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<p>The dynamic model of a mechatronic escalator system driven by a permanent magnet synchronous motor (PMSM) is formulated using Hamilton’s principle. Passenger mass, damping effects, and friction are incorporated into the model as external disturbances. An energy balance equation that integrates both mechanical energy and electrical energy is also derived. This equation establishes that the total input energy is equivalent to the sum of the dissipation, magnetic, and kinetic energies. A trajectory energy cost function (TECF) is proposed as a criterion to evaluate and compare various trajectories. Numerical simulations demonstrate that the TECF can serve as a fitness function for designing minimum-energy trajectories. Finally, an optimal trajectory is derived using the calculus of variations, achieving the minimum input energy for speed-to-speed (STS) operations within an escalator system.</p>

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Dynamic modeling and operating trajectory energy analysis for a mechatronic escalator system

  • 期刊论文

  • 发表日期：

    2026年4月22日

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  • Kun-Yung Chen

摘要

The dynamic model of a mechatronic escalator system driven by a permanent magnet synchronous motor (PMSM) is formulated using Hamilton’s principle. Passenger mass, damping effects, and friction are incorporated into the model as external disturbances. An energy balance equation that integrates both mechanical energy and electrical energy is also derived. This equation establishes that the total input energy is equivalent to the sum of the dissipation, magnetic, and kinetic energies. A trajectory energy cost function (TECF) is proposed as a criterion to evaluate and compare various trajectories. Numerical simulations demonstrate that the TECF can serve as a fitness function for designing minimum-energy trajectories. Finally, an optimal trajectory is derived using the calculus of variations, achieving the minimum input energy for speed-to-speed (STS) operations within an escalator system.