永磁同步电机直驱调速电梯门机系统的模糊PI并联控制

发布时间：2018-07-14 22:47

【摘要】：永磁同步电动机在电梯门机系统中的应用是当今电梯门机发展的必然趋势,与传统异步电机电梯门机系统相比,采用永磁同步电机的门机系统不需要安装减速装置,不仅节省安装空间,而且使安装更灵活。但由于没有减速装置,系统折算到电机转子轴上的转动惯量变化范围较大,对于采用同步门刀的门机系统,电机带门运动和不带门运动时转动惯量变化较大,此外当电梯门重量相差较大时,转动惯量也存在差异。转动惯量大范围变化会严重影响系统的动态性能。针对这一问题,本文引入模糊控制,与传统的PI控制结合,设计了模糊PI并联控制器,扩大了系统对转动惯量变化范围的适应性,提高了系统的鲁棒性和快速性。本文首先概括了电梯门机系统发展趋势,简单介绍了门机系统组成和各部分功能。接着给出了永磁同步电机数学模型和0di?控制的永磁同步电动机转速-电流双闭环矢量控制系统。分析了变转动惯量系统研究现状,最终确定采用模糊控制策略,并结合转动惯量变化对系统造成的影响制定了模糊控制规则,在此基础上设计了模糊PI并联控制器,给出了永磁同步电机模糊PI并联控制调速系统的设计方案。之后在MATLAB/Simulink中搭建了系统仿真模型,并模拟真实情况进行了系统仿真实验,对仿真结果进行了分析,论证了模糊PI并联控制的有效性。最后,基于理论分析和仿真结果,编写了控制程序,并设计了PI控制、模糊控制和模糊PI并联控制三个系统,分别在实验用门机系统、门重为65kg的门机系统和门重为140kg的门机系统上进行了工程验证。实验结果表明,PI控制在转动惯量变化较大时需要采用两组参数,转动惯量变化巨大时,PI控制只能以牺牲系统开门过程的快速保证关门过程的稳定性,且参数调试复杂,调试难度高。相比较而言,模糊PI并联控制能适应更大转动惯量变化范围,且参数调试简单,控制效果好。
[Abstract]:The application of permanent magnet synchronous motor (PMSM) in elevator door crane system is an inevitable trend in the development of elevator door crane. Compared with the traditional asynchronous motor elevator door crane system, the permanent magnet synchronous motor (PMSM) system does not need to install deceleration device. Not only save installation space, but also make installation more flexible. However, since there is no deceleration device, the system has a large range of rotational inertia converted to the rotor shaft of the motor. For the door machine system with synchronous gate cutter, the moment of inertia changes greatly when the motor moves with and without the door. In addition, when the elevator door weight difference is large, the moment of inertia is also different. The dynamic performance of the system will be seriously affected by the large range variation of the moment of inertia. In order to solve this problem, a fuzzy Pi parallel controller is designed based on the combination of fuzzy control and traditional Pi control, which expands the adaptability of the system to the variation range of moment of inertia and improves the robustness and rapidity of the system. In this paper, the development trend of elevator door crane system is summarized, and the composition and functions of door crane system are briefly introduced. Then the mathematical model of PMSM and 0dii? The speed and current double closed loop vector control system of permanent magnet synchronous motor (PMSM) is proposed. In this paper, the current research situation of variable moment of inertia system is analyzed, the fuzzy control strategy is finally adopted, and the fuzzy control rules are formulated according to the influence of the moment of inertia on the system. On this basis, a fuzzy Pi parallel controller is designed. The design scheme of fuzzy Pi parallel control speed regulation system for permanent magnet synchronous motor (PMSM) is presented. Then the system simulation model is built in MATLAB / Simulink and the simulation experiment is carried out. The simulation results are analyzed and the effectiveness of the fuzzy Pi parallel control is demonstrated. Finally, based on the theoretical analysis and simulation results, a control program is written, and three systems, namely Pi control, fuzzy control and fuzzy Pi parallel control, are designed. The engineering verification was carried out on the gantry system with the gate weight of 65kg and the portal crane system with the gate weight of 140kg. The experimental results show that two sets of parameters should be used when the moment of inertia changes greatly. When the moment of inertia changes greatly, Pi control can only guarantee the stability of the closing process by sacrificing the fast opening process of the system, and the parameter debugging is complicated. Debugging is difficult. By comparison, the fuzzy Pi parallel control can adapt to the larger variation range of moment of inertia, and the parameter adjustment is simple, and the control effect is good.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU857;TM341

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