the force moment (Ta) of shaft for hydraulic pump–
motor 2 and hydraulic pump–motor 3 is produced by the pressure of the accumulator.
When the elevator works, the pressure of accumulator always varies and Ta varies
too. In the system design, the volume and oil quantity of an accumulator are exactly
calculated to ensure that Ta is at a narrow range of TLM in the process of the elevator
operation. Otherwise, the efficiency of the system will decrease.

3. Experiments of speed control of VVVF hydraulic elevator with the pressure

accumulator

The experiments are carried out in the upward and downward direction, including
the preset desired speed, the practical speed of the elevator, the working pressure of
cabin and the accumulator pressure. The speed is measured by photoelectric encoder
8 and the pressure is measured by pressure transducers 7, 10 and 12 in Fig. 1. In the
experiments, the PID control algorithm is adopted under the condition of 680 kg.
For the experimental work the sampling time chosen is 0.015 s, which is considered
to be appropriate in the required closed-loop system dynamics.

3.1. Experiments of the upward direction

The experimental results of the upward direction of the elevator under the
condition of 680 kg are shown in Fig. 2. Curve 1 is the desired speed, curve 2 is

0.6 18
4
0.5 15
1
0.4 2 12
p [MPa]

0.3 9
v [m/s]

3
0.2 6

0.1 3

0.0 0
-0.1
-3
0 3 6 9 12 15 18
t [s]

Fig. 2. Experimental results of upward direction: (1) desired speed; (2) practical speed; (3) working
pressure; (4) accumulator pressure.
1164 B. Xu et al. / Mechatronics 15 (2005) 1159–1174

the practical speed, curve 3 is the working pressure and curve 4 is the accumulator
pressure. From curve 4, the accumulator pressure is decreased with the increase of
the running height of the elevator from 17 MPa to 13.5 MPa. At the stage of high
speed in curve 2, the working pressure is seriously affected and the fluctuation is
slightly larger as shown in curve 3, but the working pressure is not almost affected
at the stage of low speed. The fluctuation of the accumulator pressure is less than
that of the working pressure.
The principle of the upward direction of the elevator is that the accumulator and
electrical motor supply the output torque at the same time to drive the pump in the
main circuit, which drives the piston of the cylinder to ascend. The reason for the
pressure fluctuation is that the overlapping of the fluctuation of electrical motor tor-
que and the fluctuation of the hydraulic motor torque in the accumulator circuit re-
sults in larger working pressure fluctuation, and the reason for smaller pressure
fluctuation of the accumulator completely results from the hydraulic motor itself
in the accumulator circuit.

3.2. Experiments of the downward direction

The experimental results of the downward direction of the elevator under the con-
dition of 680 kg are shown in Fig. 3. Curve 1 is the desired speed, curve 2 is the prac-
tical speed, curve 3 is the working pressure, and curve 4 is the accumulator pressure.
From curve 4, the accumulator pressure is increased with the decrease of the running
height of the elevator from 13.5 MPa to 17 MPa. At the stage of high speed in curve
2, the accumulator pressure is seriously affected and the pressure fluctuation is
slightly larger as shown in curve 3, but the accumulator pressure is not almost af-
fected at the stage of low speed. The fluctuation of the working pressure is less than
that of the accumulator pressure.

0.6 18

0.5 15
4
0.4 12
p [MPa]

0.3 1 2 9
v [m/s]

3
0.2 6

0.1 3

0.0 0

-0.1 -3
0 3 6 9 12 15 18
t [s]

Fig. 3. Experimental results of downward direction: (1) desired speed; (2) practical speed; (3) working
pressure; (4) accumulator pressure.
 B. Xu et al. / Mechatronics 15 (2005) 1159–1174 1165

The principle of the downward direction of the elevator is that electrical motor
and the motor in the main circuit supply the output torque at the same time to drive
the pump in the accumulator circuit, and the energy of the pump in the accumulator
circuit is stored in the accumulator for the next use. The reason for the pressure fluc-
tuation is that the overlapping of the fluctuation of electrical motor torque and the
fluctuation of the hydraulic motor torque in the main circuit results in larger pressure
fluctuation of the accumulator, and the reason for smaller fluctuation of the working
pressure completely results from the hydraulic motor itself in the main circuit.

4. Experiments of energy consumption of the VVVF hydraulic elevator

with the pressure accumulator [9]

4.1. Experiments of the upward direction

The experiments of the upward direction of the elevator with the pressure accu-
mulator are shown in Fig. 4. Curve 1 is the load power, curve 2 is the output power
of hydraulic pump–motor in the main circuit, curve 3 is the practical speed, curve 4
is the input power of electrical motor, and curve 5 is the output power of the
accumulator.
The output power of electrical motor and the additional power of the pressure
accumulator are used to drive the elevator to ascend. The one shaft connection be-
tween electrical motor and hydraulic pump results in the greater losses of frictional
torque, furthermore, there are great energy losses of components in the system and
the system itself, so the elevator needs power supply to ensure the running of the ele-
vator. With the increase of the running height of the elevator, the additional power

18 1.2
5
2
15 1.0
1
12 0.8
3
9 0.6
v [m/s]
W [kw]

6 0.4
4
3 0.2

0 0.0

-3 -0.2
0 3 6 9 12 15 18
t [s]

Fig. 4. Experimental results of upward direction (1) load power; (2) output power of hydraulic pump–
motor; (3) practical speed; (4) input power of electrical motor; (5) output power of the accumulator.
1166 B. Xu et al. / Mechatronics 15 (2005) 1159–1174

18 1.2
5
15 1.0
1 2
12 0.8

9 0.6
W [kw]

v [m/s]
6 4 0.4
3

3 0.2

0 0.0

-3 -0.2
0 3 6 9 12 15 18
t [s]

Fig. 5. Experimental results of downward direction: (1) load power; (2) input power of hydraulic pump–
motor; (3) practical speed; (4) input power of electrical motor; (5) input power of the accumulator.

of the accumulator is gradually decreased, but input power of electrical motor is

gradually increased, especially, it is more obvious at the stage of constant speed.

4.2. Experiments of the downward direction

The experiments of the downward direction of the elevator with the pressure accu-
mulator are shown in Fig. 5. Curve 1 is the load power, curve 2 is the input power of
hydraulic pump–motor in the main circuit, curve 3 is the practical speed, curve 4 is
the input power of electrical motor and curve 5 is the input power of the accumula-
tor. With the decrease of the running height of the elevator, the input power of
hydraulic pump–motor in the main circuit is gradually increased, and also the stored
power of the pressure accumulator and input power of electrical motor are gradually
increased.

5. Experiments of energy consumption of the VVVF hydraulic elevator

without the pressure accumulator [9]

5.1. Experiments of the upward direction

The experiments of the upward direction of the elevator without the pressure
accumulator are shown in Fig. 6. Curve 1 is the load power, curve 2 is the output
power of hydraulic pump–motor in the main circuit, curve 3 is the practical speed
curve, and curve 4 is the input power of electrical motor.
The obvious characteristic of the VVVF hydraulic elevator without the pressure
accumulator is adaptability of input energy, that is, load needs the magnitude of en-
ergy which electrical motor supplies. So the VVVF hydraulic elevator without the
 B. Xu et al. / Mechatronics 15 (2005) 1159–1174 1167

24 0.6
4
20 0.5
2
16 0.4
3
12 0.3

v [m/s]
W [kw]

8 0.2
1
4 0.1

0 0.0

-4 -0.1
0 3 6 9 12 15
t [s]

Fig. 6. Experimental results of upward direction: (1) load power; (2) output power of hydraulic pump–
motor; (3) practical speed; (4) input power of electrical motor.

pressure accumulator is actually a sensitive system of pressure and flow rate and is
also called ‘‘sensitive system of power’’.

5.2. Experiments of the downward direction

The experiments of the downward direction of the elevator without the pressure
accumulator are shown in Fig. 7. Curve 1 is the load power, curve 2 is the input
power of hydraulic pump–motor in the main circuit, curve 3 is the practical
speed, and curve 4 is the feedback power of inverter. The difference between the up-
ward direction and the downward direction of the elevator without the pressure

12 0.6

10 0.5
2 1
8 3 0.4

6 0.3
W [kw]

v [m/s]

4 0.2

2 4 0.1

0 0.0

-2 -0.1
0 3 6 9 12 15
t [s]

Fig. 7. Experimental results of downward direction: (1) load power; (2) input power of hydraulic pump–
motor; (3) practical speed; (4) feedback power of inverter.
1168 B. Xu et al. / Mechatronics 15 (2005) 1159–1174

accumulator is that the feedback power in the downward direction replaces input
power of electrical motor in the upward direction.

6. Comparison

6.1. Calculations of the power of the VVVF hydraulic elevator

without the pressure accumulator [8]

6.1.1. Load power

Load power in the upward direction is given as
W LWU ¼ M h  g  vWU ¼ ðpLWU  Ah  fL Þ  vWU ð1Þ
Load power in the downward direction is given as
W LWD ¼ M h  g  vWD ¼ ðpLWD  Ah þ fL Þ  vWD ð2Þ
The parameters pLWU, pLWD, vWU and vWD can be measured with the pressure trans-
ducers and the photoelectric encoder, then WLWU and WLWD are calculated using
formulae (1) and (2) by the computer.

6.1.2. Input power of electrical motor in the upward direction

The input power WmWU can be measured by clip-on wattmeter.

6.1.3. Feedback power in the downward direction

The feedback power WfWD can be also measured by clip-on wattmeter.

6.2. Calculations of the power of the VVVF hydraulic elevator

with the pressure accumulator

6.2.1. Load power

Load power in the upward direction is given as
W LAU ¼ M h  g  vAU ¼ ðpLAU  Ah  fL Þ  vAU ð3Þ

Load power in the downward direction is given as

W LAD ¼ M h  g  vAD ¼ ðpLAD  Ah þ fL Þ  vAD ð4Þ
The parameters pLAU, pLAD, vAU and vAD can be measured with the pressure trans-
ducers and the photoelectric encoder, then WLAU and WLAD are calculated using
formulae (3) and (4) by the computer.

6.2.2. Input power of electrical motor in the upward direction

The input power WmAU can be measured by clip-on wattmeter.

6.2.3. Input power of electrical motor in the downward direction

The input power WmAD can be also measured by clip-on wattmeter.
 B. Xu et al. / Mechatronics 15 (2005) 1159–1174 1169

6.2.4. The input power of motor is given in formula (5) in the upward direction
when hydraulic pump–motor in the accumulator circuit works
at the state of motor

W AmU ¼ pAmU  ðnAmU  qApD þ QxlU Þ


qApD
¼ pAmU  nAmU  qApD þ cxs  pAmU ð5Þ
l
The parameters pAmU and nAmU can be measured, then WAmU is calculated using
formula (5) by the computer.

6.2.5. The output power of pump is given in formula (6) in the downward direction
when hydraulic pump–motor in the accumulator circuit works at the state of pump

W ApD ¼ pApD  ðnApD  qApD  QxlD Þ


qApD
¼ pApD  nApD  qApD  cxs  pApD ð6Þ
l
The parameters pApD and nApD can be measured, then WApD is calculated using
formula (6) by the computer.

6.3. Definitions of energy consumption without the pressure accumulator

6.3.1. Energy consumption of load

The energy consumption of load in the upward direction means the energy of
driving the elevator in formula (7).
Z t
P LWU ¼ W LWU  dt ð7Þ
0
The energy consumption of load in the downward direction means that the eleva-
tor itself possesses potential energy in formula (8).
Z t
P LWD ¼ W LWD  dt ð8Þ
0

6.3.2. Input energy of electrical motor in the upward direction

The input energy of electrical motor means energy of driving electrical motor in
the upward direction in formula (9).
Z t
P mWU ¼ W mWU  dt ð9Þ
0

6.3.3. Feedback energy in the downward direction in formula (10)

Z t
P fWD ¼ W fWD  dt ð10Þ
0
1170 B. Xu et al. / Mechatronics 15 (2005) 1159–1174

6.4. Definitions of energy consumption with the pressure accumulator

6.4.1. Energy consumption of load

The energy consumption of load in the upward direction means the energy of
driving the elevator in formula (11).
Z t
P LAU ¼ W LAU  dt ð11Þ
0

The energy consumption of load in the downward direction means that the eleva-
tor itself possesses potential energy in formula (12).
Z t
P LAD ¼ W LAD  dt ð12Þ
0

6.4.2. Input energy of electrical motor

The input energy of electrical motor in the upward direction in formula (13)
Z t
P mAU ¼ W mAU  dt ð13Þ
0

The input energy of electrical motor in the downward direction in formula (14)
Z t
P mAD ¼ W mAD  dt ð14Þ
0

6.4.3. Energy of hydraulic pump–motor in the accumulator circuit

Under the condition of the upward direction, the energy means the output addi-
tional energy of motor in formula (15) when hydraulic pump–motor in the accumu-
lator circuit works at the state of motor.
Z t
P AmU ¼ W AmU  dt ð15Þ
0

Under the condition of the downward direction, the energy means the output
additional energy of pump in formula (16) when hydraulic pump–motor in the accu-
mulator circuit works at the state of pump.
Z t
P ApD ¼ W ApD  dt ð16Þ
0

6.5. Calculations of energy consumption

6.5.1. Calculations of the energy consumption of the VVVF hydraulic elevator

without the pressure accumulator
Under the condition of the upward direction, the energy consumption of the VVVF
hydraulic elevator without the pressure accumulator is calculated using formulae (7)
and (9), and calculation results of the energy consumption is shown in Table 1.
 B. Xu et al. / Mechatronics 15 (2005) 1159–1174 1171

Table 1
Energy consumption of the VVVF hydraulic elevator without the pressure accumulator
Motion direction Calculation results of energy consumption (kJ)
Upward PLWU = 89 PmWU = 201
Downward PLWD = 89 PfWD = 33

Under the condition of the upward direction, the energy consumption of the
VVVF hydraulic elevator without the pressure accumulator is calculated using for-
mulae (8) and (10), and calculation results of the energy consumption is shown in
Table 1.

6.5.2. Calculations of the energy consumption of the VVVF hydraulic elevator

with the pressure accumulator
Under the condition of the upward direction, the energy consumption of the
VVVF hydraulic elevator with the pressure accumulator is calculated using formulae
(11), (13) and (15), and calculation results of the energy consumption is shown in
Table 2.
Under the condition of the upward direction, the energy consumption of the
VVVF hydraulic elevator with the pressure accumulator is calculated using formulae
(12), (14) and (16), and calculation results of the energy consumption is shown in
Table 2.

6.6. Total efficiency of the system

6.6.1. System of the VVVF hydraulic elevator without the pressure accumulator
Under the condition of the upward direction, the efficiency of the VVVF hydrau-
lic elevator without the pressure accumulator is given as
P LWU
gWU ¼ ð17Þ
P mWU
The data of Table 1 and formula (17) are used to calculate the efficiency of the sys-
tem without the pressure accumulator.
Under the condition of the downward direction, the efficiency of the VVVF
hydraulic elevator without the pressure accumulator is given as
P fWD
gWD ¼ ð18Þ
P LWD

Table 2
Energy consumption of the VVVF hydraulic elevator with the pressure accumulator
Motion direction Calculation results of energy consumption (kJ)
Upward PLAU = 92 PmAU = 58 PAmU = 103
Downward PLAD = 93 PmAD = 71 PApD = 98
1172 B. Xu et al. / Mechatronics 15 (2005) 1159–1174

The data of Table 1 and formula (18) are used to calculate the efficiency of the sys-
tem without the pressure accumulator.

6.6.2. System of the VVVF hydraulic elevator with the pressure accumulator
Under the condition of the upward direction, the system efficiency of the VVVF
hydraulic elevator with the pressure accumulator means that the energy consump-
tion (PLAU) of load is divided by the sum of the accumulator energy (PAmU) and
the input energy (PmAU) of electrical motor in formula (19).
P LAU
gAU ¼ ð19Þ
P mAU þ P AmU
Under the condition of the upward direction, the data of Table 2 and formula (19)
are used to calculate the system efficiency with the pressure accumulator.
Under the condition of the downward direction, the system efficiency of the
VVVF hydraulic elevator with the pressure accumulator means that the accumulator
energy (PApD) is divided by the sum of the energy consumption (PLAD) of load and
the input energy (PmAD) of electrical motor in formula (20).
P ApD
gAD ¼ ð20Þ
P mAD þ P LAD
Under the condition of the downward direction, the data of Table 2 and formula
(20) are used to calculate the system efficiency with the pressure accumulator.
The comparisons of total efficiency are shown in Table 3. It is obvious that the
efficiency of the VVVF hydraulic elevator with the pressure accumulator is much
higher than that of the VVVF hydraulic elevator without the pressure accumulator.
In Table 3, why the VVVF hydraulic elevator is more efficient when it ascends
without the pressure accumulator?
Formulae (17) and (18) are used to respectively calculate the efficiencies of the sys-
tem without the pressure accumulator under the conditions of the upward and
downward direction. When the elevator ascends, the inverter absorbs electrical en-
ergy from power supply and directly drives the electrical motor to work. The electri-
cal motor drives hydraulic pump to enable the elevator to ascend, and the electrical
motor works at the state of electromotion in the process of ascending. When the
elevator descends, the gravity of cabin itself is the power supply for the elevatorÕs
descending. Hydraulic pump–motor is working at the state of hydraulic motor,
and also the electrical motor becomes electrical generator. The electrical energy gen-
erated by the electrical generator is feed back to power supply through inverter addi-
tional devices, such as electric reactor and filter, so the lose of the electrical energy is

Table 3
Comparisons of total efficiency
Motion VVVF hydraulic elevator VVVF hydraulic elevator with
direction without the pressure accumulator (%) the pressure accumulator (%)
Upward 44 57
Downward 37 60
 B. Xu et al. / Mechatronics 15 (2005) 1159–1174 1173

higher, on the other hand, the electrical generator works at the state of lower effi-
ciency, therefore the VVVF hydraulic elevator is more efficient when it ascends with-
out the pressure accumulator.
In Table 3, why the VVVF hydraulic elevator is more efficient when it descends
with the pressure accumulator?
Formulae (19) and (20) are used to respectively calculate the efficiencies of the sys-
tem with the pressure accumulator under the conditions of the upward and down-
ward direction. When the elevator ascends, the energy of both the electrical motor
and the pressure accumulator drives the elevator to ascend. When the elevator des-
cends, the potential energy of cabin itself is directly stored in the pressure accumu-
lator in the form of hydraulic energy without through inverter additional devices,
such as electric reactor and filter. In the system with the pressure accumulator, en-
ergy transformation is carried out between the pressure accumulator and the cabin,
and the energy lose is less in the process of descending. Therefore the VVVF hydrau-
lic elevator is more efficient when it descends with the pressure accumulator.

7. Conclusions

(1) The speed control system of the VVVF hydraulic elevator with the pressure
accumulator has been proposed, which is a kind of innovation energy-saving
hydraulic elevator.
(2) Experiments of speed control of the VVVF hydraulic elevator with the pressure
accumulator show that although fluctuating phenomenon exists in the pressure
of system, the practical running curve of elevator is almost the same as the
desired running curve of the elevator, and it still runs steadily.
(3) The experimental results show that in the downward direction, the efficiency of
the VVVF hydraulic elevator with the pressure accumulator is 60%, and the
efficiency of hydraulic elevator without the pressure accumulator is only
37%, and the efficiency of VVVF hydraulic elevator with the pressure accumu-
lator is much higher than that of VVVF hydraulic elevator without the pressure
accumulator. Also hydraulic system with the pressure accumulator is applied
to the other vertical lifting mechanical systems.

Acknowledgement

This work was supported by the National Natural Science Foundation of China.

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