永磁同步電梯曳引系統(tǒng)的性能優(yōu)化方法研究
發(fā)布時(shí)間：2018-07-22 12:32
【摘要】：作為垂直升降的交通工具，電梯在高層建筑和公共場所已經(jīng)成為重要的建筑設(shè)備而不可或缺。電梯曳引系統(tǒng)的控制性能集中體現(xiàn)在起動(dòng)溜車和運(yùn)行抖動(dòng)的抑制性能。在起動(dòng)階段一般采用零位置伺服控制，在電梯制動(dòng)器打開瞬間，突加的負(fù)載擾動(dòng)會(huì)造成電梯溜車；而起動(dòng)零位置伺服階段的突加負(fù)載擾動(dòng)抑制性能，主要受轉(zhuǎn)子磁極初始位置辨識精度、起動(dòng)過程的轉(zhuǎn)子位置與速度檢測精度和控制算法影響。在運(yùn)行階段采用S曲線給定的速度伺服控制，低速階段的速度跟蹤性能主要受轉(zhuǎn)子位置與轉(zhuǎn)速檢測精度影響，而高速階段的速度跟蹤性能還受控制環(huán)輸出電壓飽和影響。 為保證電梯運(yùn)行的控制性能，首先必須應(yīng)對轉(zhuǎn)子磁極初始位置辨識精度、低速階段速度檢測精度和高速階段電壓飽和問題。因此，本文的研究內(nèi)容主要包括以下三個(gè)方面：(1)研究永磁同步電機(jī)轉(zhuǎn)子磁極初始位置辨識精度的提高方法；(2)研究低速階段轉(zhuǎn)子位置與速度的檢測優(yōu)化方法；(3)研究提高母線電壓利用率的脈寬調(diào)制優(yōu)化算法，增加控制環(huán)輸出電壓調(diào)節(jié)范圍。 為了提高轉(zhuǎn)子初始位置的辨識精度，本文介紹了三種經(jīng)典的靜止型轉(zhuǎn)子初始位置辨識方法，包括脈沖電壓注入法、高頻旋轉(zhuǎn)電壓注入法和高頻脈振電壓注入法，分析了三種方法辨識過程中基于摩擦模型的運(yùn)動(dòng)情況，，給出了轉(zhuǎn)子靜止的邊界條件，提出了超出邊界條件的轉(zhuǎn)子運(yùn)動(dòng)抑制方法。通過抑制辨識過程中轉(zhuǎn)子的運(yùn)動(dòng)，提高轉(zhuǎn)子初始位置的辨識精度。同時(shí)，針對無凸極或者凸極率較低的永磁同步電機(jī)，提出了基于動(dòng)態(tài)磁阻差異的靜止型轉(zhuǎn)子初始位置辨識方法，通過注入高頻電壓信號、提取二次諧波電流分量中轉(zhuǎn)子位置與極性信息來實(shí)現(xiàn)轉(zhuǎn)子初始位置辨識，仿真與實(shí)驗(yàn)結(jié)果驗(yàn)證了該辨識方法的可行性。 為了提高低速階段的轉(zhuǎn)子位置與轉(zhuǎn)速檢測精度，本文通過研究基于純統(tǒng)計(jì)規(guī)律的多項(xiàng)式外插法和基于純系統(tǒng)模型的轉(zhuǎn)子位置龍伯格觀測器，提出了基于多項(xiàng)式外插法的矢量跟蹤觀測器方法。該方法通過對編碼器信號進(jìn)行多項(xiàng)式外插處理，得到基于龍伯格拓?fù)涞氖噶扛櫽^測器參考輸入，然后由觀測器估計(jì)轉(zhuǎn)子位置與速度。該方法兼具多項(xiàng)式外插法的線性預(yù)估性能和觀測器對系統(tǒng)變化（給定隨動(dòng)與負(fù)載擾動(dòng)）的動(dòng)態(tài)響應(yīng)性能，對于編碼器檢測精度不高的系統(tǒng)，其低速檢測性能有顯著的提高。 針對轉(zhuǎn)子磁極位置偏差或者母線電壓偏低造成的高速運(yùn)行電壓飽和問題，本文提出了一種新穎的考慮死區(qū)與最小脈寬限制的綜合式脈寬調(diào)制（Integrated PWM, IPWM）方法。該方法綜合了SVPWM、DPWM1、三段式PWM和一段式PWM，通過參考電壓線性修正、調(diào)制算法優(yōu)化和IPWM新死區(qū)插入，實(shí)現(xiàn)了在提高輸出電壓基波幅值線性度和抑制總諧波畸變的基礎(chǔ)上提高母線電壓的利用率，從而拓寬了控制環(huán)輸出電壓的調(diào)節(jié)范圍，增加了電梯曳引系統(tǒng)運(yùn)行的穩(wěn)定性和魯棒性，仿真與實(shí)驗(yàn)結(jié)果驗(yàn)證了該IPWM方法的優(yōu)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.
【學(xué)位授予單位】：華南理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：TU857;TM341
[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.
【學(xué)位授予單位】：華南理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：TU857;TM341
【參考文獻(xiàn)】
相關(guān)期刊論文 前10條
1 張艷芳,林飛,馬志文,鄭瓊林;兩種SVPWM過調(diào)制方法的比較研究[J];北京交通大學(xué)學(xué)報(bào);2005年02期
2 陸海峰;瞿文龍;張磊;張星;樊揚(yáng);程小猛;靳勇剛;肖波;;基于調(diào)制函數(shù)的SVPWM算法[J];電工技術(shù)學(xué)報(bào);2008年02期
3 吳芳;萬山明;黃聲華;;一種過調(diào)制算法及其在永磁同步電動(dòng)機(jī)弱磁控制中的應(yīng)用[J];電工技術(shù)學(xué)報(bào);2010年01期
4 廖勇;沈朗;姚駿;劉刃;;改進(jìn)的面貼式永磁同步電機(jī)轉(zhuǎn)子初始位置檢測[J];電機(jī)與控制學(xué)報(bào);2009年02期
5 周元鈞;蔡名飛;;改進(jìn)的永磁同步電機(jī)轉(zhuǎn)子初始位置檢測方法[J];電機(jī)與控制學(xué)報(bào);2010年03期
6 王高林;楊榮峰;于泳;徐壯;徐殿國;;內(nèi)置式永磁同步電機(jī)轉(zhuǎn)子初始位置估計(jì)方法[J];電機(jī)與控制學(xué)報(bào);2010年06期
7 王冉s
本文編號：2137475
本文鏈接：http://sikaile.net/kejilunwen/dianlilw/2137475.html
最近更新
教材專著
