永磁同步电梯曳引系统的性能优化方法研究

发布时间：2018-07-22 12:32

【摘要】：作为垂直升降的交通工具，电梯在高层建筑和公共场所已经成为重要的建筑设备而不可或缺。电梯曳引系统的控制性能集中体现在起动溜车和运行抖动的抑制性能。在起动阶段一般采用零位置伺服控制，在电梯制动器打开瞬间，突加的负载扰动会造成电梯溜车；而起动零位置伺服阶段的突加负载扰动抑制性能，主要受转子磁极初始位置辨识精度、起动过程的转子位置与速度检测精度和控制算法影响。在运行阶段采用S曲线给定的速度伺服控制，低速阶段的速度跟踪性能主要受转子位置与转速检测精度影响，而高速阶段的速度跟踪性能还受控制环输出电压饱和影响。为保证电梯运行的控制性能，首先必须应对转子磁极初始位置辨识精度、低速阶段速度检测精度和高速阶段电压饱和问题。因此，本文的研究内容主要包括以下三个方面：(1)研究永磁同步电机转子磁极初始位置辨识精度的提高方法；(2)研究低速阶段转子位置与速度的检测优化方法；(3)研究提高母线电压利用率的脉宽调制优化算法，增加控制环输出电压调节范围。为了提高转子初始位置的辨识精度，本文介绍了三种经典的静止型转子初始位置辨识方法，包括脉冲电压注入法、高频旋转电压注入法和高频脉振电压注入法，分析了三种方法辨识过程中基于摩擦模型的运动情况，，给出了转子静止的边界条件，提出了超出边界条件的转子运动抑制方法。通过抑制辨识过程中转子的运动，提高转子初始位置的辨识精度。同时，针对无凸极或者凸极率较低的永磁同步电机，提出了基于动态磁阻差异的静止型转子初始位置辨识方法，通过注入高频电压信号、提取二次谐波电流分量中转子位置与极性信息来实现转子初始位置辨识，仿真与实验结果验证了该辨识方法的可行性。为了提高低速阶段的转子位置与转速检测精度，本文通过研究基于纯统计规律的多项式外插法和基于纯系统模型的转子位置龙伯格观测器，提出了基于多项式外插法的矢量跟踪观测器方法。该方法通过对编码器信号进行多项式外插处理，得到基于龙伯格拓扑的矢量跟踪观测器参考输入，然后由观测器估计转子位置与速度。该方法兼具多项式外插法的线性预估性能和观测器对系统变化（给定随动与负载扰动）的动态响应性能，对于编码器检测精度不高的系统，其低速检测性能有显著的提高。针对转子磁极位置偏差或者母线电压偏低造成的高速运行电压饱和问题，本文提出了一种新颖的考虑死区与最小脉宽限制的综合式脉宽调制（Integrated PWM, IPWM）方法。该方法综合了SVPWM、DPWM1、三段式PWM和一段式PWM，通过参考电压线性修正、调制算法优化和IPWM新死区插入，实现了在提高输出电压基波幅值线性度和抑制总谐波畸变的基础上提高母线电压的利用率，从而拓宽了控制环输出电压的调节范围，增加了电梯曳引系统运行的稳定性和鲁棒性，仿真与实验结果验证了该IPWM方法的优越性能。
[Abstract]:As a vertical lift, elevator has become an important building equipment in high buildings and public places. The control performance of the elevator traction system is concentrated on the suppression performance of the starting and running jitter. In the starting stage, the zero position servo control is generally used. The load disturbance will cause the elevator car sliding, and the load disturbance rejection performance of the starting zero position servo stage is mainly affected by the initial position identification precision of the rotor pole, the rotor position and speed detection precision and the control algorithm in the starting process. The speed servo control given by the S curve in the running stage and the speed tracking at the low speed stage are used. The performance is mainly affected by the rotor position and speed detection accuracy, and the speed tracking performance of the high-speed stage is also affected by the output voltage saturation of the control loop.
In order to ensure the control performance of the elevator operation, the initial position identification precision of the rotor pole, the speed detection precision in the low speed stage and the high speed phase voltage saturation are necessary. Therefore, the main contents of this paper mainly include the following three aspects: (1) the method to improve the accuracy of the initial position identification of the rotor pole of the permanent magnet synchronous motor (PMSM); 2) study and optimize the detection and optimization of the rotor position and speed in the low speed stage; (3) to study the pulse width modulation optimization algorithm to increase the bus voltage utilization, and to increase the output voltage regulation range of the control loop.
In order to improve the identification accuracy of the initial rotor position, this paper introduces three classical methods of identifying the initial position of a static rotor, including pulse voltage injection, high frequency rotating voltage injection and high frequency pulse voltage injection. The motion of the friction model in the identification process of the three methods is analyzed, and the static edge of the rotor is given. The rotor motion suppression method beyond the boundary condition is proposed. By restraining the motion of the rotor in the identification process, the identification accuracy of the rotor initial position is improved. At the same time, a static rotor initial position identification method based on the difference of dynamic reluctance is proposed for the permanent magnet synchronous motor with a low or low convex pole rate. In the high frequency voltage signal, the rotor position and polarity information are extracted from the two harmonic current components to realize the rotor initial position identification. The simulation and experimental results verify the feasibility of the identification method.
In order to improve the accuracy of rotor position and speed detection at low speed, this paper presents a method of vector tracking observer based on polynomial extrapolation by polynomial extrapolation and rotor position dragon Berg observer based on pure system model based on pure statistical law, and polynomial extrapolation by polynomial interpolation. Processing, the vector tracking observer reference input based on the Dragon Berg topology is obtained, and then the rotor position and speed are estimated by the observer. The method has the linear predictor performance of the polynomial extrapolation method and the dynamic response energy of the observer to the system change (given the servo and load disturbance), and the system with low detection precision for the encoder is low. The performance of speed detection has been greatly improved.
Aiming at the problem of high speed operating voltage saturation caused by the position deviation of the rotor pole position or the low bus voltage, a novel Integrated PWM (IPWM) method, which considers the dead zone and the minimum pulse width restriction, is proposed in this paper. This method combines the SVPWM, DPWM1, three segment PWM and the one segment PWM, and the linear correction of the voltage by the reference voltage, The optimization of the modulation algorithm and the new dead zone insertion of IPWM can improve the utilization of the bus voltage on the basis of increasing the linearity of the output voltage base wave amplitude and restraining the total harmonic distortion, thus widening the adjustment range of the output voltage of the control loop and increasing the stability and robustness of the operation of the elevator traction system. The simulation and experimental results have been verified. The superior performance of the IPWM method.
【学位授予单位】：华南理工大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TU857;TM341

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