【摘要】：電梯屬于特種設(shè)備,而曳引機(jī)是電梯的核心部件,因此對(duì)曳引機(jī)控制系統(tǒng)性能的要求極高。永磁同步電機(jī)具有效率高、體積小、控制性能好等優(yōu)點(diǎn),基于永磁同步無齒輪曳引機(jī)的新型無機(jī)房電梯系統(tǒng)已成為國內(nèi)外研究的熱點(diǎn)。 本文針對(duì)基于永磁同步無齒輪曳引機(jī)的現(xiàn)代電梯系統(tǒng),設(shè)計(jì)了一種電梯驅(qū)動(dòng)與控制算法及軟件系統(tǒng),并進(jìn)行了實(shí)現(xiàn)。本文的主要工作如下： 首先,對(duì)電梯運(yùn)動(dòng)特性進(jìn)行了研究和優(yōu)化。從電梯的基本原理出發(fā),對(duì)電梯系統(tǒng)的結(jié)構(gòu)和運(yùn)動(dòng)方程進(jìn)行了研究,根據(jù)運(yùn)行速度與升降時(shí)間及電能消耗等參數(shù)的關(guān)系,提出了對(duì)電梯運(yùn)行速度曲線的優(yōu)化方案。 其次,完成了電梯控制系統(tǒng)建模和控制算法設(shè)計(jì)。通過坐標(biāo)變換對(duì)電梯控制系統(tǒng)進(jìn)行建模,并闡述了磁場定向控制策略的原理及實(shí)現(xiàn)方法。針對(duì)速度伺服系統(tǒng),設(shè)計(jì)了基于擾動(dòng)負(fù)載轉(zhuǎn)矩補(bǔ)償?shù)目刂扑惴?達(dá)到抑制轉(zhuǎn)矩?cái)_動(dòng)影響的目的,并通過仿真驗(yàn)證該算法的有效性；針對(duì)位置伺服系統(tǒng),設(shè)計(jì)了基于期望補(bǔ)償?shù)淖赃m應(yīng)魯棒控制器,同時(shí)證明了該控制系統(tǒng)的穩(wěn)定性和跟蹤誤差的收斂性,仿真結(jié)果表明該控制器能夠克服系統(tǒng)模型的參數(shù)攝動(dòng)、外部擾動(dòng)及測量噪聲的影響。 然后,在電梯控制系統(tǒng)建模和算法設(shè)計(jì)的基礎(chǔ)上,完成了軟件的設(shè)計(jì)及開發(fā)。采用模塊化設(shè)計(jì)思想進(jìn)行系統(tǒng)開發(fā),軟件主要模塊包括：速度環(huán)模塊、電流環(huán)模塊、通信模塊、SVPWM模塊等。 最后,對(duì)控制系統(tǒng)進(jìn)行了調(diào)試,對(duì)調(diào)試中出現(xiàn)的問題給出了解決方案。調(diào)試結(jié)果表明,本文所設(shè)計(jì)的電梯曳引機(jī)控制系統(tǒng)具有良好的調(diào)速性能,滿足預(yù)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.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TU857;TP273

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