Ideal Lift Kinematics – Complete Equations for Plotting Optimum Motion

In this paper the author considers lift kinematics, the study of the motion of a lift car. Ideal lift kinematics are constrained by human comfort criteria which limit the maximum acceleration and jerk (rate of change of acceleration) that are acceptable. Equations are presented which allow ideal lift kinematics to be plotted as continuous functions for any value of journey distance, speed, acceleration and jerk. Applications include generation of motor speed reference control curves. Supplementary results include journey time formulae for use in lift traffic analysis.