基于永磁同步无齿轮曳引机的节能电梯控制系统算法和软件设计
摘要
永磁同步电机以效率高、体积小、控制性能好等优点逐步成为新型电梯曳引机的主流。针对永磁同步电机的电梯驱动与控制技术已成为国内外的研究热点。
本文主要完成电梯用永磁同步电机伺服系统的控制算法设计与软件实现。首先分析了永磁同步曳引机驱动系统组成结构和工作原理,详细介绍了永磁同步电机的数学模型及其矢量控制策略,在此基础上对永磁同步曳引机伺服系统进行了数学建模。为了满足电梯对永磁同步电机调速控制的要求,分别设计了基于先进PID控制和模糊自整定PID控制的控制器,并利用Matlab进行仿真验证。
针对永磁同步曳引机伺服控制系统,设计了抗抖振的滑模控制器,分析了系统稳定性,仿真结果验证了抗抖振滑模控制算法的有效性。为了有效克服系统模型的参数不确定性、外部扰动以及未建模动态,提高系统鲁棒性,设计了自适应鲁棒控制器,对控制系统的稳定性及跟踪性能进行了理论分析和证明,仿真结果也证实了所设计的自适应鲁棒控制算法的有效性。
完成了基于DSP芯片的永磁同步曳引机矢量控制系统的软件设计以及相关算法实现。采用模块化设计思想,分别设计了速度环模块、电流环模块、SVPWM模块以及通信模块等。
最后进行了软硬件的联合调试,分析了调试中遇到的主要问题,并给出了解决方案。实验结果表明,所设计的永磁同步曳引机伺服系统具有较好的调速性能,能够满足电梯驱动系统的要求。
With high efficiency, small size, and superior control performance, permanent magnet synchronous motor (PMSM) gradually become the mainstream of new elevator traction machine. The drive and control technology of permanent magnet synchronous motor for elevator has gained much attention at home and abroad.
First of all, working principal and architecture of this PMSM drive and control system is analyzed. What's more, based on detailed introduction of the mathematical model and related vector control, modeling of the whole servo system is completed. In order to meet the requirements for elevator speed control system with permanent magnet synchronous motor, the advanced PID control and fuzzy self-tuning PID control are brought up. The result is verified through simulation by MATLAB. In order to improve the robustness of permanent magnet synchronous motor position servo system, anti-buffet sliding mode control and adaptive robust control are introduced. For a class of second order nonlinear systems with parameter perturbation and external perturbation, sliding mode controller and adaptive robust controller are developed. The sliding mode control law ensures asymptotic tracking stability of the position servo system. But the violent chatting limits its application in practice. The adaptive robust control ensures the tracking within a desired precision, and all control signals are bounded. Simulation results confirmed the validity of the robust controllers.
Software and related algorithm of this PMSM servo system based on DSP are accomplished. Modularized design is used for speed controller, current controller, SVPWM, communication and so on.
A combination debugging of hardware and software has been carried out, main problems occurring during the process are analyzed and solutions to them are proposed. The experimental results show that this PMSM servo system has excellent speed performance to meet the requirements of elevator drive system.
本文主要完成电梯用永磁同步电机伺服系统的控制算法设计与软件实现。首先分析了永磁同步曳引机驱动系统组成结构和工作原理,详细介绍了永磁同步电机的数学模型及其矢量控制策略,在此基础上对永磁同步曳引机伺服系统进行了数学建模。为了满足电梯对永磁同步电机调速控制的要求,分别设计了基于先进PID控制和模糊自整定PID控制的控制器,并利用Matlab进行仿真验证。
针对永磁同步曳引机伺服控制系统,设计了抗抖振的滑模控制器,分析了系统稳定性,仿真结果验证了抗抖振滑模控制算法的有效性。为了有效克服系统模型的参数不确定性、外部扰动以及未建模动态,提高系统鲁棒性,设计了自适应鲁棒控制器,对控制系统的稳定性及跟踪性能进行了理论分析和证明,仿真结果也证实了所设计的自适应鲁棒控制算法的有效性。
完成了基于DSP芯片的永磁同步曳引机矢量控制系统的软件设计以及相关算法实现。采用模块化设计思想,分别设计了速度环模块、电流环模块、SVPWM模块以及通信模块等。
最后进行了软硬件的联合调试,分析了调试中遇到的主要问题,并给出了解决方案。实验结果表明,所设计的永磁同步曳引机伺服系统具有较好的调速性能,能够满足电梯驱动系统的要求。
With high efficiency, small size, and superior control performance, permanent magnet synchronous motor (PMSM) gradually become the mainstream of new elevator traction machine. The drive and control technology of permanent magnet synchronous motor for elevator has gained much attention at home and abroad.
First of all, working principal and architecture of this PMSM drive and control system is analyzed. What's more, based on detailed introduction of the mathematical model and related vector control, modeling of the whole servo system is completed. In order to meet the requirements for elevator speed control system with permanent magnet synchronous motor, the advanced PID control and fuzzy self-tuning PID control are brought up. The result is verified through simulation by MATLAB. In order to improve the robustness of permanent magnet synchronous motor position servo system, anti-buffet sliding mode control and adaptive robust control are introduced. For a class of second order nonlinear systems with parameter perturbation and external perturbation, sliding mode controller and adaptive robust controller are developed. The sliding mode control law ensures asymptotic tracking stability of the position servo system. But the violent chatting limits its application in practice. The adaptive robust control ensures the tracking within a desired precision, and all control signals are bounded. Simulation results confirmed the validity of the robust controllers.
Software and related algorithm of this PMSM servo system based on DSP are accomplished. Modularized design is used for speed controller, current controller, SVPWM, communication and so on.
A combination debugging of hardware and software has been carried out, main problems occurring during the process are analyzed and solutions to them are proposed. The experimental results show that this PMSM servo system has excellent speed performance to meet the requirements of elevator drive system.
引文
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[32]汪海波,周波,方斯琛.永磁同步电机调速系统的滑模控制[J].电工技术学报,2009,24(9)：71-77.
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[36]Goodwin, G. C., D. Q. Mayne. A parameter estimation perspective of continuous time model reference adaptive control[J]. Automatica,1989,23(1):57-70.
[37]刘金琨.滑模变结构控制理论及其算法研究与进展[J].控制理论与应用,2007,24(3)：407-418.
[38]Furuta K. Sliding mode control of variable structure control systems[J]. System Control Letters,1900,14(2):145-152.
[39]童克文,张兴,等.基于新型趋近率的永磁同步电动机滑模变结构控制[J].2008,28(21)：102-106.
[40]Wang J D, Lee T L, Juang Y T. New methods to design an integral variable structure controller[J]. IEEE Trans on Automatic Control,1996,41(1):140-143.
[41]王留芳,曹玲芝,牛超.基于变指数趋近率的起重机自适应滑模控制[J].自动化与仪表,2010,8：1-4.
[42]冯勇,鲍晟,余星火.非奇异终端滑模控制系统的设计方法[J].控制与决策,2002,17(2)：194-198.
[43]Zhang J G, Zeng J C. A global robust sliding mode control scheme and simulation study for AC servo system[J]. Journal of System Simulaton,1997,9(2):27-32.
[44]Xiao Y H, Ge Z Y. Global sliding mode variable structure control system[J]. Electric Machines and Control,2002,6(3):233-236.
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[2]刘晓峰.无齿轮电梯用永磁同步电机的研究[D].天津：天津大学,2009.
[3]李崇坚.交流同步电机调速系统[M].北京：科学出版社,2006.
[4]Sadegh Vaez Zadeh. Variable flux control of permanent magnet synchronous motor drives for constant torque operation[J]. IEEE Transactions on Power Electronics,2001, 16(4):527-534.
[5]刘利.基于嵌入式系统的电梯核心控制器的设计与实现[D].天津：天津大学,2007.
[6]永磁同步电机伺服系统的现状与发展前景[J].中国西部科技,2009,8(16)：33-34.
[7]张琦等.现代电梯构造与使用[M].北京：清华大学出版社和北京交通大学出版社,2004：60-62.
[8]叶安丽.电梯控制技术[M].北京：机械工业出版社,2008.
[9]胡庆.高层电梯垂直运动的鲁棒控制策略研究[D].沈阳：沈阳工业大学博士论文,2010.
[10]刘文杰.电梯控制策略的研究[D].苏州：苏州大学,2010.
[11]刚宪约.曳引电梯系统动态理论及动力学参数优化方法研究[D].杭州：浙江大学博士论文,2005.
[12]周好.永磁同步电机矢量控制调速系统研究[D].大连：大连理工大学,2011.
[13]唐小琦,白玉成,陈吉红.永磁同步电机高性能电流解耦控制的研究[J].电气传动,2009,39(10)：18-22.
[14]Keliang Zhou, Danwei Wang. Relationship between space-vector modulation and three-phase carrier-based PWM:A comprehensive analysis[J]. IEEE Trans. Ind. Electron,2002,49(1):186-196.
[15]Yoshihiro Murai. New PWM Method for Fully Digitized Inverters[J]. IEEE IA,1987, 23(5):887-893.
[16]Heinz Willivander Broeck, Hans Christoph Skudelny. Analysis and realization of a pulse width modulator based on voltage space vector[J]. IEEE Transaction on Industry Application,1988,24(1):142-150.
[17]曹迅恺.基于DSP的交流调速系统优化SVPWM策略研究[D].北京：北京交通大学,2007.
[18]黄有锐,曲立国.PID控制器参数整定与实现[M].北京：科学出版社,2010：8-14.
[19]Pragasen Pillay, Ramu Krishnan. Control characteristics and speed controller design for a high performance permanent magnet synchronous motor drive [J]. IEEE Transactions on Power Electronics,1990,5(2):151-153.
[20]路通达,冯庆华.一些先进PID控制方法比较[J].仪器仪表用户,2007,14(5)：99-100.
[21]Kim H, Oh S J.A. Fuzzy PID controller for nonlinear and uncertain systems [J]. Soft Computing,2000,12:123-129.
[22]王瑞明,尤小军.鲁棒自适应PID控制的感应电机伺服系统[J].电力系统及其自动化学报.2008,4：107-112.
[23]张小华.扰动观测器在永磁同步电机调速系统中的应用[D].南京：东南大学,2009.
[24]Schrijver E, Van D J. Disturbance observers for rigid mechanical systems:equivalence, stability and design[J]. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME,2002,124(4):539-548.
[25]Lee H S. Robust digital tracking controllers for high-speed/high accuracy positioning systems[D]. Berkeley, USA,1994.
[26]叶军军.基于模糊控制的永磁同步电机矢量控制系统的研究[D].武汉：武汉理工大学,2006.
[27]顾德仁,徐惠钢,郭文华.基于PLC的电梯高精度位置控制的实现[J].微计算机信息,2007,23(5)：61-64.
[28]Jongsun Ko, Sungkoo Youn, Youngil Kim. A Robust Adaptive Precision Position Control of PMSM[J]. IEEE,2002,32:120-125.
[29]王丰尧.滑模变结构控制[M].北京：机械工业出版社,1995：313-322.
[30]高为炳.变机构控制理论基础[M].北京：中国科学技术出版社,1990.
[31]黄佳佳.滑模控制永磁同步电机伺服系统的研究[D].南京：南京航天航空大学,2008.
[32]汪海波,周波,方斯琛.永磁同步电机调速系统的滑模控制[J].电工技术学报,2009,24(9)：71-77.
[33]Zong K, Li S H, Chen X S. Sliding Mode Controller Based on the Second-order Model of PMSM Speed Regulation System[C]. CCDC,2009:5359-5363.
[34]Zhao W J, Zhao Y H. Integral sliding mode control for a class nonlinear systems[C]. IEEE International Conference on Neural Networks and Brain,2005, 2:1093-1096.Proceedings of the 44th IEEE Conference on Decision and Control,2005: 1976-1981.
[35]Feng Y, Yu X H, Man Z H. Non-singular terminal sliding mode control of rigid manipulators[J]. Automatic,2002,38(12):2159-2167.
[36]Goodwin, G. C., D. Q. Mayne. A parameter estimation perspective of continuous time model reference adaptive control[J]. Automatica,1989,23(1):57-70.
[37]刘金琨.滑模变结构控制理论及其算法研究与进展[J].控制理论与应用,2007,24(3)：407-418.
[38]Furuta K. Sliding mode control of variable structure control systems[J]. System Control Letters,1900,14(2):145-152.
[39]童克文,张兴,等.基于新型趋近率的永磁同步电动机滑模变结构控制[J].2008,28(21)：102-106.
[40]Wang J D, Lee T L, Juang Y T. New methods to design an integral variable structure controller[J]. IEEE Trans on Automatic Control,1996,41(1):140-143.
[41]王留芳,曹玲芝,牛超.基于变指数趋近率的起重机自适应滑模控制[J].自动化与仪表,2010,8：1-4.
[42]冯勇,鲍晟,余星火.非奇异终端滑模控制系统的设计方法[J].控制与决策,2002,17(2)：194-198.
[43]Zhang J G, Zeng J C. A global robust sliding mode control scheme and simulation study for AC servo system[J]. Journal of System Simulaton,1997,9(2):27-32.
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