永磁同步电机的电梯启动控制策略

发布时间：2018-11-25 17:06

【摘要】：随着我国经济的快速发展,电梯的安全性和可靠性越来越受到人们的重视。永磁同步曳引机在电梯控制中有着诸多优点,已经成为电梯行业的主流。本文针对永磁同步电梯启动阶段进行了以下数个方面的研究。本文主要针对初始角度获取和启动转矩补偿两个问题展开研究。首先根据永磁同步电机矢量控制的数学模型,建立起了双闭环控制方案。其中着重介绍了空间电压矢量调制和电流环控制,提出了电流环参数整定方案。面对电梯启动阶段无法获取初始角度的情况,采用高频注入法和直流电压脉动法来计算出初始角度。比较了旋转电压法和脉动电压法的优劣势后,选择旋转电压法来计算电机的初始角度。根据饱和效应的理论推导,采用d轴作为直流电压注入方向。然后分析了电梯启动阶段所面临的突加负载的情况,提出一种无称重电梯启动转矩补偿方案。该方案结合了细分算法,变PI控制,和改进型滑模观测器前馈,可以很好的实现启动阶段的快速性和稳定性。细分算法可以很好的提高系统的精度,变PI控制则解决了快速性和抗扰性的矛盾,改进型滑模观测器既提高了系统的动态响应,又抑制了滑模观测器所带来的抖振。最后,通过matlab仿真平台和基于瑞萨芯片的硬件平台实验,验证了之前的理论和结果,并总结了之前的工作以及提出之后的展望。
[Abstract]:With the rapid development of economy in China, people pay more and more attention to the safety and reliability of elevators. Permanent magnet synchronous traction machine has many advantages in elevator control and has become the mainstream of elevator industry. In this paper, the starting stage of permanent magnet synchronous elevator is studied in the following aspects. This paper focuses on two problems: initial angle acquisition and starting torque compensation. Based on the mathematical model of vector control of PMSM, a double closed loop control scheme is established. The space voltage vector modulation and current loop control are introduced, and the current loop parameter tuning scheme is proposed. The initial angle is calculated by high frequency injection method and DC voltage pulsation method. After comparing the advantages and disadvantages of the rotating voltage method and the pulsating voltage method, the rotation voltage method is chosen to calculate the initial angle of the motor. According to the theoretical derivation of saturation effect, d axis is used as the direction of DC voltage injection. Then, the paper analyzes the sudden loading in the starting stage of the elevator, and puts forward a scheme of torque compensation for the lift without weighing. This scheme combines subdivision algorithm, variable PI control, and improved sliding mode observer feedforward. The subdivision algorithm can improve the accuracy of the system, and the variable PI control solves the contradiction between the rapidity and the immunity. The improved sliding mode observer not only improves the dynamic response of the system, but also reduces the chattering caused by the sliding mode observer. Finally, through the matlab simulation platform and the hardware platform experiment based on Reza chip, the previous theory and results are verified, and the previous work and future prospects are summarized.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM341

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