CHAPTER ONE

INTRODUCTION

1.1 Background
Elevator, is a transport device that is very common nowadays, it used
everyday to move goods or peoples vertically in a high building such as
shopping center, working office, hotel and many more. It is a very useful
device that moves people to the desired floor in the shortest time.
Elevators began as simple rope or chain hoists. An elevator is
essentially a platform that is either pulled or pushed up by a mechanical
means. A modern day elevator consists of a cab (also called a "cage" or
"car") mounted on a platform within an enclosed space called a shaft or
more correctly a hoist way. In the past elevator drive mechanisms were
powered by steam and water hydraulic pistons.
During the middle ages, the elevator operated by animal and human
power or by water-driven mechanisms. The elevator was first developed
during the 1800s and relied on steam or hydraulic plungers for lifting
capability. In the latter application, the cab was affixed to a hollow plunger
that lowered into an underground cylinder. Liquid, most commonly water,
was injected into the cylinder to create pressure and make the plunger
elevate the cab, which would simply lower by gravity as the water was
removed. Valves governing the water flow were manipulated by passengers
using ropes running through the cab, a system later enhanced with the
incorporation of lever controls and pilot valves to regulate cab speed.
The granddaddy of today's traction elevators first appeared during
the 19th century in the United Kingdom, an elevator using a rope running
through a pulley and a counterweight tracking along the shaft wall.

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 In the 1800s, with the advent of electricity, the electric motor was
integrated into elevator technology by German inventor Werner von
Siemens. With the motor mounted at the bottom of the cab, this design
employed a gearing scheme to climb shaft walls fitted with racks. By 1903,
this design had evolved into the gearless traction electric elevator, allowing
hundred-plus story buildings to become possible and forever changing the
urban landscape. Multi-speed motors replaced the original single-speed
models to help with landing-leveling and smoother overall operation.
Electromagnet technology replaced manual rope-driven switching
and braking. Besides, Push-button controls and various complex signal
systems modernized the elevator even further. Safety improvements have
been continual, including a notable development by Charles Otis.
Today, there are intricate governors and switching schemes to
carefully control cab speeds in any situation. Buttons have been giving way
to keypads. Virtually all commercial elevators operate automatically and
the computer age has brought the microchip-based capability to operate
vast banks of elevators with precise scheduling, maximized efficiency and
extreme safety. Elevators have become a medium of architectural
expression as compelling as the buildings, in which they are installed, and
new technologies and designs regularly allow the human spirit. [1]

1.2 Problem Statement

Lack of electric elevators causes time and energy consuming, so
elevators had been developed according to requirement application.
Therefore, studying and constructing electric elevators had been an
important subject to deal with.

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1.3 Objectives
The main objectives for this project are :
- To study an elevator control system.
- To build an elevator model to simulate the actual system by using
Arduino Mega.
- To construct a program (software) for the overall system according to the
real elevator traffic management algorithm.
- To integrate the hardware and software in order to simulate the functions
of a basic elevator system.

1.4 Methodology
Arduino Mega is used as the primary controller. Besides, it is consist
of various inputs and outputs circuits together with an elevator model. The
Arduino Mega is used to coordinate the functions of various hardware
circuitries. Service request circuit or keypad and sensors are used as input.
Servo motor driver circuit, seven-segment display and various types of
LED (light emitting diodes) displays are used as output.

The elevator model was constructed to simulate an actual elevator in

the real life. It can be counted as the output hardware of the system. The
software for the system was designed according to the real elevator traffic
management algorithm. The combination of the hardware and software
perform the simulate function of a basic elevator system.

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1.5 Project Layout
This project consist of five chapters, chapter one gives a background,
problem statement, objectives and methodology. Chapter two defines the
elevators components, types and their working principles. Chapter three
illustrates the control system in generally then covers elevator control
system. Chapter four gives a brief definition for the components which
used in this project then discuss the project circuits and their analysis.
Rather to the control system block diagram and its parts function and flow
chart. Chapter five contains the conclusion and the recommendations.

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 CHAPTER TWO
ELEVATOR OVER VIEW
2.1 Introduction
There are many usages of elevators in practical application such as:

 Passenger service: A passenger elevator is designed to move people

between a building's floors. Passenger elevators may be specialized for
the service they perform, including: hospital emergency (code blue),
front and rear entrances, a television in high-rise buildings, double-
decker, and other uses. Cars may be ornate in their interior appearance,
may have audio visual advertising, and may be provided with
specialized recorded voice announcements. Elevators may also have
loudspeakers in them to play calm, easy listening music. Such music is
often referred to as elevator music.
 Freight elevators: A freight elevator, or goods elevator, is an elevator
designed to carry goods, rather than passengers. Freight elevators are
generally required to display a written notice in the car that the use by
passengers is prohibited (though not necessarily illegal), though certain
freight elevators allow dual use through the use of an inconspicuous
riser. In order for an elevator to be legal to carry passengers in some
jurisdictions it must have a solid inner door.
 Stage elevators: Stage elevators and orchestra elevators are specialized
elevators, typically powered by hydraulics, that are used to raise and
lower entire sections of a theater stage.
 Vehicle elevators: Vehicular elevators are used within buildings or areas
with limited space (in lieu of ramps), typically to move cars into the
parking garage or manufacturer's storage. Geared hydraulic chains (not
unlike bicycle chains) generate lift for the platform and there are no
counterweights.
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 Boat elevator: In some smaller canals, boats and small ships can pass
between different levels of a canal with a boat elevator rather than
through a canal lock.
 Aircraft elevators: On aircraft carriers, elevators carry aircraft between
the flight deck and the hangar deck for operations or repairs. These
elevators are designed for much greater capacity than other elevators, up
to 91,000 kg (200,000 lb) of aircraft and equipment. Smaller elevators
lift munitions to the flight deck from magazines deep inside the ship.
 Residential elevator: A residential elevator is often permitted to be of
lower cost and complexity than full commercial elevators. They may
have unique design characteristics suited for home furnishings, such as
hinged wooden shaft-access doors rather than the typical metal sliding
doors of commercial elevators.
 Paternoster: A special type of elevator is the paternoster, a constantly
moving chain of boxes. A similar concept, called
the manlift or humanlift, moves only a small platform, which the rider
mounts while using a handhold seen in multi-story industrial plants.
 Scissor elevator: The scissor elevator is yet another type of elevator.
These are usually mobile work platforms that can be easily moved to
where they are needed, but can also be installed where space for
counter-weights, machine room and so forth is limited. The mechanism
that makes them go up and down is like that of a scissor jack. [2, 3]

2.2 Elevator Components

The standard elevators will include the following basic components:

i. Car.
ii. Hoistway.
iii. Machine/drive system.
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 iv. Control system.
v. Safety system.

Figure 2.1 shows the main components of elevators.

Figure 2.1: Elevator components

2.2.1 Elevator car

Elevator car is the vehicle that travels between the different elevator
stops carrying passengers and/or goods, it is usually A heavy steel frame
surrounding a cage of metal and wood panels.
Elevator car types: Standard elevator car/cabin can be classified according
to the number of entrances and their locations as follows:

i. Normal cabin
ii. Open through cabin
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 iii. Diagonal cabin

These types are represented in Figure 2.2 .

Figure 2.2: Elevator car types

Standard car size: To prevent overloading of the car by persons, the

available area of the car shall be limited and related to the nominal/rated
load of the elevator. The number of passengers shall be obtained from the
formula:
Number of passengers = rated load /75 (2.1)
Where 75 represent the average weight of a person in Kg.
The standard car size is shown in Table 2.1 below :

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Table 2.1: Standard car size.

The following definitions for the car dimension are very important:
Car Width (CW): The horizontal dimensions between the inner surfaces of
the car walls measured parallel to the front entrance and at 1m above the
car floor.
Car Height (CH): The inside vertical distance between the entrance
threshold and the constructional roof of the car. Light fittings and false
ceilings are accommodated within this dimension.
Car Depth (CD): The horizontal dimensions between the inner surfaces of
the car walls measured at right angles to the car width and at 1m above the
car floor. [2, 3]

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Elevator Car Components: Elevator Car is composed of the following
components:

i. Car sling, a metal framework connected to the means of

suspension.
ii. The elevator cabin.
iii. Mechanical accessories which are: Car door and door operator,
Guide shoes, Door Protective Device.

2.2.2 Hoistway
Hoistway is the space enclosed by fireproof walls and elevator doors
for the travel of one or more elevators, dumbwaiters or material elevators.
It includes the pit and terminates at the underside of the overhead
machinery space floor or grating or at the underside of the roof where the
hoistway does not penetrate the roof. (Hoistway is sometimes called
"hatchway" or "hatch".)
Hoistway components: Hoistway is equipped with the following
components:

i. Guide rails for both the car and counterweight.

ii. Counterweight.
iii. Suspension (Hoisting) Ropes (Cables).
iv. Landing (Hoistway) doors.
v. Buffers in the pit.

2.2.3 Elevator machine and drive system

Driving machine, this is the power unit of the elevator, and usually
located at the elevator machine room. The Driving machine used to refer to
the collection of components that raise or lower the elevator. These include
the drive motor, brake, speed reduction unit, sheaves and encoders.

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 Generally, there are three standard types of driving machines
provided for elevators. These are: Gearless, Geared, Drum Machines.

 Gearless Machine

 It used in high rise applications whereby the drive motor and drive sheave
are connected in line on a common shaft, without any mechanical speed
reduction unit located between the drive motor and drive sheave.
 Generally, Gearless machines are used for high speed elevators between
2.5 m/s to 10 m/s and they can be also used for lower speeds for special
applications.
 Their sizes and shapes vary with load, speed and manufacture but the
underlying principles and components are the same.
The Gearless machines comprise the following components:

Figure 2.3: Gearless machines components

 Electrical motor.
 Traction sheave or drum.
 Direct current armature in case of DC motor.
 Rotor in case of AC motor.
 Brake.
 Machine bedplate.
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 Supporting bearings.
 Deflector or double warp sheave.
 Geared Machine

 It used in low and mid-rise applications. This design utilizes a mechanical

speed reduction gear set to reduce the rpm of the drive motor (input speed)
to suit the required speed of the drive sheave and elevator (output speed).
 Generally, geared machines are used for speeds between 0.1 m/s and 2.5
m/s and are suitable for loads from 5 Kg up to 50,000 Kg and above.
 Their sizes and shapes vary with load, speed and manufacture but the
underlying principles and components are the same.
Essentially, a geared machine includes the following components:

Figure 2.4: Geared machines components

 Drive motor.
 Brake.
 Speed reduction unit or gearbox.
 Drive sheave.
 Bedplate.

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 Deflector sheave (if mounted as integral part of the bedplate
assembly).
 Drum Machine

Figure 2.5: Drum machine

It widely used in older passenger and freight elevator applications,

though now rarely seen except for dumbwaiters. For many years now the
elevator safety code has disallowed the use of such machines for passenger
applications. A drum design has one end of the suspension rope affixed to
the inside of the winding drum‟s drive sheave, and then allows to rope to
reel in or off the outer surface of its sheave, depending upon the car
direction of travel. [2, 3]
2.2.4 Safety system
The following list describes all the safety components used in
electrical traction elevator safety system: (show Figure 2.6).
i. Device for locking landing doors (Hoistway Door Interlock).
ii. Progressive safety gear.
iii. Overspeed governor.
iv. Buffers.
v. Final Limit switches.
vi. Other safety devices and switches.

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 Figure 2.6: Layout of elevator safety system

2.3 Elevator Types

i. According to hoist mechanism.

ii. According to building height.
iii. According to building type.
iv. According to elevator Location.
v. According to Special uses.
2.3.1 According to hoist mechanism
Elevators will be classified according to hoist mechanism to 4 main
types as follows:

i. Hydraulic Elevators
ii. Traction Elevators
iii. Climbing elevator
iv. Pneumatic Elevators

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 Hydraulic Elevators (Push Elevators): Hydraulic elevators are
supported by a piston at the bottom of the elevator that pushes the elevator
up. They are used for low-rise applications of 2-8 stories and travel at a
maximum speed of 200 feet per minute. The machine room for hydraulic
elevators is located at the lowest level adjacent to the elevator shaft. Figure
2.7 shows the hydraulic elevators.

Figure 2.7: Hydraulic elevators

 Traction elevators (Pull elevators): Traction elevators are lifted by

ropes, which pass over a wheel attached to an electric motor above the
elevator shaft. They are used for mid and high-rise applications and have
much higher travel speeds than hydraulic elevators. A counter weight
makes the elevators more efficient. Traction elevators have 3 main types :
i. Geared traction elevators: they have a gearbox that is attached to the
motor, which drives the wheel that moves the ropes. Geared traction
elevators are capable of travel speeds up to 500 feet per minute.
ii. Gear-less traction elevators: they have the wheel attached directly to
the motor. Gear-less traction elevators are capable of speeds up to
2000 feet per minute.
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iii. Machine-room-less elevators: they are typically traction elevators that
do not have a dedicated machine room above the elevator shaft. The
machine sits in the override space and the controls sit above the ceiling
adjacent to the elevator shaft. Machine-room-less elevators are
becoming more common; however, many maintenance departments do
not like them due to the hassle of working on a ladder as opposed to
within a room. Figure 2.8 shows the machine-room-less elevators.

Figure 2.8: Machine-room-less elevators

Geared traction elevators and gear-less traction elevators shown in

Figure2.9 and Figure 2.10, respectively.

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Figure2.9: Geared traction elevators Figure2.10: Gear-less traction elevators

 Climbing elevator: They hold their own power device on them,

mostly electric or combustion engine. Climbing elevators are often used in
work and construction areas.
 Pneumatic Elevators: Pneumatic elevators are raised and lowered by
controlling air pressure in a chamber in which the elevator sits. By simple
principles of physics; the difference in air pressure above and beneath the
vacuum elevator cab literally transports cab by air. It is the vacuum pumps
or turbines that pull cab up to the next Floor and the slow release of air
pressure that floats cab down. They are especially ideal for existing homes
due to their compact design because excavating a pit and hoist way are not
required. (Show Figure 2.11).

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 Figure 2.11: Pneumatic elevators

2.3.2 According to building height

 Low-Rise buildings (1- 3 stories): Buildings up to about (1 to 3) stories

typically use hydraulic elevators because of their lower initial cost.
 Mid-Rise buildings (4 -11 stories): Buildings up to about (4 to 11)
stories typically use geared traction elevators.
 High-Rise buildings (12 + stories): Buildings up to about 12+ stories
typically use gear-less traction elevators.

2.3.3 According to building type

Elevators will be classified according to building type to 6 main
types as follows:

i. Hospital elevators.
ii. Residential /Domestic elevators.
iii. Agricultural elevators.
iv. Industrial elevators.

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 v. Commercial elevators.
vi. Parking buildings elevators.

2.3.4 Elevators classification according to elevator location

i. Outdoor Elevators: Common types of outdoor elevators are cargo

elevators, platform elevators, and incline and vertical elevators.
ii. Indoor elevators: All elevators installed inside a building which
usually need a hoist ways and pits.

2.3.5 Elevators classification according to special uses

i. Handicap Elevators: In reality, any type of elevator that can assist a
handicapped person in going up and down various levels of the building
could be considered a handicap elevator.

ii. Grain Elevators: A grain elevator is a tower containing a bucket

elevator, which scoops up, elevates, and then uses gravity to deposit grain
in a silo or other storage facility.

iii. Double-deck elevator: Double-deck elevators save time and space in

high-occupancy buildings by mounting one car upon another. One car stops
at even floors and the other stops at the odd floors. Depending on their
destination, passengers can mount one car in the lobby or take an escalator
to a landing for the alternate car.
iv. Sky Lobby: In very tall buildings, elevator efficiency can be
increased by a system that combines express and local elevators. The
express elevators stop at designated. [2, 3]

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 CHAPTER THREE
ELEVATOR CONTROL SYSTEM

3.1 Introduction
Automatic control has played a vital role in the advance of
engineering and science. In addition to its extreme importance space-
vehicle systems, missile-guidance systems, robotic systems, and the like,
automatic control has become an important and integral part of modern
manufacturing and industrial processes. For example, automatic control is
essential in the numerical control of machine tools in the manufacturing
industries, in the design of autopilot systems in the aerospace industries,
and in the design of cars and trucks in the automobile industries. It is also
essential in such industrial operations as controlling pressure, temperature,
humidity, viscosity, and flow in the process industries.
Since advances in the theory and practice of automatic control
provide the means for attaining optimal performance of dynamic systems,
improving productivity, relieving the drudgery of many routine repetitive
manual operations, and more, most engineers and scientists must now have
a good understanding of this field.
3.2 Closed-Loop Control Versus Open-Loop Control
A system that maintains a prescribed relationship between the output
and the reference input by comparing them and using the difference as a
means of control is called a feedback control system. An example would be
a room temperature control system. By measuring the actual room
temperature and comparing it with the reference temperature (desired
temperature), the thermostat turns the heating or cooling equipment on or
off in such a way as to ensure that the room temperature remains at a
comfortable level regardless of outside conditions.
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 Feedback control systems are not limited to engineering but can be
found in various nonengineering fields as well. The human body, for
instance, is a highly advanced feedback control system. Both body
temperature and blood pressure are kept constant by means of physiological
feedback. In fact, feedback performs a vital function: It makes the human
body relatively insensitive to external disturbances, thus enabling it to
function properly in a changing environment.
Feedback control systems are often referred to as closed-loop control
systems. In practice, the terms feedback control and closed-loop control are
used interchangeably. In a closed-loop control system the actuating error
signal, which is the difference between the input signal and the feedback
signal (which may be the output signal itself or a function of the output
signal and its derivatives and/or integrals), is fed to the controller so as to
reduce the error and bring the output of the system to a desired value. The
term closed-loop control always implies the use of feedback control action
in order to reduce system error.
Those systems in which the output has no effect on the control action
are called open-loop control systems. In other words, in an open-loop
control system the output is neither measured nor fed back for comparison
with the input. One practical example is a washing machine. Soaking,
washing, and rinsing in the washer operate on a time basis. The machine
does not measure the output signal, that is, the cleanliness of the clothes.
In any open-loop control system the output is not compared with the
reference input. Thus, to each reference input there corresponds a fixed
operating condition; as a result, the accuracy of the system depends on
calibration. In the presence of disturbances, an open-loop control system
will not perform the desired task. Open-loop control can be used, in
practice , only if the relationship between the input and output is known
and if there are neither internal nor external disturbances. Clearly, such

21
systems are not feedback control systems. Note that any control system that
operates on a time basis is open loop. For instance, traffic control by means
of signals operated on a time basis is another example Of open-loop
control.
An advantage of the closed loop control system is the fact that the
use of feedback makes the system response relatively insensitive to external
disturbances and internal variations in system parameters. It is thus possible
to use relatively inaccurate and inexpensive components to obtain the
accurate control of a given plant, whereas doing so is impossible in the
open-loop case.
From the point of view of stability, the open-loop control system is
easier to build because system stability is not a major problem. On the other
hand, stability is a major problem in the closed-loop control system, which
may tend to overcorrect errors and thereby can cause oscillations of
constant or changing amplitude.
It should be emphasized that for systems in which the inputs are
known ahead of time and in which there are no disturbances it is advisable
to use open-loop control. Closed loop control systems have advantages
only when unpredictable disturbances and/or unpredictable variations in
system components are present. Note that the output power rating partially
determines the cost, weight, and size of a control system. The number of
components used in a closed-loop control system is more than that for a
corresponding open-loop control system. Thus, the closed-loop control
system is generally higher in cost and power. To decrease the required
power of a system, open-loop control may be used where applicable. A
proper combination of open-loop and closed-loop controls is usually less
expensive and will give satisfactory overall system performance.
There are many applications use the concept of open loop and closed
loop control like microcontrollers, PLCs, etc. [4]

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3.3 Microprocessor, microcomputer and
microcontroller
Microprocessor is a Central Processing Unit (CPU) that is compacted
into a single chip semiconductor device. It is a general-purpose device,
suitable to perform many kinds of applications. When the microprocessor is
combined with input or output and memory devices, it is called micro-
computer. The choice of these devices that are combined depends on the
specific application. For example, most personal computers contain a
keyboard and monitor as standard input and output devices.
The major difference of a microcontroller compared to a
microprocessor and microcomputer is that microcontroller consists of CPU,
memory devices (ROM and RAM), input and output ports and timer
embedded into a single chip. They also have many on-chip facilities such
as serial port, counters, analog to digital converter and interrupt control so
that they can be interfaced with hardware and control functions of many
kinds of application. It is ideal for many applications in which cost and
space are critical.
Microcontroller has a wide range of applications in many control-
oriented activities. For example, they are used as engine controllers in
automobiles and as exposure and focus controllers in cameras as well as
they are used in an elevator control system. [4] The different between the
microprocessor and microcontroller shown in figure below:

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 Figure 3.1: The difference between microprocessor and
microcontroller

3.4 Elevator Control System Components

Elevator control system is the system responsible for coordinating all
aspects of elevator service such as travel, speed, and accelerating,
decelerating, door opening speed and delay, leveling and hall lantern
signals. It accepts inputs (e.g. button signals) and produces outputs
(elevator cars moving, doors opening, etc.). The main aims of the elevator
control system are:
 To bring the elevator car to the correct floor.
 To minimize travel time.
 To maximize passenger comfort by providing a smooth ride.
 To accelerate, decelerate and travel within safe speed limits.
The elevator as a control system has a number of components. These
can basically be divided into the following: Inputs, Outputs and
Controllers. [5] The general elevator flow chart shown in figure below:

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 Figure 3.2: General elevator flow chart

3.4.1 Inputs
Which include: Sensors, Buttons, Key controls and System controls.
i. Sensors
 Magnetic and/or photo electric: These pick up signals regarding the
location of the car.
 Infrared: This is used to detect people entering or leaving the
elevator.

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  Weight sensor (Overload Device): This is placed on the car to warn
the control system if the design load is exceeded.
 PVT (primary velocity transducer): Velocity of the drive sheave is
sensed with this encoder.
ii. Buttons:
 Hall buttons: These buttons are on a button panel on the outside of
the elevator shafts and are used by potential passengers to call an
elevator cab to the floor that the pressed summon button is located
on.
 Floor request buttons: These buttons are located on a button panel on
the interior of each elevator cab. The controller interacts with these
buttons by receiving pressed signals indicating the desired floor
number.
 Open door button: This button is on the interior button panel of each
cab. A passenger can press this button to open the elevator doors or
keep pressing it to keep them open.
 Emergency stop button: This button is on the interior button panel of
each cab. A passenger can press this button to stop the elevator no
matter where it is in a shaft.
 Emergency bell button: This button is on the interior button panel of
each cab. A passenger can press this button to sound a bell to alert
people outside of the elevator shaft that someone is trapped inside
the elevator cab in case of a malfunction.
iii. Key controls:
Key controls may only be activated by the proper keys, and their use
is thus restricted to repair people, elevator operators or firemen.
iv. System controls:
System controls are used to turn the elevator system on or off,
system controls are only accessible from an elevator control room.

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3.4.2 Outputs
Which include: Actuators, Bells and Displays
i. Actuators
 Door opening device: On top of each elevator cab is a door opening
device. This device opens the inner door of the elevator cab and the
outer door of the elevator shaft simultaneously at each floor.

Figure 3.3: Door opening device

 Electric motor: The elevator motor is responsible for moving an

elevator cab up and down between floors.
 Brakes: There a few brake systems in a typical elevator system.
These include the electromagnetic and mechanical brakes.
ii. Bells:
 Emergency bell: Somewhere in the elevator system is an emergency
bell that is used to alert people outside of the elevator system that
someone is trapped inside an elevator cab.
 Load bell: Each cab has a load bell that is used to alert the passengers
inside the cab that there is too much weight in it to operate it safely.

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iii. Displays
 Car position display: The interior of each elevator cab has a display
that indicates to its passengers which floor the elevator cab is
currently on.
 Direction display: The interior of each elevator cab has a display that
indicates the current direction of an elevator cab; it is either up or
down.
3.4.3 Controller
The controller is a device which manages the visual monitoring,
interactive command control and traffic analysis system to ensure the
elevators are functioning efficiently. The primary function of the elevator
controller is essentially to receive and process a variety of signals from
several different components of a whole elevator system. It is able to send
signals in response to the ones it receives in order to operate all of the other
components in the system.
This exchange of signals is how the elevator controller is able to
keep the elevators running smoothly on a day-to-day basis. Here are a few
of the following ways the controller interacts with the other components of
the elevator system:
 Controls the speed of elevator engines in order to move elevator cabs up
and down their respective shafts.
 Queues and processes elevator summons and floor requests from
passengers through the signals provided to it by several buttons.
 Processes information sent to it by load sensors in order to ensure that the
load of a cab never exceeds the safety limit.
 Processes information sent to it by position marker sensors in order to
keep track of where the elevator cabs are at all times, as well as their
speed.

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 Provides feedback to passengers through the lights on some of the buttons
and the floor number and direction displays in each cab.
 Can sound alarm bells that are either invoked by trapped passengers or
required to warn of excess load in a cab.
 Controls the operation of the elevator doors of a cab through
communication with door opening devices.
There are 3 primary types of controller technology used to process
the logic of the controller as follows:
i. Relay based controller (electromechanical switching): A relay is a very
dependable device consisting of an electromagnet that opens and closes
contacts, routing the logic to various circuits. A simple elevator with a
few stops and manual door operation can be served well by a relay
controller. Relays can also be used for more complex elevators, and in
fact were until the 1980's. However, the number of relays required can
make it difficult to troubleshoot should there ever be a problem. The
following applications may be recommended as suitable for controllers
using electromagnetic relay technology:
 Single elevators only.
 Drive speed up to 1 m/s.
 Passenger elevators in low traffic and usage situations in low-rise
buildings, i.e. not more than three stories (e.g. residential buildings, very
small hotels, nursing homes).
 Goods, bullion elevators in low-rise commercial buildings (e.g.
offices, hotels, hospitals).
ii. Solid-State Logic Technology: It includes both discreet transistors
circuits and integrated circuit boards. It gives improved reliability, lower
power consumption and easy fault diagnosis than electromagnetic relay
technology.

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 The following applications are recommended as suitable for
controllers using solid-state logic technology:
 Single elevators and duplex groups.
 Drive speed up to 2 m/s.
 Passenger elevators in low traffic situations in medium-rise
buildings, i.e. up to 12 stories (e.g. residential buildings and small hotels).
 Goods, bullion elevators in low-rise commercial buildings (e.g.
offices, hotels, hospitals).
iii. PLC controller (computer based technology) : The advent of personal
computers has made microprocessor technology affordable for many
other fields. Elevator Concepts utilizes a special type of industrial
computer called a Programmable Logic Controller PLC to control the
logic of more complex jobs. They are very dependable, compact, and
simple to troubleshoot.
Computer based controllers are suitable for the following:
 All elevators types.
 All drive speeds (i.e. 0.5 m/s to 10 m/s).
 Elevator groups of all sizes. [6, 7, 8]

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 CHAPTER FOUR
CIRCUIT COMPONENTS AND ANALISIS
4.1 Introduction
This type of elevator is constructed to cover four floors (up and
down) using servo motor. The controller controls motor operation,
receiving commands from different location, safety operations, security
operations, and be able to interface with computer.

4.2 System Block Diagram

The main elevator control system block diagram represented by

Figure 4.1:

IR sensor LCD

Panel Controller Motor

switches

Seven Keypad
segment

Figure 4.1: Main elevator control system block diagram

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-IR sensor: to indicate the position of the elevator room.
-Panel switch (push buttons): to give the user the ability to press a button to
select the level.
-Controller (Arduino): to control the motor and read from sensors.
-LCD: to display all of the activities that the controller is working on.
-Keypad: for the security code for the user.
-Seven segment: to indicate the level of the elevator room.
-Motor: servo motor to move the elevator car.
-Thermal sensor: gives an alarm when there is a fire.
4.3 System Components
The main components were used to build the elevator are:
i. Arduino mega 2560.
ii. Continuous rotation servo motor SM-S4315R.
iii. Radio Frequency Identification ( RFID).
iv. IR Sensors.
v. Magnetic proximity switch sensor.
vi. Thermal sensor.
vii. Liquid crystal display LCD 16×2 as an output port.
viii. Keypad as an input port.
ix. Seven segment.
These components will be defined briefly, and then its connection
with each other will be cleared.

4.3.1 Arduino
Arduino is an open-source computer hardware and software
company, project and user community that designs and manufactures
microcontroller-based kits for building digital devices and interactive
objects that can sense and control the physical world.

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 The project is based on a family of microcontroller board designs
manufactured primarily by Smart Projects in Italy, and also by several

other vendors, using various 8-bit Atmel AVR microcontrollers or 32-bit

Atmel ARM processors. These systems provide sets of digital and

analog I/O pins that can be interfaced to various expansion boards

("shields") and other circuits. The boards feature serial communications
interfaces, including USB on some models, for loading programs from
personal computers.
For programming the microcontrollers, the Arduino platform
provides an integrated development environment (IDE) based on the

processing project, which includes support for C, C++ and

Java programming languages.

The first Arduino was introduced in 2005, aiming to provide an
inexpensive and easy way for novices and professionals to create devices
that interact with their environment using sensors and actuators. Common
examples of such devices intended for beginner hobbyists include
simple robots, thermostats, and motion detectors.
Arduino boards are available commercially in preassembled form, or
as do-it-yourself kits. The hardware design specifications are openly
available, allowing the Arduino boards to be manufactured by
anyone. Adafruit Industries estimated in mid-2011 that over 300,000

official Arduinos had been commercially produced, and in 2013 that

700,000 official boards were in users' hands.

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 Arduino mega 2560: The Arduino/Genuino Mega 2560 is a
microcontroller board based on the ATmega2560. It has 54 digital
input/output pins (of which 15 can be used as PWM outputs), 16 analog
inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, a
USB connection, a power jack, an ICSP header, and a reset button. It
contains everything needed to support the microcontroller; simply connect
it to a computer with a USB cable or power it with a AC-to-DC adapter or
battery to get started. The Mega 2560 board is compatible with most
shields designed for Arduino/Genuino Uno and the former boards
Duemilanove or Diecimila. Figure 4.2 shows the Arduino mega. [9]

Figure 4.2: Arduino mega 2560

The Arduino mega specifications shown in Table 4.1.

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Table 4.1: Technical specifications

Microcontroller ATmega2560

Operating Voltage 5V

Input Voltage (recommended) 7-12V

Input Voltage (limit) 6-20V

Digital I/O Pins 54

PWM Digital I/O Pins 14

Analog Input Pins 16

DC Current per I/O Pin 40 mA

DC Current for 3.3V Pin 50 mA

Flash Memory 256 KB

Flash Memory for Bootloader 8 KB

SRAM 8 KB

EEPROM 4 KB

Clock Speed 16 MHz

Length 101.52 mm

Width 53.3 mm

Weight 37

4.3.2 Servo motor

A servomotor is a rotary actuator that allows for precise control of
angular position, velocity and acceleration. It consists of a suitable motor
coupled to a sensor for position feedback. It also requires a relatively
sophisticated controller, often a dedicated module designed specifically for
use with servomotors.

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 Servomotors are not a specific class of motor although the
term servomotor is often used to refer to a motor suitable for use in a
closed-loop control system.
Servomotors are used in applications such as robotics, CNC machinery or
automated manufacturing.

 continuous rotation servo motor: Continuous rotation servos are servos

which do not have a limited travel angle, instead they can rotate
continuously. They can be thought of as a motor and gearbox with servo
input controls. In such servos the input pulse results in a rotational
speed, and the typical 1.5 ms center value is the stop position. A smaller
value should turn the servo clockwise and a higher one
counterclockwise. Figure 4.3 Shows a continuous rotation servo motor
SM-S4315R

Figure 4.3: Continuous rotation servo motor SM-S4315R

4.3.3 Radio frequency identification

RFID is the wireless use of electromagnetic fields to transfer data,
for the purposes of automatically identifying and tracking tags attached to
objects, generally a RFID system consists of 2 parts. A Reader, and one or
more Transponders (Tags). RFID systems evolved from barcode labels as a
means to automatically identify and track products and people, it wildly
used in: Access Control, Contactless Payment Systems and Product
36
Tracking and Inventory Control. In every RFID system the transponder
Tags contain information, this information can be as little as a single binary
bit, or be a large array of bits representing such things as an identity
code, personal medical information, or literally any type of information that
can be stored in digital binary format. Figure 4.4 shows the RFID.

Figure 4.4: RFID

Shown is a RFID transceiver that communicates with a passive Tag,

Passive tags have no power source of their own and instead derive power
from the incident electromagnetic field. Commonly the heart of each tag
is a microchip. When the Tag enters the generated RF field it is able to
draw enough power from the field to access its internal memory and
transmit its stored information. When the transponder Tag draws power in
this way the resultant interaction of the RF fields causes the voltage at the
transceiver antenna to drop in value. This effect is utilized by the Tag to
communicate its information to the reader. The Tag is able to control the
amount of power drawn from the field and by doing so it can modulate
the voltage sensed at the Transceiver according to the bit pattern it wishes
to transmit. [10]

4.3.4 IR sensor
Infra-red (IR) is an electromagnetic wave who wavelength is
between 0.75 microns to 1000 microns (1 micron = 1µm). Since infra-red is
out of visible light range, IR cannot be seen with naked eye. Some of the
Infra-Red applications include night vision, hyper spectral imaging, and
37
communications. IR also used daily in TV remote or any device remote.
Figure 4.5 shows an IR sensor.

Figure 4.5: Infra-red

IR transmitter and receiver can be obtained at low price. Their shape

is looks exactly the same as LED. To distinguish between transmitter and
receiver, the transmitter always comes in clear LED while receiver is black
in colour. Other than that, there is also receiver that is used to pick up
specific frequency IR, 38kHz. For your information, 38kHz frequency IR is
commonly used in remote control.
4.3.5 Magnetic proximity switch sensor
The magnetic proximity switch sensor is an electrical switch
operated by an applied magnetic field. The magnetic sensor contains a pair
(or more) of magnetizable, flexible, metal reeds whose end portions are
separated by a small gap when the switch is open. The reeds are
hermetically sealed in opposite ends of a tubular glass envelope. Figure 4.6
shows the magnetic proximity switch sensor components.

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 Figure 4.6: Magnetic sensor

4.3.6 Thermal sensor

LM35 is a precision IC temperature sensor with its output

proportional to the temperature (in oC). The sensor circuitry is sealed and
therefore it is not subjected to oxidation and other processes. With LM35,
temperature can be measured more accurately than with a thermistor. It also
possess low self-heating and does not cause more than 0.1 oC temperature
rise in still air.
The operating temperature range is from -55°C to 150°C. The output
voltage varies by 10mV in response to every oC rise/fall in ambient
temperature, i.e., its scale factor is 0.01V/ oC. Figure 4.7 shows the
temperature sensor LM35.

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 Figure 4.7: LM35 sensor

4.3.7 Liquid crystal display

A liquid-crystal display (LCD) is a flat panel display, electronic
visual display, or video display that uses the light modulating properties of
liquid crystals. Liquid crystals do not emit light directly.
The LCD screen is more energy efficient and can be disposed of
more safely than a cathode ray tube CRT. Its low electrical power
consumption enables it to be used in battery-powered electronic equipment.
It is an electronically modulated optical device made up of any number of
segments filled with liquid crystals and arrayed in front of a light
source (backlight) or reflector to produce images in color or monochrome.
Liquid crystals were first discovered in 1888. By 2008, annual sales of
televisions with LCD screens exceeded sales of CRT units worldwide, and
the CRT became obsolete for most purposes. Figure 4.8 shows liquid
crystal display.

Figure 4.8: Liquid crystal display

40
4.3.8 Keypad
A keypad is a set of buttons arranged in a block or "pad" which
usually bear digits, symbols and usually a complete set of alphabetical
letters. If it mostly contains numbers then it can also be called a numeric
keypad. Keypads are found on many alphanumeric keyboards and on other
devices such as calculators, push-button telephones, combination locks,
and digital door locks, which require mainly numeric input. Figure 4.9
shows the keypad.

Figure 4.9: Keypad

4.3.9 Seven segment

A seven segment display is the most basic electronic display device
that can display digits from 0-9. They find wide application in devices that
display numeric information like digital clocks, radio, microwave ovens,
electronic meters etc. The most common configuration has an array of eight
LEDs arranged in a special pattern to display these digits.
Seven segment displays are of two types, common cathode and
common anode. In common cathode type , the cathode of all LEDs are tied
together to a single terminal which is usually labeled as „com„ and the
anode of all LEDs are left alone as individual pins labeled as a, b, c, d, e, f,
41
g & h (or dot) . In common anode type, the anodes of all LEDs are tied
together as a single terminal and cathodes are left alone as individual pins.

Figure 4.10: Seven segment

4.4 Circuit Implementation and Connection

The elevator control system flow chart shown in figure below :

Figure 4.11: Elevator control system flow chart

42
 The model was implemented for three floors beside the ground floor,
the materials were used to build the model are (aluminum, fiber and wood),
the wires connected to PCBs and bread board. In programming section
there are two modes can be chosen by the user.
First: password mode: in this mode the system should ask for a
password (each floor has its own password) , only after entering the correct
password the motor will take the elevator car to the desired floor.
This mode work as a security mode, it can be used in commercial
buildings, or in high-security buildings where are not any person is allowed
to use elevator service.
Second: VIP mode: this mode gives the ability of controlling the
motor by using computer requests, in other meaning if there is an important
person (manager, VIP visitor), coming to the building, it is not right to
make him wait for the elevator, so by using this mode, the receptionist can
be able to bring elevator car to any floor without any delay.

 Connection section: First of all there are four magnetic sensors in each
door connected in pin (9) in the Arduino, for purpose of protection, if
any door opened, the motor will never move.

Request switches connected as: ground floor to pin (6), floor one to
pin (12), floor two to pin (7), floor three to pin (11).

IR sensors signal connected as: ground floor to pin (5), floor one to
pin (4), floor two to pin (3), floor three to pin (2).
Note: it is important to know that IR signal is normally high unless there is
something cut the signal between transmitter and receiver.

Seven segments connected with each other in serial and connected to

the Arduino in pins (22, 23, 24, 25, 26, 27, and 28).

43
Motor signal connected to pin (10).

LCD connected to pins (44, 45, 46, 47, 48, and 49).

Keypad connected to pins (32, 33, 34, 35, 36, 37, 38, and 39).

Thermal sensor connected to pin(A0).

4.5 Elevator Control System State Diagram

In the state diagram each state represent a floor and the transporting
from one state to another require a certain condition. The middle states is a
special states where the elevator supposed to reverse its movement but that
only can be done when there is only one request, in other words the request
is about calling the elevator down while the request from upper floor or
vise versa. [11]

Figure 4.12 shows the state diagram of the elevator.

44
Figure 4.12: The elevator state diagram

45
 CHAPTER FIVE
CONCLUSION AND RECOMONDATIONS

5.1 Conclusions
An intelligent elevator control system model had been built based on
an Arduino mega 2560 able to interface with the users throw LCD, request
button, seven segments and a security keypad or a computer interfacing.
The Arduino was programed to work as a controller of the model as
the priority and requesting elevator algorithm and fire alarming and finally,
integrate those systems into the model.
This system can be reprogrammed to interface with more floors for
future, or to add new operation instructions.

5.2 Recommendations
 In the more complex elevator where there is more conditions to test,
calculate and analysis it is better to use one of the well-known
control theories like the fuzzy controlling or use the computer
calculation methods.
 More advanced security systems can be integrated like the
fingerprint, face, voice, retina or any other kind of biological security
system, it could be more secure but more expensive.
 The requesting methods can be more various by adding SMS remote
request service or wireless requesting using the internet for the VIP
or special cases.
 The doors can be able to open as an automatic door for more
flexibility and more advance control, but it is more financially
disturbing.

46
 REFERENCES
[1] Robert Beyer, “Specification Series: Elevators - First Things First”,
1994.
[2] Lava Computer MFG Inc,” IEEE 1284: Parallel Ports”, Lava Computer
MFG Inc, 2002.
[3] Sajal K. Das, “Mobile Handset Design‟, John Wiley & Sons”, 2010.
[4] Steven F Barrett, Daniel Pack, Mitchell Thornton, “Atmel AVR
Microcontroller Primer: Programming and Interfacing”, 2007.
[5] Van Valkenburg, Mac E, “Reference Data for Engineers”, Fairford,
GLO, United Kingdom, 2005.
[6] John Bird, “Electrical and Electronic Principles and Technology”,
Elsevier Limited, 2010.
[7] Lambert M. Surhone, Miriam T. Timpledon, Susan F. Marseken,
”Printed Circuit Board”, VDM Verlag Dr. Mueller e.K., 2010.
[8] Bhattacharya S. K.,”Control Systems Engineering”, Pearson Education,
India, 2008.
[9] General Books LLC, ”Elevators: Elevator Music, Elevator, Paternoster,
Stair lift, Minato Ward 2006 Elevator Accident, Elevator Consultant,
Dumbwaiter”, General Books LLC, 2010.
[10] Electrical Engineering and Control: Selected Papers from the 2011
International Conference on Electric and Electronics (EEIC 2011) in
Nanchang, China on June 20-22, 2011.
[11]Martin Bates,” PIC Microcontrollers: An Introduction to
Microelectronics”, Elsevier, 2004 .

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