直线电机的控制策略及其在电梯上的应用研究
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摘要
用直线电机驱动的电梯与传统的电梯相比有很大的优势,它将逐步取代传统电梯成为电梯的主流产品。随着控制技术和材料学的发展,用直线电机作为驱动的设备越来越多。我国对直线电机的研究起步较晚,但经过几十年的研究已经取得不少成果。因此,对直线电机的研究是很有意义的。
由于直线电机结构的特殊性,其性能容易受环境的影响,使得它的特性难以用精确的模型表示,给控制带来一定难度。本文对常用的控制策略作了比较,并根据直线电机的特点选择直接推力控制方法。分析了dq坐标系下直线电机模型与旋转电机模型的区别,为直接转矩应用到直线电机上奠定了基础。为达到良好的控制效果,在传统PID的基础上增加了模糊控制策略,使得控制方法有较强的适应能力。对存在边端效应的直线电机模型和经过补偿的直线电机模型分别作了仿真试验,并对仿真结果进行了比较分析。
最后本文设计了直线电梯全数字控制系统。采用ARM,DSP和MCS51等芯片,并结合分布式控制理论,将整个电梯的控制功能分为若干模块,分别由不同的控制器来实现。
Comparing with the traditional elevator, the linear induction motor-driven's elevator has very big superiority, and will substitute for the traditional elevator, and become elevator's mainstream product gradually. Along with control technology and material study development, the equipment which is drived by the linear induction motor is getting more and more. Our country is late at the linear induction motor's research, and in past several years has made many progresses. Therefore, to study linear induction motor is very meaningful.
As a result of linear induction motor's structure particularity, its performances are easily influenced by environment, and make its characteristic hard to expression by the precise model, and bring certain difficulty to the control. This article has made the comparison between commonly control methods, and according to the linear induction motor's feature the direct thrust control method is selected. Under the dq coordinate system the linear induction motor's model and the rotating machine model difference has been analyzed, and makes the foundation of direct torque. In order to achieve the good control effect, increases the fuzzy control methods into the traditional PID foundation, and enables the control method to have the strong adaptiveness. The linear induction motor's models, which with and without margin effect, are simulated, and have carried on the comparative analysis to the simulation result.
Finally the article has designed the linear induction motor's control system. With the distributional control theory, the entire elevator's control function is divides into several modules, and realizes separately by the different controller, such as ARM, DSP and MCS51.
由于直线电机结构的特殊性,其性能容易受环境的影响,使得它的特性难以用精确的模型表示,给控制带来一定难度。本文对常用的控制策略作了比较,并根据直线电机的特点选择直接推力控制方法。分析了dq坐标系下直线电机模型与旋转电机模型的区别,为直接转矩应用到直线电机上奠定了基础。为达到良好的控制效果,在传统PID的基础上增加了模糊控制策略,使得控制方法有较强的适应能力。对存在边端效应的直线电机模型和经过补偿的直线电机模型分别作了仿真试验,并对仿真结果进行了比较分析。
最后本文设计了直线电梯全数字控制系统。采用ARM,DSP和MCS51等芯片,并结合分布式控制理论,将整个电梯的控制功能分为若干模块,分别由不同的控制器来实现。
Comparing with the traditional elevator, the linear induction motor-driven's elevator has very big superiority, and will substitute for the traditional elevator, and become elevator's mainstream product gradually. Along with control technology and material study development, the equipment which is drived by the linear induction motor is getting more and more. Our country is late at the linear induction motor's research, and in past several years has made many progresses. Therefore, to study linear induction motor is very meaningful.
As a result of linear induction motor's structure particularity, its performances are easily influenced by environment, and make its characteristic hard to expression by the precise model, and bring certain difficulty to the control. This article has made the comparison between commonly control methods, and according to the linear induction motor's feature the direct thrust control method is selected. Under the dq coordinate system the linear induction motor's model and the rotating machine model difference has been analyzed, and makes the foundation of direct torque. In order to achieve the good control effect, increases the fuzzy control methods into the traditional PID foundation, and enables the control method to have the strong adaptiveness. The linear induction motor's models, which with and without margin effect, are simulated, and have carried on the comparative analysis to the simulation result.
Finally the article has designed the linear induction motor's control system. With the distributional control theory, the entire elevator's control function is divides into several modules, and realizes separately by the different controller, such as ARM, DSP and MCS51.
引文
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[5]李夙.异步电动机直接转距控制[M].北京:机械工业出版社,2002
[6]吴峻.交流电机的转矩控制及电动车驱动技术的研究[博士学位论文].长沙:国防科技大学,2000
[7]Domenico Casadei.Implementation of a Direct Torque Control Algorithm for Induction Motors Based on Discrete Space Vector Modulation[J].IEEE.Trans.on Power Electronics.2000,15(4):769-777
[8]S.A.纳斯尔,I.波尔达.直线电机[M].北京:科学出版社.1982
[9]N.Fujii,Member,IEEE,T.Kayasuga,and Hoshi.Simple end effect compensator for linear induction motor[J].IEEE Transactions on Magnetics,Vol.38,NO.5,September 2002:3270-3272
[10]WANG Limei and LORENZ R D.Rotor position estimiation for permanent magnet synchronous motor using saliency - tracking self- sensing method[A].Proceedings of IEEE 35~(th)IAS Annual Meeting[C].Italy,2000:445-450
[11]杨耕,陈伯时.交流感应电动机无速度传感器的高动态性能控制方法综述[J].电气传动,2001.3:3-22
[12]J.Sung and K.Nam.A New Approach to Vector Control for a Linear Induction Motor Considering End Effects[J].Thirty-Fourth IAS Annual Meeting.Conference Record of the 1999 IEEE.Published:1999.Vol.4:2284-2289
[13]Albert.T.P 等,电梯技术发展概况[J],Elevator World,1996
[14]李惠异.电梯控制技术[M].北京:机械工业出版社,2001
[15]何烯航.直线感应电动机及其在电梯上的应用[J].基础自动化.1999年第6卷.第3期:26-30
[16]Miriam Lacob.发展中的电梯技术[J].科学,1998年第1期:74-75
[17]大西隆扶等.直线电动机垂直输送系统[J].中国电梯,1997年第4期:12- 17
[18]日本电气学会直线传动技术委员会.直线电机用于无绳电梯的研究[J].中国电梯 1993,No.6:23-31
[19]李华德.交流调速控制系统[M].北京:电子工业出版社,2003.3
[20]Cristian Lascu,Ion Boldea,and Frede Blaabjerg.A Modified Direct Torque Control for Induction Motor Sensorless Drive[J].IEEE Transaction on Industry Application.2000,36(1):122-130
[21]Jehudi Maes and Jan A.Melkbeek.Speed-Sensorless Direct Torque Control of Induction Motors Using An Adaptive Flux Observer[J].IEEE Transaction on Industry Application,2000,36(3):778-785
[22]Kan Akatsu,Atsuo Kamamura.Sensorless Speed Estimation of Induction The Secondary and Primary Resistance On-line identification Without Any Motor Based onAdditional SignalInjection[J].in Proceedings of IEEE PESC′98 1998:1575-1580
[23]宋昌林.基于磁场定向的感应电机直接转矩控制研究:[博士论文].西南交通大学.2004:1-2
[24]张平化.基于DSP的感应电机矢量控制系统的研究:[硕士论文].哈尔滨工业大学.2005:1-2
[25]I.Takahashi,T.Noguchi.A New Quick-Response and High-Efficiency Control Strategy of an Induction Motor[J].IEEE Trans on Industry Applications.2003,14(2):230-235
[26]刘亚东,吴学智.改善直接转矩控制性能的SVPWM方法[J].清华大学学报(自然科学版).2004,44(7):123-125
[27]祝龙记,王汝琳.基于直接转矩控制的高性能磁链观测与速度观测[J].电机与控制学报.2004,8(3):209-214
[28]Jonathan Corbet,LINUX Device Driver[M].东南大学出版社,2005.8
[29]孙天泽等.嵌入式设计及LINUX驱动开发指南[M].北京:电子工业出版社,2005.2
[30]王学龙.嵌入式Linux系统设计与应用[M].北京:清华大学出版社,2001.1
[31]雷红卫.嵌入式操作系统移植技术研究与实践:[硕士学位论文].电子科技大学,2004
[32]John Hyde 著,孙耀国等译.USB 设计应用实例[M].北京:中国铁道出版社.2003
[33]秦勇,张锡第,贾利民.多变量模糊系统理论及应用研究.中国铁道科学, 2001,22(6):131-132
[34]T.G.Habetler,F.Profumno,M.Pastorelli.Direct Torque Control of Induction Motor Drives Using Space Vector Modulation[J].IEEE Trans.On Industry Application.1992,28(5):1045-1052
[35]郭前岗,张宇飞等.异步电动机直接转矩控制系统的仿真研究[J].中小型电机,2000,5:5-8
[36]钱坤,谢寿生,高梅艳,屈志红.改进的直接转矩控制在异步电动机中的应用[J].中国电机工程学报,2004,24(7):210-214
[37]李斌,王萍.基于DSP的无速度传感器直接转矩控制系统[J].微电机 200437(3):3-5
[38]刘永超.直接转矩控制系统相关技术研究[J].中小型电机,2004,31(3):14-18
[39]贾涛,王耀南,黄守道,李新田.基于转速动态估计器的无速度传感器感应电机矢量控制系统研究[J].电气传动自动化,2004,26(4):1-4
[40]G.Greig,E.M.Freeman.Travelling-wave problem in electrical machines.Proc.IEE.Vol.114,No.11,1967,1681-1683
[41]S.A.Naser,etc.Eddy-current losses in a tubular linear induction motor[J].IEEE Trans on 1994,Mag-30,No.4:1437-1445
[42]LToshiaki.Elevators for skyscrapers[J].IEEE.Spectrum,sep.1994,42-46
[43]Mi Ching Tsai,Jeng Hu Chen.A practical implementation of a linear induction motor drive using new generation DSP controller[J].Pro.1999IEEE.Inter.Con.on Con.APP,945-949
[44]姚保庆,范瑜,吕刚.考虑边端效应的直线感应电机矢量控制研究[J].微电机,2006,39(9):29-32
[45]孙宗毅,王柏林.一种改进的模糊PID控制器及其仿真.计算机仿真[J],2003,20(2):79-81
[46]M.波罗亚多夫,张春镐译.直线感应电机理论[M].北京:科学出版社,1985
[47]浙江大学 《新技术译丛》 编译组.直线感应电机(译文集)[C].北京:科学出版社,1978
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