基于永磁同步电机的电梯运动控制研究
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摘要
电梯作为垂直运输工具在日常生活中扮演着相当重要的角色,随着人们对生活质量要求的提高,单纯符合可靠性要求的电梯已然不能满足社会发展的需求。采用永磁同步电机无齿曳引技术是当今电梯传动中的先进技术,代表了今后电梯技术发展的一个方向,电梯用变频器作为永磁同步电机的驱动电源,决定着电梯运行的各方面性能,包括乘客的舒适度、节能问题等,且影响整个电梯系统的总成本。本文从提高舒适度、节约成本及节能角度出发探讨电梯用永磁同步电机控制的关键技术。
论文首先剖析了电梯用变频器各个组成部分,除了详细介绍各部分的工作原理外,还给出了各组成部分的硬件电路设计、器件选型及软件实现的多种解决方案,并对方案选择给出建议,提供本文所设计变频器的系统思路,可作为业界开发变频器的参考。
从永磁同步电机的转子结构开始,步步递进地详细分析了与永磁同步电机控制相关的各方面内容,在探讨完永磁同步电机控制的共性问题后,介绍满足电梯舒适度要求的速度曲线并提出实现方案,各种负载及各种行程下的实验结果证明了所提方案的可行性；接着以永磁同步电机的线性控制模型为参考,指出各种来源的转矩脉动在控制模型中的作用位置,总结得出高增益高带宽的双环控制器是抑制转矩脉动的主要手段,针对其中的电流环提出了优化措施以提高低频增益；提出了一种正弦编码器信号的细分方法,以提高速度检测的分辨率,降低速度检测延迟的同时减少量化误差,并给出了进一步抑制速度反馈量化误差的两个实际应用的建议。
从节约系统成本的角度出发,研究如何用控制算法实现负载转矩识别及电机初始转子位置识别。介绍了电梯制动器松闸瞬间溜车现象的原因,探讨如何仅用现成变频器资源替代称重传感器实现松闸时的负载转矩识别以抑制溜车,首先将负载识别问题转化为松闸时的零速控制问题,通过分析电梯系统受力情况给出电机进入静止状态的充分条件,并提出了两种零速控制方案,从制动器松闸后的溜车距离及符合人体要求的加速度、加加速度比较两种控制方案的性能。通过零速控制得到的输出转矩可视为负载转矩,将此负载转矩用于系统惯量的估算并应用于速度曲线实现中。而在初始转子位置识别方面提出了一种新的利用电感饱和效应的方法,并通过实验验证了其可行性。
引入双向工作的三相整流器代替电阻耗能型变频器中的二极管不控整流器,实现再生能量馈网及功率因素调整的作用,与电机驱动逆变器共同组成双PWM背靠背变频器,简单介绍了三相整流器的控制原理,并详细分析三相整流器锁相环的设计,提出基于同步参考坐标系的三相锁相环改进措施,使其具备快速锁相及相序识别的功能,并通过构造李雅普诺夫函数证明基于锁相环线性模型设计的PI参数不会影响锁相环的稳定性,通过相关实验及其结果验证该方法的可行性；最后将双PWM背靠背变频器与电阻耗能型变频器在典型工况中进行耗能比较实验,根据实验数据计算分析双PWM背靠背变频器的节能效果,依据最后的节能数据提出了一些提高节能率的建议。
Elevators are used as vertical transportation in human life. As the demand of the living quality rises, performance of the elevators must be improved to meet the requirements based on stability. Permanent Magnet Synchronous Motor(PMSM) drived gearless traction system represents an advanced technology in the elevator system. The drive system of PMSM determines the ride comfort and energy saving capability, and also influences the cost of the elevator system. Technologies to improve the mentioned performance are studied in this dissertation.
The drive system is composed of several parts according to the function. Each part is analyzed in detail. Hardware circuit design principle, components choosing, and software realization are provided. Moreover, the design principle of the experimental prototype in this dissertation is also described which can be refered in the drive system development.
Factors concerned with PMSM control are analyzed including the rotor structure, mathematic model of PMSM, main control strategies, id=0 control diagram, model decoupling and dual loop controller desgin. Speed profile which meets the ride comfort requirements is described in detail. A novel speed profile tracking method is proposed based on the acceleration control. The feasibility is verified with experimental results at typical loads and ride distances. Torque ripples from different sources are inserted into the linear control model of the PMSM to analyse their influence. The current loop is improved with the stator resistor voltage compensation to increase the gain at low frequency. A novel scaling method for sinusoidal encoder is proposed to improve the rotor position identification resolution. And speed detection lag and quantization error can be reduced. Suggestions are also provided to suppress the influence of speed detection quantization error.
From the perspective of system cost saving, contorl algorithms are studied to achieve load torque identification and initial rotor position identification. The car slides due to weight imbalance at brake releasing. Traditionally, electromagnetic torque is generated to cancel the imbalance before brake releasing with extra sensor or transducer which increases the system cost. This dissertation proposes a electromagnetic torque gradually convergent seeking method and an optimized PI controller based method to identify the load torque. The performances comparison between the two methods indicates that the former method can achieve short sliding distance but unstable, while the latter method can guarantee the stabiliy but with longer sliding distance. This dissertation also proposes a novel method to identify the initial rotor position based on inductance saturation effect, and the feasibility of this method is also verified with experimental results.
A three-phase rectifier is introduced into the drive system to provide unity power factor and feed the regenerated energy to the grid. The phase lock loop(PLL) of the three-phase rectifier is studied and this dissertation proposes a method to improve the phase lock dynamic response and realize fast phase sequence identification. The system stability with the PI parameters designed based on the linear model is also approved with Lyapunov stability theory. Energy dissipation experiments are executed at typical work conditions. The analysis of the experimental results concludes that the energy saving effect is remarkable at dedicated work conditions like full load and empty load with noninterrupt distance. The prototype and experimental elevator are shown at the end of this dissertation.
论文首先剖析了电梯用变频器各个组成部分,除了详细介绍各部分的工作原理外,还给出了各组成部分的硬件电路设计、器件选型及软件实现的多种解决方案,并对方案选择给出建议,提供本文所设计变频器的系统思路,可作为业界开发变频器的参考。
从永磁同步电机的转子结构开始,步步递进地详细分析了与永磁同步电机控制相关的各方面内容,在探讨完永磁同步电机控制的共性问题后,介绍满足电梯舒适度要求的速度曲线并提出实现方案,各种负载及各种行程下的实验结果证明了所提方案的可行性；接着以永磁同步电机的线性控制模型为参考,指出各种来源的转矩脉动在控制模型中的作用位置,总结得出高增益高带宽的双环控制器是抑制转矩脉动的主要手段,针对其中的电流环提出了优化措施以提高低频增益；提出了一种正弦编码器信号的细分方法,以提高速度检测的分辨率,降低速度检测延迟的同时减少量化误差,并给出了进一步抑制速度反馈量化误差的两个实际应用的建议。
从节约系统成本的角度出发,研究如何用控制算法实现负载转矩识别及电机初始转子位置识别。介绍了电梯制动器松闸瞬间溜车现象的原因,探讨如何仅用现成变频器资源替代称重传感器实现松闸时的负载转矩识别以抑制溜车,首先将负载识别问题转化为松闸时的零速控制问题,通过分析电梯系统受力情况给出电机进入静止状态的充分条件,并提出了两种零速控制方案,从制动器松闸后的溜车距离及符合人体要求的加速度、加加速度比较两种控制方案的性能。通过零速控制得到的输出转矩可视为负载转矩,将此负载转矩用于系统惯量的估算并应用于速度曲线实现中。而在初始转子位置识别方面提出了一种新的利用电感饱和效应的方法,并通过实验验证了其可行性。
引入双向工作的三相整流器代替电阻耗能型变频器中的二极管不控整流器,实现再生能量馈网及功率因素调整的作用,与电机驱动逆变器共同组成双PWM背靠背变频器,简单介绍了三相整流器的控制原理,并详细分析三相整流器锁相环的设计,提出基于同步参考坐标系的三相锁相环改进措施,使其具备快速锁相及相序识别的功能,并通过构造李雅普诺夫函数证明基于锁相环线性模型设计的PI参数不会影响锁相环的稳定性,通过相关实验及其结果验证该方法的可行性；最后将双PWM背靠背变频器与电阻耗能型变频器在典型工况中进行耗能比较实验,根据实验数据计算分析双PWM背靠背变频器的节能效果,依据最后的节能数据提出了一些提高节能率的建议。
Elevators are used as vertical transportation in human life. As the demand of the living quality rises, performance of the elevators must be improved to meet the requirements based on stability. Permanent Magnet Synchronous Motor(PMSM) drived gearless traction system represents an advanced technology in the elevator system. The drive system of PMSM determines the ride comfort and energy saving capability, and also influences the cost of the elevator system. Technologies to improve the mentioned performance are studied in this dissertation.
The drive system is composed of several parts according to the function. Each part is analyzed in detail. Hardware circuit design principle, components choosing, and software realization are provided. Moreover, the design principle of the experimental prototype in this dissertation is also described which can be refered in the drive system development.
Factors concerned with PMSM control are analyzed including the rotor structure, mathematic model of PMSM, main control strategies, id=0 control diagram, model decoupling and dual loop controller desgin. Speed profile which meets the ride comfort requirements is described in detail. A novel speed profile tracking method is proposed based on the acceleration control. The feasibility is verified with experimental results at typical loads and ride distances. Torque ripples from different sources are inserted into the linear control model of the PMSM to analyse their influence. The current loop is improved with the stator resistor voltage compensation to increase the gain at low frequency. A novel scaling method for sinusoidal encoder is proposed to improve the rotor position identification resolution. And speed detection lag and quantization error can be reduced. Suggestions are also provided to suppress the influence of speed detection quantization error.
From the perspective of system cost saving, contorl algorithms are studied to achieve load torque identification and initial rotor position identification. The car slides due to weight imbalance at brake releasing. Traditionally, electromagnetic torque is generated to cancel the imbalance before brake releasing with extra sensor or transducer which increases the system cost. This dissertation proposes a electromagnetic torque gradually convergent seeking method and an optimized PI controller based method to identify the load torque. The performances comparison between the two methods indicates that the former method can achieve short sliding distance but unstable, while the latter method can guarantee the stabiliy but with longer sliding distance. This dissertation also proposes a novel method to identify the initial rotor position based on inductance saturation effect, and the feasibility of this method is also verified with experimental results.
A three-phase rectifier is introduced into the drive system to provide unity power factor and feed the regenerated energy to the grid. The phase lock loop(PLL) of the three-phase rectifier is studied and this dissertation proposes a method to improve the phase lock dynamic response and realize fast phase sequence identification. The system stability with the PI parameters designed based on the linear model is also approved with Lyapunov stability theory. Energy dissipation experiments are executed at typical work conditions. The analysis of the experimental results concludes that the energy saving effect is remarkable at dedicated work conditions like full load and empty load with noninterrupt distance. The prototype and experimental elevator are shown at the end of this dissertation.
引文
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