基于永磁同步无齿轮曳引机的新型电梯控制算法和软件设计及实现

发布时间：2018-08-12 09:17

【摘要】：电梯属于特种设备,而曳引机是电梯的核心部件,因此对曳引机控制系统性能的要求极高。永磁同步电机具有效率高、体积小、控制性能好等优点,基于永磁同步无齿轮曳引机的新型无机房电梯系统已成为国内外研究的热点。本文针对基于永磁同步无齿轮曳引机的现代电梯系统,设计了一种电梯驱动与控制算法及软件系统,并进行了实现。本文的主要工作如下：首先,对电梯运动特性进行了研究和优化。从电梯的基本原理出发,对电梯系统的结构和运动方程进行了研究,根据运行速度与升降时间及电能消耗等参数的关系,提出了对电梯运行速度曲线的优化方案。其次,完成了电梯控制系统建模和控制算法设计。通过坐标变换对电梯控制系统进行建模,并阐述了磁场定向控制策略的原理及实现方法。针对速度伺服系统,设计了基于扰动负载转矩补偿的控制算法,达到抑制转矩扰动影响的目的,并通过仿真验证该算法的有效性；针对位置伺服系统,设计了基于期望补偿的自适应鲁棒控制器,同时证明了该控制系统的稳定性和跟踪误差的收敛性,仿真结果表明该控制器能够克服系统模型的参数摄动、外部扰动及测量噪声的影响。然后,在电梯控制系统建模和算法设计的基础上,完成了软件的设计及开发。采用模块化设计思想进行系统开发,软件主要模块包括：速度环模块、电流环模块、通信模块、SVPWM模块等。最后,对控制系统进行了调试,对调试中出现的问题给出了解决方案。调试结果表明,本文所设计的电梯曳引机控制系统具有良好的调速性能,满足预期要求。
[Abstract]:The elevator belongs to the special equipment, and the traction machine is the core part of the elevator, so the performance of the traction machine control system is very high. Permanent magnet synchronous motor (PMSM) has many advantages, such as high efficiency, small size and good control performance. A new type of elevator system based on PMSM has become a hot spot at home and abroad. Aiming at the modern elevator system based on permanent magnet synchronous gearless traction machine, an elevator drive and control algorithm and software system are designed and implemented in this paper. The main work of this paper is as follows: firstly, the kinematic characteristics of elevator are studied and optimized. Based on the basic principle of elevator, the structure and motion equation of elevator system are studied. According to the relationship between running speed, lifting time and electric energy consumption, the optimization scheme of elevator speed curve is put forward. Secondly, the elevator control system modeling and control algorithm design are completed. The elevator control system is modeled by coordinate transformation, and the principle and realization method of the magnetic field oriented control strategy are described. For the speed servo system, a control algorithm based on disturbance load torque compensation is designed to suppress the effect of torque disturbance, and the effectiveness of the algorithm is verified by simulation. An adaptive robust controller based on expected compensation is designed, and the stability of the control system and the convergence of tracking error are proved. The simulation results show that the controller can overcome the parameter perturbation of the system model. The influence of external disturbance and measurement noise. Then, on the basis of elevator control system modeling and algorithm design, the software design and development are completed. The software includes speed loop module, current loop module, communication module and SVPWM module. Finally, the control system is debugged and the solutions are given. The debugging results show that the elevator traction machine control system designed in this paper has good speed regulation performance and meets the expected requirements.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU857;TP273

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