基于多模态PID的曳引机驱动控制系统设计

Design of Drive and Control System for Traction Machine Based on Multi-mode PID

摘要:

曳引机的驱动控制系统是垂直升降电梯的关键设备,对电梯性能具有重要影响,具有较大的研究价值；对一种基于多模态PID控制的永磁同步曳引机电梯驱动控制系统进行了研究；给出了曳引机驱动控制系统的总体设计方案,将系统分为主控模块、驱动模块和信号采集模块进行设计并介绍了各模块硬件电路的设计；针对曳引机控制采用了电流、速度双闭环控制算法,给出了主控制器DSP的软件流程设计,并对速度环采用的多模态PID控制算法进行了研究；在电梯公司的试验塔对设计的驱动控制系统进行现场调试,调试结果表明电梯在高、中、低速下都能够良好地跟踪给定的S型速度曲线,且超调量较小,稳态误差较小,可以满足电梯控制的性能指标要求。

Abstract:

The drive and control system of a traction machine is a critical part for a vertical elevator, which has great effects for elevator performance and thus is well worthy to be studied. A multi-mode PID method is introduced for permanent magnet synchronous traction machine control as well as the overall design scheme of the drive and control system. The system is divided into three parts, including main control module, drive module and signal acquisition module, all introduced in details of hardware circuit. Dual-loop control algorithm, speed loop and current loop, is employed for traction control and the corresponding flow diagram of DSP software is presented. Studies for multi-mode PID control algorithm in the speed loop is introduced. According to in-field debugging, the elevtor can precisely follow all given speed curves with small overshoot and steady-state error, and can well meet the requirements of elevator control.