Table Of ContentAdvances in Industrial Control
OthertitlespublishedinthisSeries:
DigitalControllerImplementation RudderandFinShipRollStabilization
andFragility TristanPerez
RobertS.H.Istepanianand
HardDiskDriveServoSystems(2nd
JamesF.Whidborne(Eds.)
Edition)
OptimisationofIndustrialProcesses BenM.Chen,TongH.Lee,KemaoPeng
atSupervisoryLevel andVenkatakrishnanVenkataramanan
DorisSáez,AldoCiprianoand
Measurement,Control,and
AndrzejW.Ordys
CommunicationUsingIEEE1588
RobustControlofDieselShipPropulsion JohnEidson
NikolaosXiros
PiezoelectricTransducersforVibration
HydraulicServo-systems ControlandDamping
MohieddineJelaliandAndreasKroll S.O.RezaMoheimaniandAndrewJ.
Fleming
StrategiesforFeedbackLinearisation
FreddyGarces,VictorM.Becerra, WindupinControl
ChandrasekharKambhampatiand PeterHippe
KevinWarwick
ManufacturingSystemsControlDesign
RobustAutonomousGuidance StjepanBogdan,FrankL.Lewis,Zdenko
AlbertoIsidori,LorenzoMarconiand Kovaˇci´candJoséMirelesJr.
AndreaSerrani
NonlinearH2/H∞ConstrainedFeedback
DynamicModellingofGasTurbines Control
GennadyG.KulikovandHaydnA. MuradAbu-Khalaf,JieHuangand
Thompson(Eds.) FrankL.Lewis
ControlofFuelCellPowerSystems PracticalGrey-boxProcessIdentification
JayT.Pukrushpan,AnnaG.Stefanopoulou TorstenBohlin
andHueiPeng
WindTurbineControlSystems
FuzzyLogic,IdentificationandPredictive FernandoD.Bianchi,HernánDeBattista
Control andRicardoJ.Mantz
JairoEspinosa,JoosVandewalleand PublicationdueAugust2006
VincentWertz
SoftSensorsforMonitoringandControlof
OptimalReal-timeControlofSewer IndustrialProcesses
Networks LuigiFortuna,SalvatoreGraziani,
MagdaleneMarinakiandMarkos AlessandroRizzoandMariaGabriella
Papageorgiou Xibilia
ProcessModellingforControl PublicationdueAugust2006
BenoîtCodrons AdvancedFuzzyLogicTechnologiesin
ComputationalIntelligenceinTimeSeries IndustrialApplications
Forecasting YingBai,HanqiZhuangandDaliWang
AjoyK.PalitandDobrivojePopovic (Eds.)
PublicationdueSeptember2006
ModellingandControlofmini-Flying
Machines PracticalPIDControl
PedroCastillo,RogelioLozanoand AntonioVisioli
AlejandroDzul PublicationdueNovember2006
Sandor Markon, Hajime Kita, Hiroshi Kise
and Thomas Bartz-Beielstein
Control of Traffic
Systems in Buildings
With101Figures
123
SandorMarkon,Ph.D.Dipl.Ing. HajimeKita,Dr.Eng.
FUJITECCo.,Ltd. AcademicCenterforComputing
ProductDevelopmentHQ andMediaStudies
BigWing KyotoUniversity
Hikone YoshidaNihonmatsu-cho
Shiga522-8588 Sakyo-ku
Japan Kyoto,606-8501
Japan
HiroshiKise,M.Eng.,Dr.Eng. ThomasBartz-Beielstein,Dr.rer.nat.
DepartmentofMechanical ChairofAlgorithmEngineering
andSystemEngineering andSystemsAnalysis
KyotoInstituteofTechnology DepartmentofComputerScience
MatsugasakiSakyo UniversityofDortmund
Kyoto,606-8585 D-44221Dortmund
Japan Germany
BritishLibraryCataloguinginPublicationData
Controloftrafficsystemsinbuildings:applicationsof
modernsupervisoryandoptimalcontrol.-(Advancesin
industrialcontrol)
1.Buildings-Mechanicalequipment-Automaticcontrol
2.Automation-Humanfactors3.Trafficengineering-Data
processing
I.Markon,SandorA.
690.2
ISBN-13:9781846284489
ISBN-10:1846284481
LibraryofCongressControlNumber:2006926888
AdvancesinIndustrialControlseriesISSN1430-9491
ISBN-10: 1-84628-448-1 e-ISBN 1-84628-449-X Printedonacid-freepaper
ISBN-13: 978-1-84628-448-9
©Springer-VerlagLondonLimited2006
Apartfromanyfairdealingforthepurposes ofresearchorprivatestudy,orcriticismorreview,as
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specificstatement,thatsuchnamesareexemptfromtherelevantlawsandregulationsandthereforefree
forgeneraluse.
Thepublishermakesnorepresentation,expressorimplied,withregardtotheaccuracyoftheinformation
containedinthisbookandcannotacceptanylegalresponsibilityorliabilityforanyerrorsoromissions
thatmaybemade.
ThefiguresinChapters2,3,15,and18areprovidedbycourtesyofFujitecCo.,Ltd.,andreproducedwith
permission.
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AdvancesinIndustrialControl
SeriesEditors
ProfessorMichaelJ.Grimble,ProfessorofIndustrialSystemsandDirector
ProfessorMichaelA.Johnson,Professor(Emeritus)ofControlSystems
andDeputyDirector
IndustrialControlCentre
DepartmentofElectronicandElectricalEngineering
UniversityofStrathclyde
GrahamHillsBuilding
50GeorgeStreet
GlasgowG11QE
UnitedKingdom
SeriesAdvisoryBoard
ProfessorE.F.Camacho
EscuelaSuperiordeIngenieros
UniversidaddeSevilla
CaminodelosDescobrimientoss/n
41092Sevilla
Spain
ProfessorS.Engell
LehrstuhlfürAnlagensteuerungstechnik
FachbereichChemietechnik
UniversitätDortmund
44221Dortmund
Germany
ProfessorG.Goodwin
DepartmentofElectricalandComputerEngineering
TheUniversityofNewcastle
Callaghan
NSW2308
Australia
ProfessorT.J.Harris
DepartmentofChemicalEngineering
Queen’sUniversity
Kingston,Ontario
K7L3N6
Canada
ProfessorT.H.Lee
DepartmentofElectricalEngineering
NationalUniversityofSingapore
4EngineeringDrive3
Singapore117576
ProfessorEmeritusO.P.Malik
DepartmentofElectricalandComputerEngineering
UniversityofCalgary
2500,UniversityDrive,NW
Calgary
Alberta
T2N1N4
Canada
ProfessorK.-F.Man
ElectronicEngineeringDepartment
CityUniversityofHongKong
TatCheeAvenue
Kowloon
HongKong
ProfessorG.Olsson
DepartmentofIndustrialElectricalEngineeringandAutomation
LundInstituteofTechnology
Box118
S-22100Lund
Sweden
ProfessorA.Ray
PennsylvaniaStateUniversity
DepartmentofMechanicalEngineering
0329ReberBuilding
UniversityPark
PA16802
USA
ProfessorD.E.Seborg
ChemicalEngineering
3335EngineeringII
UniversityofCaliforniaSantaBarbara
SantaBarbara
CA93106
USA
DoctorK.K.Tan
DepartmentofElectricalEngineering
NationalUniversityofSingapore
4EngineeringDrive3
Singapore117576
ProfessorIkuoYamamoto
KyushuUniversityGraduateSchool
MarineTechnologyResearchandDevelopmentProgram
MARITEC,Headquarters,JAMSTEC
2-15NatsushimaYokosuka
Kanagawa237-0061
Japan
To our families
Series Editors’ Foreword
The seriesAdvances in Industrial Control aims to reportandencouragetech-
nologytransferincontrolengineering.Therapiddevelopmentofcontroltech-
nology has an impact on all areas of the control discipline. New theory, new
controllers, actuators, sensors, new industrial processes, computer methods,
new applications, new philosophies..., new challenges. Much of this devel-
opment work resides in industrial reports, feasibility study papers and the
reports of advanced collaborative projects. The series offers an opportunity
for researchers to present an extended exposition of such new work in all
aspects of industrial control for wider and rapid dissemination.
The interplay between general theoretical methods and the industrial ap-
plicationisaveryimportantpartofthefieldofcontrolengineering.Sometimes
the control problem can be described quite succinctly and mathematically
andthe engineeris able tofind anexisting mathematicalmethod to solvethe
problemwithlittlemodification.Inothercases,theproblemposedbythecon-
trol applicationleads to new theoreticalmethods and a new engineering field
emerges. But sometimes the solution to the control problem posed by an ap-
plicationis a non-trivialextensionofanexisting theory–applicationinterplay
inthisAdvances in Industrial ControlmonographbySandorMarkon,Hajime
Kita,HiroshiKiseandThomasBartz-Beielstein.Theapplicationsareaisthat
of transportation systems within buildings. This covers a surprising range of
systems: elevators, escalators, moving walkways, horizontal elevators, all for
human passengers. For cargo transportation there are specialised freight el-
evators, conveyor systems, autonomous guided vehicles and stacker cranes.
These systems areoften integralcomponents within largersystems with even
nominally autonomous systems often being integrated within larger systems
like factory, warehouse or, perhaps not so well known, hospital automation
systems.
The volume is divided into four parts with the first coveringa description
ofthe variousin-building passengerandfreighttransportationsystems.Mod-
elling and simulation techniques occupy the second part of the monograph.
As might be expected, the keynotes for this part are sequential, discrete and
x Series Editors’ Foreword
constrainedprocesseswith queue and schedule behaviour to be modelled and
simulated.
Part III of the monograph moves on to the methods of intelligent and
optimal control. This part opens with an interesting historical preview that
discusses the ultimate failure of heuristic rule methods as transportationsys-
tems became moretechnologicallycomplex.This is followedby a review-and
tutorial-type chapter on modern optimal control approaches like neural net-
works,geneticalgorithmsandcombinationaloptimisation.Theapplicationof
these techniques to specific in-building transportation systems occupies the
remainderofthemonographandformsPartIVofthevolume.Thesechapters
report on such systems as elevator control, elevator-group control, multi-car
elevator systems, autonomous-guided-vehicle routing control and warehouse
scheduling.
Apart from the contributions to the individual in-building transportation
control problems found in the various chapters, this monograph draws to-
gether the various in-building transportationsystems and presents them as a
coherent class of technological problems in control engineering. This is a sin-
gularachievementandthemonographisaverywelcomeentrytotheAdvances
in Industrial Control series.
M.J. Grimble and M.A. Johnson
Glasgow, Scotland, U.K.
Preface
This book is the result of a loose but long cooperation among the authors.
Gradually we came to realize that the problems that we had been trying to
make sense of from our different perspectives, are in fact very closely related.
Seeninthislight,ourresearchresultsnowinturnappeartoholdsomemessage
for a rather wider audience.
To illustrate what we mean, let us take a step back, and look at our
urban life from a birds’ eye point of view. We will try to sketch a possible
train of thought that might lead to a fresh view of the role of in-building
transportation.
Civilization is the history of cities, where people gather, forming creative
communities. For any human achievements to arise, merchants, artisans, sci-
entists, artists had to be near to others, so as to share and exchangeartifacts
and ideas. This was made possible by the emergence of large-scale groups,
living in urban settings.
Cities are compact, and this fact could be said to be their raison d’etre,
as it reduces the need to move people and goods. But there is a limit, and
transportationcannotbe eliminatedaltogether.Howclosewe cangettoeach
other is ultimately determined by our physical and psychological properties,
and the dimensions of our buildings reflect these constraints.
The height of floors, length of corridors, and so on, are fitted to human
scales,andthereisnotmuchwecandotoreducethesedistancesfurther.Itis
safetosaythatwecanconsiderthesedimensionsasgiven.Similararguments
based on human factors, like the tolerance of acceleration, or our reaction
times, tendto limit the speedoftransportationequipmentin buildings.Thus
atapoint,inmovingpeopleandgoodsinsidebuildings,furtherimprovements
must come from smarter use of existing resources,and not from brute force.
This book is about the struggle to conquer this “last mile”, or rather last
hundredmeters,ofthedistancesseparatingpeople,andoftherapidadvances
thathavehappenedinthelasttwodecadesincontrolengineeringforbuilding
transportation systems.
