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Motion planning for elevator cars moving independently in one elevator shaft
Motion planning for elevator cars moving independently in one elevator shaft
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机译：电梯轿厢在一个电梯井道中独立移动的运动计划
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摘要
A method for controlling a motion of a first car and a second car in a multi-car elevator system, wherein the first car and the second car move independently in an elevator shaft, determines alternately motion plans for the first the second cars wherein each part of a motion plan for the first car is determined for a planning period of the first car, wherein a beginning of the planning period of the first car is determined by an end of the planning period of the second car, and an end of the planning period of the first car is determined by a home position of the first car on the motion plan, wherein the part of the motion plan is determined based on motion constraints, a set of requests, and the motion plan of the second car determined by the beginning of the planning period of the first car.
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