1

Dynamic Motion Study of

Gearless Traction Elevators
















Submitted to the Faculty of
Worcester Polytechnic Institute
In partial fulfillment of the requirements for
Dynamics Course
By
Rachel Connolly rmconnolly@wpi.edu
Matthew Lepine mdlepine@wpi.edu
Zuhir Sras zmsras@wpi.edu

December 15, 2014
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Contents
Abstract .......................................................................................................................................................................................... 3
Background & Applications .............................................................................................................................................. 3
Objectives: ................................................................................................................................................................................ 3
Implementation plan: .......................................................................................................................................................... 4
Chapter 1: The Gearless Traction Elevator Overview ................................................................................................ 5
1. Introduction: .................................................................................................................................................................. 5
Chapter 2: Gearless Traction Elevator Specification and Motion Study ............................................................ 6
2. Introduction ................................................................................................................................................................... 6
2.1 History of the gearless traction elevator ......................................................................................................... 6
2.1.1 Background Information ............................................................................................................................... 6
2.1.2 Reasons for Development ............................................................................................................................. 6
2.1.3 Otis brothers & Co. Implementation ......................................................................................................... 7
2.2 Properties Analysis ................................................................................................................................................... 7
2.2.1 The Gearless Traction Elevator: Advantages and Disadvantages ............................................... 7
2.2.2 Materials Analysis ............................................................................................................................................ 8
2.2.3 Efficiency and Safety .................................................................................................................................... 13
Chapter 3: The Gearless Traction Elevator: Motion Study and Analysis ........................................................ 16
3. Introduction ................................................................................................................................................................ 16
3.1 Design .......................................................................................................................................................................... 16
3.1.1 Description of motion .................................................................................................................................. 16
3.1.2 Description of parts ...................................................................................................................................... 17
3.2 Cycle Process ............................................................................................................................................................ 21
3.2.1 Free Body Diagram ....................................................................................................................................... 21
3.2.2 Motion Analysis .............................................................................................................................................. 22
Chapter 4: The Gearless Traction Elevator: Concluding Remarks .................................................................... 28
4. Conclusion .................................................................................................................................................................... 28
References .................................................................................................................................................................................. 30
List of Figures ........................................................................................................................................................................... 32
Table of Equations .................................................................................................................................................................. 33


 3

Analysis of the Gearless Traction Elevator

ES 2503 Introduction to Dynamic Systems

Group Members: Rachel Connolly, Matthew Lepine, Zuhir Sras

Abstract
Background & Applications

Geared traction elevators are very important to todays modern world. They were
first introduced in 1903 and since then, this type of elevator has been the preferred choice
for skyscrapers and tall buildings worldwide. On average, they can reach speeds of up to
2,000 feet per minute and can travel distances of over 2,000 feet.

The components that make up a geared traction elevator are found in either the
machine room or the pit. In the pit, there is a counterweight, along with the elevator car,
both of which move vertically. They are connected to each other by multiple cables that
wrap around a sheave, which is a pulley with grooves around the circumference for
traction. The sheave is directly attached to and rotated by a motor, causing the elevator to
move up or down.

Objectives:

Describe the history and mechanics of the gearless traction elevator.
Study the dynamic motion of a gearless traction elevator by analyzing many
components of the elevator, including the sheave, the counterweight, the cables, and
the motor.
Study the effectiveness of the gearless traction elevator and its technological role in
improving safety and performance.
Research any problems or potential pitfalls concerning the gearless traction
elevator.
Research material standards incorporated in the production of the gearless traction
elevator.
 4

Implementation plan:

Research:
In this phase we will try to construct a better understanding of the history of the
gearless traction elevator and its implementations. Also, we will include any
information regarding issues that this technology has encountered. This phase will
mainly focus on gathering relevant sources and materials which satisfy our
objectives.

Analysis of researched materials:
We will analyze the translational motion of the car and the counterweight as well as
the rotational movement of the sheave and the motor. We will also take an in-depth
look at the safety and cable systems. In order to do this, we will use the kinematic
and kinetic equations of rigid body motion to derive the necessary equations and we
will model the systems to better understand the dynamic motion of the elevators.
During this section of project, we will also produce diagrams of motion in the
system.

Organizing and finalizing project:
In this phase, we will organize all information into the finalized project format based
on the guidelines provided. The conclusion section will summarize the results of the
project and how it helped us gain a better understanding of the intricacies of
dynamic systems.

Chapter 1: The Gearless Traction Elevator Overview

1. Introduction:

Of the many forms of lift technology that have surfaced since the 1800s, the gearless
traction elevator is considered to have the maximum performance, speed, and lifecycle of
them all. Despite the fact that millions of people use this technology on a daily basis, the
vast majority of people have no idea how intricate and innovative this technology is. Over
the past two centuries, many different forms of elevators have been designed and built,
however very few has seen success on the market. Some of the most popular modern
elevator technologies include hydraulic, geared traction, and gearless traction elevators;
although all useful in their own ways, each is used for a different purpose. In this report we
will review the gearless traction elevator, which is primarily used high-rise and heavy use.
First we will review the history of the gearless traction elevator and briefly compare
it with other similar technologies. This section will also include information on the design
process, advantages of a gearless traction elevator, and reasons for its use and popularity.
Next we will take a look at the kinetics and kinematics of motion that describe the gearless
traction elevator. We will analyze some of the various parts of the gearless traction
elevator, explain the steps of its motion, and describe the process of energy transfer
necessary to produce the movement of the passenger car. We will briefly cover the
geometry associated with the gearless traction elevator and discuss the equations of
motion associated with it. Finally, we will summarize our results in a way that will
demonstrate our understanding of the motion and history of the gearless traction elevator.

 6

Chapter 2: Gearless Traction Elevator Specification and Motion Study

2. Introduction

In this chapter we will take a look at the story behind the gearless traction elevator.
We will look into why Elisha Otis invented the gearless traction elevator and how he went
about accomplishing his goal. We will also discuss the advantages and disadvantages the
gearless traction elevator has compared to the geared traction elevator. We will study what
materials are used in a gearless traction elevator, and how those materials were selected.
Finally, we will look into some issues facing this technology and its improvements in
efficiency and reliability.

2.1 History of the gearless traction elevator

2.1.1 Background Information

Despite the advances in the development of the lift in the 1800s as a result of
applying machine power, safety issues continued to be a problem. In 1852, Elisha Otis was
given the assignment to design a solution that would eliminate the hazardous problem of
cable failure, which he accomplished in 1853 by introducing a new elevator design that
included a safety device that prevents falling in case a supporting cable should break. Since
the efficiency and safety of early elevators continued to improve, space in buildings upper
floors became more desirable. As hydraulic machines began to replace steam-powered
elevators in the early 1870s, Otis introduced a hydraulic elevator in 1878 that increased
speeds to 800 feet per minute (fpm). Over time, motor technology and control methods
evolved rapidly which enabled the direct-connected geared electric elevator to be
developed in 1889. By 1903, this design evolved into the gearless traction electric elevator,
which can be used in taller buildings and can operate at much higher speeds compared to
steam-powered elevators.1

2.1.2 Reasons for Development

As modern buildings began to rise greater in height, the need for lift technology to
meet those demands was not fulfilled until the gearless traction elevator was introduced in
 7

1903.2 After its introduction it became the standard design in the elevator industry for
many reasons. Firstly, it can be employed in buildings of any height, which made it a perfect
fit in big cities where most buildings are taller than 15 floors; in comparison, hydraulic
elevators can only operate in buildings within 2-5 floors height, and geared traction
elevators designed to work in buildings within 5-15 floors height. Secondly, it can be
mobilized for heavy use and have a long life cycle of over 50 years; in comparison,
hydraulic elevators are mobilized for light use while having a short life cycle of 20 years,
and geared traction elevators are designed for moderate use and have a life cycle of 30-35
years. Finally, the gearless traction elevator operates at higher speeds than the other two
major types, as it has average speeds of 500-1800 fpm compared to 100-350 fpm for
geared traction elevators and 100-150 fpm for hydraulic elevators. 3

2.1.3 Otis brothers & Co. Implementation

In 1861 Elisha Otis died, leaving his company to his two sons Norton and Charles.
The Otis brothers introduced a number of new advancements: in total, they amassed 53
patents for elevator design and safety devices.4 In 1868, the Otis brothers had developed a
steam passenger elevator with new safety features.5 Two years later, they introduced a
hydraulic elevator that operates on water pressure, and the first Otis passenger hydraulic
elevator was installed in 1878 in New York. In 1903, Otis introduced the design of the
gearless traction elevator, which would later become the standard design in the elevator
industry. The first gearless traction elevators were installed in the Beaver Building in New
York City and the Majestic Building in Chicago.1

2.2 Properties Analysis

2.2.1 The Gearless Traction Elevator: Advantages and Disadvantages

Popularity of the gearless traction elevator can be attributed to a number of key
factors. Firstly, it can be operated on buildings of different heights ranging from 12 to over
100 floors, which makes it suitable for use in cities where buildings tend to have over 20
floors. Secondly, it operates on higher typical speeds of 500-2400 fpm, with special
applications operating at 3600 fpm, compared to 100-150 fpm in the case of hydraulic
elevators. Thirdly, the life cycle of driving machine in the gearless traction elevator is the
 8

longest at more than 50 years, compared to other designs like the hydraulic elevator, which
has a life cycle of driving machine of 20 years. Finally, when compared to other designs
such as the hydraulic elevator and geared traction, it is the premier choice when it comes to
maximum performance and optimum ride quality.3
On the other hand, there are a few disadvantages that might make other designs
more appealing to implement in certain situations. Firstly, it has the highest installation
cost when compared to other popular designs such as hydraulic and geared traction
elevators. Secondly, it has the highest cost to maintain when compared to hydraulic and
geared traction elevators. Finally, it imposes all equipment loads on building structure
while the loading forces are larger, which requires structural building considerations.3

2.2.2 Materials Analysis

The main components of an elevator are the main control, a motor, the sheave, some
cables, a passenger car, a counterweight, and guide rails. Figure (2) shows these main
components and their locations in the elevator system. The main control, motor, and
sheave are all found above the elevator shaft in the control room. The rest of the
components are found in the actual elevator shaft.
The main control, sometimes referred to as the controller, is the device that turns
the power that supplies the motor on and off. It uses microprocessor technology that
receives and sends out signals that controls all activities associated with the elevator.
These include the opening and closing of the door, rate of acceleration and deceleration,
and when to stop or move. The most common selector assembly consists of a metal tape
and the selector box runs up and down on it. Where the selector box sends signals back to
the controller that identify the passengers car location.6
The counterweights made of individual flat plates of steel, where the number of
plates in the stack depends on the amount of weight required.7 The design includes rods
that run through the weights themselves to secure the counterweight.
The cables are usually made of steel and their lengths are dependent on the level of
rise. The total length of cables determines the traction sheave diameter needed, which in
turn determines the motor type. Suspension traction media is a new cables system that
 9

uses a significantly smaller pulley in diameter, which requires a much smaller motor
resulting in significant space saving.8
The sheave is usually made of iron and usually goes through different processes,
such as heat treating and alloying, to classify it as having a higher Brinell hardness. In the
present era, most original equipment manufacturers require a minimum sheave hardness
of 220 Brinell and usually work with a Brinell as high as 260.9 Wire rope is harder than the
sheave on which it operates, which is why a sheave will continuously wear throughout its
life. In general, a smaller sheave produces greater shaft stress and deflection due to
increased belt tension, while a larger sheave increases the contact with belts, reducing the
number of belts required.12
The passenger car is constructed with a steel framework for durability and strength.
A set of steel beams above the car, called the cross head, hold the pulley for the hoist
cable.11 It also consists of a platform fabricated out of structural or formed steel members,
which is the surface on which passengers stand, or freight rests, on. A steel or sub-floor is
attached to the surface of the structural frame, which receives a finish flooring material
after the cab is installed, such as hardwood or a very short pile carpet with no padding. A
car platform may be mounted on rubber pads to reduce noise and vibrations. The sides of a
passenger car are usually made of steel. Other interior trim may be made of stainless steel
or wood for appearance.10
The guide rails are made of steel and are attached to the bottom and top of the
interior walls of the elevator shaft, which runs from the top to the bottom of the building.11
Gearless traction elevators usually use either direct current (DC) motors or
alternating current (AC) motors. Most often in the present time, almost all elevators use
one of two types of AC motors: the first and most common type involves geared motors for
elevators moving at 500 fpm, while the other involves direct-drive motors that are used for
elevators moving at higher speeds.12
The viscoelastic materials and strength of materials used in an elevator are
dependent upon the specifications elevators have to tolerate. Elevators need to be
prepared for excessive weight and wind especially in high-rise buildings.
Elevators resist excessive weight by using steel as a main material. Steel comprises
the supports of the actual elevator car and is the material used in the cables. Steel has many
10

properties that are favorable in a situation where there is a heavy load. Steel limits
stretching and does not wear easily.18 Most elevators are supported by somewhere
between two and eight steel cables wound together.19 Each one individually can support
the weight, but by having multiple cables, the load is being distributed more evenly
amongst all of the cables, thereby decreasing the tension in each cable. If one cable breaks,
there are others present that can still support the load. Multiple steel cables are important
to the function of an elevator; by having multiple cables, you increase redundancy. Also, the
cables are exposed to many different factors when they run over the drive sheave. These
include comprising tension, torsion, flexural stress and compression.20 These all lead to
fatigue and abrasive wear, which is why it is important to have a strong materials and
redundancy. The chart below shows typical values for tensile strength for alloy steel. The
strength of steel allows for the cables to stretch before they would ever break.

Values for Alloy Steel

Density 487 - 493 lb/ft3
Youngs Modulus 29.7 - 31.5 * 106 psi
Yield Strength 58 - 218 ksi
Tensile Strength 79.8 - 255 ksi
Elongation 3 - 38 %strain
Hardness-Vickers 140 - 693 HV
Fracture Toughness 12.7 - 182 ksi*in.5
Fracture Strength at 107 cycles 36 - 102 ksi
Table (1)
Steel wires undergo a special drawing process in order to reach these very high
stress levels. A piece of steel is drawn out reducing its diameter. The steel undergoes a
process called patenting. It is subjected to very high temperatures creating large grain.
Then it is cooled, and this rapid decrease in temperature results in a change to very fine
grain, increasing strength.20
When designing an elevator, one needs to make sure that it does not heat up too
much or too easily. Referring to the graph below, it is evident that as temperature
11

increases, the strength decreases. If it reaches a temperature of 480C, a change in

microstructure will occur altering the strength permanently.20

Figure (1)

Wind is also a major factor in creating high-rise buildings. As a result, viscoelastic
materials are used for damping. Viscoelastic materials have both viscous and elastic
properties. Viscous materials have the ability to resist shear stresses and strain in a ratio
that is linear to time when there is an applied stress. Elastic materials return to their
original shape when the stress is removed, meaning that a viscoelastic material would have
strain changing with time. Therefore, viscoelastic materials can creep, recover, and absorb
energy.21 Due to these properties, viscoelastic dampers allow for some movement, but snap
back to their original shape. Dampers are very important to elevators to minimize or
eliminate damage due to vibration. For example, by installing dampers in a building, it
could sway up to a few feet due to wind without any harm.22
The influence of wind and the strength of steel both place limits on how high an
elevator can be. As the height increases, effective rope stiffness decreases20 and there is
more worry about creating a damping effect to counteract wind. Another aspect that is
limited is speed; as speed increases, the air pressure inside the passenger car of the
elevator changes more rapidly. This quick pressure change causes discomfort for
passengers and thus, the speed of approximately 1600 fpm seems to be the maximum
speed acceptable for passenger comfort.23

12

Figure (2)


13

2.2.3 Efficiency and Safety

In the process of designing any machine, safety factors play a critical role to prevent
hazard and harmful accidents. Next we will take a closer look at the safety and performance
of main components of the gearless traction elevator.
The cable wires connecting the elevator car and the counterweight over grooves in
the sheave is the most basic and obvious safety component. Made of (often hemp) rope
providing lubricationand steel wiresproviding traction and durabilitythese cables
can withstand an incredible amount of tension. Although each cable by itself can withstand
the necessary tension to operate the elevator, each traction elevator has, on average, six to
eight individual cables for added safety in case one or more of the wires fails. On slower
machines (about 500-800 fps), the wires are looped over the sheave from the car and travel
over a deflector sheave to the counterweight in what is called a single wrap formation.
However on faster machines (over 800 fps), the cables are established in a double-wrap
configuration, in which the wires are looped around the drive sheave as well as over a
secondary (double-wrap) sheave; this arrangement is preferred in these faster elevators
since it provides improved traction and minimized wear on both the cables and the
sheave.14 In most cases, there is also a compensation cable which connects the bottom of
both the car and the counterweight to a compensation sheave at the bottom of the elevator
assembly, which gives the assembly more balance while offsetting the weight of the
suspension ropes.15
Traction elevators use counterweights, often equal to the weight of the elevator plus
40% of its maximum rated load. These simple metal weights help to reduce the weight the
motor must lift, reducing both the load on the motor and energy consumption. Depending
on whether the car is ascending or descending, the counterweight adds an accelerating or
retarding force, respectively; this helps cut down on the required horsepower for the
motor.15 The balance created by the counterweight essentially maintains a near constant
potential energy in the system.16 In case there is a failure while at least one cable is still
intact, the counterweight provides a balancing force that doesnt let the car fall wildly out
of control.17
14

Both the elevator car and the counterweight are connected to guide rails. These
guide rails run the length of the shaft and restrict twisting or swaying of the car and
counterweight. To ensure smooth travel, the car and counterweight have rollers attached
to them, which come in contact with the guide rails.15 The guide rails also work with the
various safety and braking systems to stop the elevator car in the event of an emergency.16
In case of an emergency, elevators come equipped with a system called a governor.
The job of a governor is to activate safety measures in the elevator when the car moves too
quickly (basically when the car is falling). Most governor systems are built around a sheave
(this sheave is not the same sheave that is connected to the motor) and found at the top of
an elevator assembly. A governor rope is looped around this sheave and also around a
sheave at the bottom of the elevator shaft.16 This rope is also connected to the car and
moves directly proportionally with the car (a 1:1 ratio).17 In the governor, the sheave is
connected to two flyweights that pivot on pins and are kept in place by a high-tension
spring. As the angular velocity of the sheave increases, the centrifugal force also increases,
which forces the flyweights outward, against the force of the springs. If the car is falling and
the centrifugal force is too great to keep the flyweights in place, the flyweights will be
pushed to the edge of the governor where there are stationary ratchets that the flyweights
will get caught on, which in turn stops the governor. Since an actuator arm is what connects
the governor rope to the elevator car, when the governor sheave locks itself, it jerks the
actuator arm up, moving a lever linkage, which activates the brakes.16
There are a few other braking systems in case of failure. One system involves an
electromagnetic brake that engages when the elevator car stops. The electromagnet keeps
the brakes in the open position, so if the power goes out, the brakes automatically clamp
shut, stopping the car. Elevators also often come equipped with automatic brakes that
engage if the car travels too close to the top or bottom of the shaft; too close to either
extreme will bring the car to a stop.16
If every other safety system fails, there is one last line of defense: a heavy-duty
shock absorber at the bottom of the shaft. This shock absorber is most often a piston
mounted in an oil-filled container. Essentially, this system acts as a cushion of sorts to try
and soften the landing of the car, counterweight, or both.16
15

A computer, often called the main control, runs most modern elevators. Its job is to
gather information about a variety of things and properly engage the motor to get the
elevator car where it needs to go. At the most basic, the main control needs to collect three
pieces of data: where each floor is, where the car is, and where people want to go. Where
each floor is located is most often pre-programmed into the computer, so that is not much
of a problem for the computer. As for where the car is, different elevators solve this
problem in different ways. In one popular method, a magnetic sensor or a light sensor
reads a series of holes on an extensive vertical strip in the shaft; by counting the number of
holes that go by, it knows exactly where the car is at any time. Finally, finding out where
people want to go is very simple: people press the elevator buttons that correspond to the
direction of travel and then to the desired floor.16 Of course, much more goes into making
modern elevators run in the modern era: elevator location and destination, as well as traffic
patterns, assist in making elevators as efficient as possible in getting people where they
need to go as quickly as possible. Essentially, the job of the control system is to minimize
the waiting and travelling time for passengers.17
One of the most important but often-overlooked safety features in an elevator are
the automatic doors. Without the specially designed doors, people would constantly be
falling down open shafts, leading to serious injury and often death. There are usually two
doors in an elevator: an outer door and an inner door. A simple motor-and-arm assembly
moves the doors along guide rails, opening or closing the doors. The computer turns the
motor either to open the doors when the car arrives at the desired floor or to close the
doors before the car makes its next ascent or descent. The doors have a type of clutch
mechanism that essentially unlocks the outer doors when the car arrives at each floor,
restricting the outer door from opening unless the car is at that floor, removing the risk of
the doors opening into an empty elevator shaft.16

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Chapter 3: The Gearless Traction Elevator: Motion Study and Analysis

3. Introduction

This chapter is dedicated to the analysis of the motion of the gearless traction
elevator. To truly understand the design and build of this type of elevator, one must look
deeply into how the machine is powered. The power transmitting mechanism is the source
of all final motion. In this chapter, we will analyze how the power transmitting mechanism
outputs this power and how this power is turned into physical motion. In order to do so, we
must determine which parts make up the gearless traction elevator we will be analyzing
since there are variations. It is also necessary to derive the equations that can describe the
motion. Constraints in this analysis include not having one exact elevator to analyze, but
rather, analyzing one type of elevator in a more general way. Overall, this chapter will
develop the rules and properties that all elevators of this type follow and have which is
very useful for the improvement of elevator motion and to understanding why elevators
move the way that they do.

3.1 Design
3.1.1 Description of motion

The motion of an elevator is a combination of translation and rotation. Pure
translation involves an object that has all of its points moving with the same velocity as the
center of mass. All of the points are moving at the same speed and in the same direction.
Pure rotational motion is when an object moves in relation to its center of mass. All the
points around its center of mass will move at right angles in relation to the radius. The
speed of each point is proportional to how far away the point is from the rotation axis. This
means that points that are on opposite sides of the axis of rotation are moving in opposite
direction but at the same speed. Points closer to the center of mass will move at a smaller
speed than the points further away. The maximum speed will be found at the point furthest
away from the center of mass. It also follows that the speed at the center of mass will be
zero. This relationship can be shown by the equation = .
17

Pure translation is found in some of the components of an elevator. The passenger

car and the counterweight both move in pure translation up and down; the guide rails
make sure that these two components only move in translation by preventing the
passenger car and counterweight from swaying back and forth or rotating at all while
moving up and down.
Pure rotation is found in the sheave as well as in all of the pulley systems in the
elevator. The sheave rotates which is what results in the cable pulling the car and
counterweight up and down.

3.1.2 Description of parts

The main control is also sometimes referred to as the controller. It is the device that
turns the power that supplies the motor on and off.
The motor works by converting electrical energy into movement. Mechanical work
is produced using rotational motion. There are many different options for types of motors
but in general, a gearless traction elevator would require a motor that is powerful enough
to turn the sheave approximately 50 to 200 revolutions per minute.
The sheave is basically a pulley with special grooves on the circumference. The
cables run over the sheave and are pressed into the grooves due to the weight of the car
and counterweight. When the configuration of the car and counterweight are simply on
either side of the cable and are directly hanging over the sheave, there is a 1:1 roping
configuration ratio. For every turn of the sheave, the elevator will travel a distance equal to
that of the circumference of the sheave.
The cables are also sometimes called traction ropes or hoisting ropes. The cables
pass through the traction system which consists of the motor and sheave. Each end of the
cable is connected to a different component. One end is connected to the passenger car and
the other is connected to the counterweight. So, the passenger car and counterweight are
both suspended by these cables. Thus, these cables must be very strong. Originally the
cables were manila ropes but now they are made with steel. These modern steel cables
generally have a rope material on the inside that carries a lubricant. This lubricant is
essential in minimizing wear to the cable as it moves of the sheave. For safety, the car and
18

counterweight are suspended by more than one cable. Each cable individually is capable of
holding the weight of the car; more than one are used in order to increase safety.
The passenger car is the main component that is most noticeable to the user of an
elevator. It has a steel frame that is then surrounded by a cage of either metal or wooden or
both panels. The frame consists of an upper crosshead beam and a lower safety plank. The
plank is what supports the passengers and other load when the elevator starts to move.
Connecting the top and bottom, there are also two vertical uprights also called stiles that
function to connect the upper and lower members of the car.
The counterweight is also a very important component. Its purpose is to balance the
weight of the car and some of its load. Usually the counterweight is equal to the cars
weight and 40% of its maximum load. Thus, when the elevator has 40% of its max load in
the car, the counterweight and passenger car are perfectly balanced. The counterweight is
very useful because it reduces energy consumption by balancing the load. The motor is not
required to lift as much weight and thus does not use as much energy. The counterweight
usually consists of a steel frame that has stacks of weights that are kept in place by more
than one tie rod.
Guide rails guide both the car and counterweight. These guide rails function as a
way to prevent the car and counterweight from swaying back and forth. The guide rails are
found on two opposite sides of both the car and counterweight. The guide rails are made of
steel and have a t-shaped cross section. The following diagram shows the shape of the
guide rails and how they are connected by brackets and clips. The guide rails are very
important to managing vertical motion of the elevator. Because they are so important, they
need to have a tensile strength of at least 55 kips per square inch (ksi).
There are many power transmitting mechanisms involved in the driving motor
design. Figure (3) shows a FBD of a brushless motor, which will help demonstrates those
power transmitting mechanisms.26
19

Figure (3)

Where the following numbers are:
(1) Stator winding
(2) PMs
(3) Rotor
(4) Shaft
(5) Bearing
(6) Frame
New technologies have developed to increase the efficiency and performance of
traction motors. One of those technologies replaced the distributed-winding motor design
with a concentrated-winding design, where the output of efficiency of the latter technology
was measured to be higher at 200w and 1.2 kW especially under low-power conditions.27
Figure (3) clearly describes different transmitting mechanisms in the design of a
traction motor. New studies are investigating for new technologies top assist in the
reduction of radial excitation forces due to eccentricity by varying the numbers of winding
coils on opposite poles in an AC motor as shown in Figure (4). New technologies have
successfully reduced the radial excitation forces by adjusting the winding coils according to
the amount of mechanical eccentricity.27
20

Figure (4)

21

3.2 Cycle Process

3.2.1 Free Body Diagram

Figure (5)

From Figure (5), we will show that the velocity of the car and counterweight will
have the same magnitude, but will travel in different directions:
! = !
! = !
= ! + ! + !
= ! + ! + (! )
derivate to get:
! !
0= +

0 = ! + !

! = !
Equation (1)
22

3.2.2 Motion Analysis

Either DC or AC electric motors power gearless traction elevators. A DC, or direct
current, has a frequency of zero. The flow of its constant current is in one direction. There
is only resistance present and the direct current would be from a cell or battery. On the
other hand, and AC, or alternating current, has an alternating current at a certain
frequency. Its current varies with time and the current reverses direction in the circuit.
There can be both resistance and capacitors, so you must measure impedance rather than
just resistance. The source is an AC generator.24 The graph below shows the difference in
voltage output for a DC and AC motor.

Figure (6)


Today, almost all gearless traction elevator design models use one of two types of
AC motors. The first and most common type is a geared motor for elevators moving at 500
fpm. The other one is a direct-driven motor, which is used for elevators moving at higher
speeds.
An AC gear-motor is made up of AC electric combined with a geared speed reducer.
In the following figure, a modern induction machine is shown. After the developments of
the insulation materials and the magnetic materials, the power density, which is defined as
the ratio between output power and weight, and the price, has been remarkably
improved.25
23

Figure (7)

The following figure illustrates the mechanism of a gearless traction elevator. The
mass of the rope and inertia of the pulley on the cage can be neglected:

Figure (8)

Electric machines are usually connected to mechanical systems, and they convert
the electrical energy to mechanical energy as a motor and convert mechanical energy to
electrical energy as a generator. Therefore, an understanding of mechanics is essential in
24

these energy conversion processes. In studying the basic mechanics, we will use several
laws like Newton laws of motion. We are going to use the rate of the change of linear
momentum:
()
=

Equation (2)

We are also going to count for the attractive force directly along the line centers of
two particles, which is described in the following equation:

! !
=
!
Equation (3)

Figure (9)

Considering the linear motion system showed in the figure, the equation of the
motion with external forces can be derived as follows from Equation (2):


! ! = = +

Equation (4)

If there is no change of the mass of the motion, which is true in the most of cases,
Equation (4) can be simplified as follows:

25

!
! ! = = !

Equation (5)

Where v is the velocity of the mass, and l is the moving distance. In a rotating motion
system as shown in the following figure:

Figure (10)

A similar equation can be derived. In this equation, the rotational inertia, J, can vary
according to the motion in some cases. To consider the variation of the inertia, the
following equation can be applied to the rotational motion:

!
! ! = + = ! +

Equation (6)

The following figure describes the coupled rotational motion and linear motion in
mechanical connections that occurs in many application cases of motion drives. In this
system, the torque and the force have a relationship as shown in Equation (7), considering
gravitational force.
26

Figure (11)


!
! = !!!"#! + +

Equation (7)

Where Jsheave is the inertia of the sheave. The linear speed of the mass can be
represented as = ! . If the radius of the sheave is constant, we can derive the following
equation from Equation (7):

! (! ) ! !
! = !!!"#! + + = !!!"#! + !" +

Equation (8)

Where Jeq = Mr2. It can be seen that the mass, M, is converted to equivalent inertia,
Jeq at the rotational motion of sheave. And, similarly, the inertia in the rotational motion can
27

be converted to equivalent mass in the linear motion, and its called equivalent inertia
mass.
The moment of inertia of the rotating body asymmetry to the rotating axis is shown
in the following figure:

Figure (12)

In general, every rotating body has some asymmetry to rotating axis. Therefore, to
find the force to the part supporting rotating motion such as bearings, the rotating inertia
of arbitrary shape should be investigated. Where:

= ! + ! + ! and =
Equations (9a) and (9b)
28

Chapter 4: The Gearless Traction Elevator: Concluding Remarks

4. Conclusion

Our objectives were to: describe the history and mechanics of the gearless traction
elevator, study the dynamic motion of a gearless traction elevator by analyzing many
components of the elevator, including the sheave, the counterweight, the cables, and the
motor, study the effectiveness of the gearless traction elevator and its technological role in
improving safety and performance, research any problems or potential pitfalls concerning
the gearless traction elevator, and research material standards incorporated in the
production of the gearless traction elevator, all of which were done in the first three
chapters of the report.
Geared traction elevators are very important to the modern world. They have
played a significant role in urban development, as they are the most versatile and can cover
the highest heights. Since their introduction in 1903 by Elisha Otis, they have dominated
the market when it comes to tall buildings. Not only do they have the longest range, but
they also are faster, are more durable, and are the premier choice when it comes to ride
quality, compared to the gearless traction elevators two greatest counterparts: the geared
traction elevator and the hydraulic elevator.
There are many parts in a gearless traction elevator, some of which are: the cables,
the motor, the sheave, the counterweight, the car, the guide rails, the main control, the
governor, and the automatic doors. The cables are made out of steel and can handle high
levels of tension; they can each hold the combined weight of the car at capacity and
counterweight, but multiple cables are installed for safety reasons. The motor is an AC
motor and is the driving force behind the elevator. The sheave is attached to the motor and
is the grooved pulley-like device on which the cables connecting the car and counterweight
sit; its job is to rotate and move the car up or down, depending on the direction of rotation.
The counterweight is a set of metal weights, most often equal to the weight of the car plus
forty percent of the cars capacity; its job is to balance the force caused by the car and its
contents, reducing the power the motor needs to produce. The elevator car is a durable
(often steel) box that holds cargo; it is the most prominent external feature of the elevator.
29

The guide rails run the length of the elevator shaft and are what the car and counterweight
run along; its job is to make sure that the car and counterweight move in pure translational
motion, removing any possible rotational motion. The main control is the computer system
that runs the motors and that controls every moving part of the elevator; it absorbs
information such as where the elevator is, how many people are on it, and where it needs
to go. The governor is a safety device attached to the elevator car; if the elevator moves too
quickly, it will activate a braking system, stopping the cars movement. The automatic
doors are often an overlooked part of an elevator system; however, without the safety the
doors provide, people would too often fall into the elevator shaft, which could cause serious
injury or death. These main components control most of the elevators function, and are the
bases on which elevators run.
The full dynamic motion of gearless traction elevators are fairly complex, however,
the basic motion of these elevators are relatively straightforward. The motor provides a
torque, which turns the sheave. Attached to the sheave are cables that run to the car and to
the counterweight. If the motor rotates the sheave in a certain direction, the car will ascend
and the counterweight will descend, and if the motor rotates the sheave in the other
direction, the car will descend and the counterweight will ascend. This configuration keeps
a near-constant potential energy, as the similarly weighted car and counterweight always
move inversely about a central horizontal axis.
The gearless motion elevator has revolutionized vertical transportation systems
since its arrival in the early twentieth century. Since then, it has developed into the primary
preference for high-rise applications. The many components of the elevator provide
efficiency, durability, and safety, which will allow the gearless traction elevator to remain
the world leader in a variety of applications throughout the world.

30

References

[1] Otis Worldwide - Home - Elevator - Escalator. Web.
<http://www.otisworldwide.com/pdf/AboutElevators.pdf>.

[2] "History of the Elevator - Elisha Otis." World of Famous Inventors and Inventions. Web.
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[3] The Credentialing Program for Educational Facilities Professionals. Web.
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[5] "Otis Elevator Co." RitchieWiki - Equipment Specifications, Information, and Photos -
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[6] "Lesson Viewer - Classroom On Demand." Elevators Escalators Moving Walks |
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[7] "Lesson Viewer - Classroom On Demand." Elevators Escalators Moving Walks |
ThyssenKrupp Elevator America.Web.
<http://www.thyssenkruppelevator.com/webapps/classroom-on-
demand/LessonViewer.aspx?lesson=16417>.

[8] Welcome to Schindler Group | Elevators, Escalators, Moving Walks, Transit
Management, Modernization, Service. Web.
<http://www.schindler.com/content/us/internet/en/about-us/sustainability/green-
components/_jcr_content/rightPar/downloadlist/downloadList/159_133882963183
9.download.asset.159_1338829631839/Mid-Rise%20Gearless%20DB_041612.pdf>.

[9] Wire Rope Works Inc.- Bethlehem Wirerope. Web.
<http://www.wwwrope.com/product_pdfs/EL_TB_07.pdf>.

[10] Web. <http://Wire Rope Works Inc.- Bethlehem Wirerope. Web.
<www.wwwrope.com/product_pdfs/EL_TB_07.pdf>.

[11] "How elevator is made - used, parts, dimensions, structure, machine, Design, Raw
Materials, The Manufacturing Process of elevator, Quality Control, The Future." How
Products Are Made. Web. <http://www.madehow.com/Volume-2/Elevator.html>.

31

[12] Marathon Electric. Web.

<http://www.marathonelectric.com/docs/SB800MEBasicTrainingManual11-08-
13.pdf>.

[13] Elevator World Online Bookstore. Web.
<http://www.elevatorbooks.com/Content/Site108/FilesSamples/39508StrakoschI_0
0000005297.pdf>.

[14] Web. <http://Elevator World Online Bookstore. Web.
<http://www.elevatorbooks.com/Content/Site108/FilesSamples/39508StrakoschI_0
0000005297.pdf>.

[15] "How Elevators Work." World of Famous Inventors and Inventions. Web.
<http://inventors.about.com/od/estartinventions/a/Elevator_2.htm>.

[16] "The Cable System - How Elevators Work." Science - HowStuffWorks. Web.
<http://science.howstuffworks.com/transport/engines-equipment/elevator3.htm>.

[17] Web. <http://www.madehow.com/Volume-
2/Elevator.htmlwww.madehow.com/Volume-2/Elevator.html>.

[18] "World's Fastest Elevator - Popular Mechanics." Popular Mechanics - Automotive Care,
Home Improvement, Tools, DIY Tips. Web.
<http://www.popularmechanics.com/technology/engineering/1280851>.

[19] "Elevator plunges are rare because brakes and cables provide fail-safe protections -
The Washington Post." Washington Post: Breaking News, World, US, DC News &
Analysis. Web. <http://www.washingtonpost.com/national/health-science/elevator-
plunges-are-rare-because-brakes-and-cables-provide-fail-safe-
protections/2013/06/07/e44227f6-cc5a-11e2-8845-d970ccb04497_story.html>.

[20] "Up the Value Chain." Economic and Political Weekly 38.41 (2003): 4289. Web.

[21] Faculty of Engineering - The University of Auckland. Web.
<http://homepages.engineering.auckland.ac.nz/~pkel015/SolidMechanicsBooks/Par
t_I/BookSM_Part_I/10_Viscoelasticity/10_Viscoelasticity_02_Examples.pdf>.

[22] "World Trade Center Elevators - HowStuffWorks." Science - HowStuffWorks. Web.
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[23] "How Fast Can We Go? | KJA Consultants Inc." Home Page | KJA Consultants Inc. Web.
<http://www.kja.com/how-fast-can-we-go--p140809>.

[24] "AC vs DC (Alternating Current vs Direct Current) - Difference and
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<http://www.diffen.com/difference/Alternating_Current_vs_Direct_Current>.
32

[25] Seung-Ki Sul. Control of Electric Machine Drive Systems .Print.

[26] Bianchi, Nicola, and J. F. Gieras. "Electric motors for light traction." EPE journal 12.1
(2004): 12-23.

[27] MITSUBISHI ELECTRIC GLOBAL WEBSITE. N.p., n.d. Web. 15 Dec. 2014.

List of Figures

[1] "9-11 Research: The Fires' Impact." 9-11 Research: An Independent Investigation of the
9-11-2001 Attack. N.p., n.d. Web. 15 Dec. 2014.

[2] "New Elevator Technology: The Machine Room-Less Elevator | Advertorial course
provided by KONE Inc. | Originally published in the September 2007 issue of
Architectural Record. | Architectural Record's Continuing Education
Center."Architectural Record's Continuing Education Center | Earn AIA Continuing
Education Credits Online. N.p., n.d. Web. 15 Dec. 2014.

[3] MITSUBISHI ELECTRIC GLOBAL WEBSITE. N.p., n.d. Web. 15 Dec. 2014.

[4] MITSUBISHI ELECTRIC GLOBAL WEBSITE. N.p., n.d. Web. 15 Dec. 2014.

[5] Railway Technical Web Pages. N.p., n.d. Web. 15 Dec. 2014.

[6] Seung-Ki Sul. Control of Electric Machine Drive Systems. Print.

33

Table of Equations

! = !
Equation (1)

()
=

Equation (2)

! !
=
!
Equation (3)


! ! = = +

Equation (4)

!
! ! = = !

Equation (5)

!
! ! = + = ! +

Equation (6)

!
! = !!!"#! + +

Equation (7)

! (! ) ! !
! = !!!"#! + + = !!!"#! + !" +

Equation (8)

= ! + ! + !
Equation (9a)

=
Equation (9b)