CN102097987A - Method for compensating starting torque of weighting sensor-free elevator traction permanent magnet synchronous motor - Google Patents

Method for compensating starting torque of weighting sensor-free elevator traction permanent magnet synchronous motor Download PDF

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CN102097987A
CN102097987A CN2011100406736A CN201110040673A CN102097987A CN 102097987 A CN102097987 A CN 102097987A CN 2011100406736 A CN2011100406736 A CN 2011100406736A CN 201110040673 A CN201110040673 A CN 201110040673A CN 102097987 A CN102097987 A CN 102097987A
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synchronous motor
permagnetic synchronous
current
torque
elevator
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CN102097987B (en
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王高林
汪洋威
徐殿国
于泳
杨荣峰
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Harbin Institute of Technology
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Abstract

The invention discloses a method for compensating the starting torque of a weighting sensor-free elevator traction permanent magnet synchronous motor, and belongs to the field of motors and elevator tractor control. The method solves the problems that the reliability of an elevator system is reduced and cost is increased because the balance of the elevator system before running is kept by a method for acquiring load weight information of the elevator through a weighing sensor. The method comprises the following steps of: initializing pulse number of an incremental photoelectric encoder, and performing pulse counting on positive and reverse rotation of a motor by adopting the incremental photoelectric encoder; comparing the pulse number of the current sampling period with the pulse number of the previous sampling period to acquire a compassion result Delta P; judging the rotating direction of the permanent magnet synchronous motor according to the Delta P; and compensating the starting torque of the permanent magnet synchronous motor according to a rotating direction judgment result of the motor. The method is suitable for compensation of the starting torque of the elevator traction permanent magnet synchronous motor.

Description

The permagnetic synchronous motor detent torque compensation method of no LOAD CELLS elevator traction
Technical field
The present invention relates to a kind of no LOAD CELLS elevator traction with the compensation method of permagnetic synchronous motor detent torque, belong to motor and elevator traction control field.
Background technology
In elevator device, counterweight and car hinge on the traction sheave of the machine of draging by steel wire rope.Counterweight and car and car load are generally unequal.Elevator is before operation, and the band brake apparatus on traction sheave is opened, and counterweight and car can produce uneven torque on traction sheave, produces and falls to slip, and influences the comfort of using escalator.It is static for car is kept when band-type brake is opened, traction machine should export with the equal-sized electromagnetic torque of load torque to keep the balance of system, in keeping the process of system balancing, the velocity setting of motor is always 0, after car and counterweigh, the given stage of zero-speed finishes, and motor begins by given rate curve operation, and car moves under the dragging of traction machine.
At present, generally there are two kinds of methods to be used for keeping the preceding balance of elevator device operation.A kind of is in the car bottom of elevator LOAD CELLS to be installed to obtain load weight information, as the compensation rate of controller, makes traction machine export the electromagnetic torque that equates with load torque before band-type brake is opened.Just can make elevator be in poised state after band brake apparatus is opened like this, not take place down to slip.
Another kind method does not adopt LOAD CELLS, but adopt absolute type encoder or high-resolution sine and cosine formula encoder to obtain the velocity information of Capstan rotor, traction machine is carried out speed control, in system responses under the enough fast and sufficiently high situation of feedback accuracy, can make elevator device reach poised state in a short period of time, and displacement is enough little, does not influence the using escalator comfort.
The mode that LOAD CELLS is installed not only can increase the cost of system, and can reduce the reliability of system; And adopt absolute type encoder or high-resolution sine and cosine formula encoder, and though can prevent from down to slip, not influencing the using escalator comfort yet, it costs an arm and a leg, and causes system cost to increase.
Summary of the invention
The objective of the invention is in order to solve the balance before the method that adopts LOAD CELLS to obtain the elevator load weight information is kept the elevator device operation, can cause the problem that the elevator device reliability reduces and cost increases, the permagnetic synchronous motor detent torque compensation method of a kind of no LOAD CELLS elevator traction is provided.
The described permagnetic synchronous motor of the inventive method adopts the incremental optical-electricity encoder of quadrature output to measure rotor speed, and it may further comprise the steps:
Step 1: the umber of pulse of initialization incremental optical-electricity encoder at first makes P New=P Old=0;
In each sampling period, when described permagnetic synchronous motor is just changeing, orthogonal pulses to incremental optical-electricity encoder adds counting, during the permagnetic synchronous motor counter-rotating, orthogonal pulses to incremental optical-electricity encoder subtracts counting, obtains the current umber of pulse P of current sampling period incremental optical-electricity encoder New
Step 2: with the umber of pulse P in current sampling period NewUmber of pulse P with a last sampling period OldCompare, obtain comparative result Δ P=P New-P Old, simultaneously with the umber of pulse P in current sampling period NewAssignment was given the umber of pulse P in a last sampling period Old, P Old=P New
Step 3: turning to of permagnetic synchronous motor judged according to Δ P;
Step 4: compensate according to the judged result of step 3 detent torque to permagnetic synchronous motor.
Advantage of the present invention is: the realization of the inventive method need not to install LOAD CELLS in lift car, only need by being installed in the incremental optical-electricity encoder on the permanent-magnetic synchronous motor rotor, just can realize the detent torque of elevator device is compensated, and can not produce the slide car.The judgement of rotation direction that the inventive method is opened the back permanent-magnetic synchronous motor rotor according to the elevator band-type brake need to determine the direction of the torque of compensation, and the output torque that makes permagnetic synchronous motor is the convergence load torque gradually, makes the car of elevator reach balance.When detecting permagnetic synchronous motor after a direction rotation, then change offset current gradually by ladder, up to the motor counter-rotating, more current offset current is adjusted round about half of ladder compensation rate, electric current loop is regulated up to balance automatically by the PI demodulator afterwards.The inventive method is simply effective, it does not rely on installs the weighing and sensing apparatus, and only need adopt incremental optical-electricity encoder can carry out the judgement of motor steering, under the situation that does not influence the using escalator comfort, not only save the system hardware cost, and improved the reliability and the robustness of system.
Description of drawings
Fig. 1 is the flow chart of the inventive method;
Fig. 2 is the schematic diagram of existing electric machine control system; Among the figure
Figure BDA0000047176460000021
Be the velocity setting value of permagnetic synchronous motor, ω rBe the speed feedback value of permagnetic synchronous motor,
Figure BDA0000047176460000022
Be the electric current set-point of permagnetic synchronous motor d axle,
Figure BDA0000047176460000023
Be the electric current set-point of permagnetic synchronous motor q axle, i dBe the current feedback value of permagnetic synchronous motor d axle, i qBe the current feedback value of permagnetic synchronous motor q axle,
Figure BDA0000047176460000024
Be the voltage given value of permagnetic synchronous motor d axle,
Figure BDA0000047176460000025
Be the voltage given value of permagnetic synchronous motor q axle,
Figure BDA0000047176460000026
Be the voltage given value of permagnetic synchronous motor α axle,
Figure BDA0000047176460000027
Be the voltage given value of permagnetic synchronous motor β axle, i αBe the current value of permagnetic synchronous motor α axle, i βBe the current value of permagnetic synchronous motor β axle, i CompBe the q axle compensation current of permagnetic synchronous motor, Be electrical degree; i aAnd i cBe respectively the line current of permagnetic synchronous motor;
The flow chart of Fig. 3 in the step 3 turning to of permagnetic synchronous motor being judged;
The flow chart of Fig. 4 for the detent torque of permagnetic synchronous motor being compensated in the step 4.
Embodiment
Embodiment one: below in conjunction with Fig. 1 to Fig. 4 present embodiment is described,
The described permagnetic synchronous motor of present embodiment adopts the incremental optical-electricity encoder of quadrature output to measure rotor speed, and it may further comprise the steps:
Step 1: the umber of pulse of initialization incremental optical-electricity encoder at first makes P New=P Old=0;
In each sampling period, when described permagnetic synchronous motor is just changeing, orthogonal pulses to incremental optical-electricity encoder adds counting, during the permagnetic synchronous motor counter-rotating, orthogonal pulses to incremental optical-electricity encoder subtracts counting, obtains the current umber of pulse P of current sampling period incremental optical-electricity encoder New
Step 2: with the umber of pulse P in current sampling period NewUmber of pulse P with a last sampling period OldCompare, obtain comparative result Δ P=P New-P Old, simultaneously with the umber of pulse P in current sampling period NewAssignment was given the umber of pulse P in a last sampling period Old, P Old=P New
Step 3: turning to of permagnetic synchronous motor judged according to Δ P;
Step 4: compensate according to the judged result of step 3 detent torque to permagnetic synchronous motor.
The described permagnetic synchronous motor of present embodiment is applied to apparatus for controlling elevator, adopt vector control, the incremental optical-electricity encoder of utilization quadrature output obtains the rotation direction of permagnetic synchronous motor, the rotation direction of opening the back permagnetic synchronous motor according to the elevator band-type brake compensates torque current, do not need LOAD CELLS to detect load weight information, promptly realize the detent torque compensation of permagnetic synchronous motor.
Shown in Figure 2, on the basis of existing apparatus for controlling elevator electric current loop, increased the compensation tache that compensates according to motor drive direction, this makes the response of whole elevator device rapider; Adopt incremental optical-electricity encoder to carry out the feedback of motor speed, the umber of pulse counting to encoder can be realized in the encoder interfaces unit of electric machine controller.
Embodiment two: below in conjunction with Fig. 3 present embodiment is described, present embodiment is for to the further specifying of execution mode one,
The method of according to Δ P turning to of permagnetic synchronous motor being judged in the described step 3 is:
Judge Δ P whether satisfy Δ P 〉=1 or Δ P≤-N/2, N is the rotate a circle orthogonal pulses number of output of incremental optical-electricity encoder in the formula, if judge that permagnetic synchronous motor is for just changeing;
If not, continue to judge whether Δ P satisfies Δ P≤-1 or Δ P 〉=N/2, if judge that permagnetic synchronous motor is counter-rotating; If not, the judgement permagnetic synchronous motor is a halted state, does not carry out compensated torque this moment.Other is identical with execution mode one.
When motor does not change, then need not the current torque current set-point of permagnetic synchronous motor is adjusted, finish up to motor zero-speed process.
Embodiment three: below in conjunction with Fig. 4 present embodiment is described, present embodiment is for to the further specifying of execution mode two,
When the initial steer of judging permagnetic synchronous motor according to step 3 when just changeing, the method that in the step 4 detent torque of permagnetic synchronous motor is compensated is:
Step 4 one: make
Figure BDA0000047176460000041
Figure BDA0000047176460000042
Be the current torque current set-point of permagnetic synchronous motor, Δ i is the current compensation amount that presets, if
Figure BDA0000047176460000043
i QmaxFor the breakdown torque current value, then make
Figure BDA0000047176460000044
Return execution in step one to step 3, then heat row step 4 two;
Step 4 two: or if Δ P 〉=1 or Δ P≤-N/2, return execution in step 41; If Δ P≤-1 or Δ P 〉=N/2, execution in step four or three;
Step 4 three: make
Figure BDA0000047176460000045
Execution in step four or four;
Step 4 four: finish.Other is identical with execution mode two.
In the process that the elevator band brake apparatus is opened, the velocity setting of motor is zero.In this process, just change if detect permagnetic synchronous motor, then carry out the reverse compensation of electric current, on the basis of current motor torque electric current set-point, deduct a fixed current compensation rate Δ i, in the next sampling period, if permagnetic synchronous motor still just changes, the expression load torque is still greater than the current given torque of motor, on the basis of the electric current set-point in last sampling period, continue to reduce a fixed current compensation rate Δ i, reverse up to motor, in case it is reverse to detect motor in some sampling periods, the output torque that motor this moment is described is greater than load torque, then the electric current set-point of current torque is added half of fixed current compensation rate Δ i, after this no longer carry out the compensated torque adjustment, the PI that only makes the torque current ring regulates.In the electric current adjustment process,, then torque current is adjusted into this breakdown torque electric current if torque current surpasses the breakdown torque electric current that allows.
Embodiment four: below in conjunction with Fig. 4 present embodiment is described, present embodiment is for to the further specifying of execution mode two,
When the initial steer of judging permagnetic synchronous motor according to step 3 during for counter-rotating, the method that in the step 4 detent torque of permagnetic synchronous motor is compensated is:
Step 4 one: make
Figure BDA0000047176460000046
Figure BDA0000047176460000047
Be the current torque current set-point of permagnetic synchronous motor, Δ i is the current compensation amount that presets, if
Figure BDA0000047176460000048
i QmaxFor the breakdown torque current value, then make
Figure BDA0000047176460000049
Return execution in step one to step 3, then heat row step 4 two;
Step 4 two: or if Δ P≤-1 or Δ P 〉=N/2 return execution in step 41; If Δ P 〉=1 or Δ P≤-N/2, execution in step four or three;
Step 4 three: make
Figure BDA00000471764600000410
Execution in step four or four;
Step 4 four: finish.Other is identical with execution mode two.
In the process that the elevator band brake apparatus is opened, the velocity setting of motor is zero.In this process, if detect the permagnetic synchronous motor counter-rotating, then current torque current set-point is added a fixed current compensation rate Δ i, in the next sampling period, if permagnetic synchronous motor still reverses, then continue to increase current torque current set-point, add a fixed current compensation rate Δ i, compensate to motor steering always and change, in case detecting motor in some sampling periods just changes, then current torque current set-point is deducted half of fixed current compensation rate Δ i, after this no longer carry out the compensated torque adjustment, the PI that only makes the torque current ring regulates.In the electric current adjustment process,, then torque current is adjusted into this breakdown torque electric current if torque current surpasses the breakdown torque electric current that allows.
Execution mode three and execution mode four are combined, give and close Fig. 4 explanation, its motor drive direction is judged and the current compensation process is:
When the elevator band-type brake is opened, the flag bit flag1 of the positive veer of motor and the flag bit flag2 of reverse directions are set, before band brake apparatus was opened, flag1 and flag2 all were initialized as 0, i.e. flag1=0 and flag2=0.In the process that band brake apparatus is opened, the velocity setting value of motor
Figure BDA0000047176460000051
Torque current is given
Figure BDA0000047176460000052
Just change if detect motor, then carry out the opposite direction compensation, and the positive veer sign of set flag1=1, on the given basis of current torque current, deduct a fixed compensation amount Δ i, if next one motor interrupt cycle still just changes, the expression load torque is still greater than current given torque, on current torque current set-point, continue to deduct Δ i, it is reverse to be worth motor, when detecting motor when reverse, motor output torque is described greater than load torque, then current torque current set-point is added Δ i/2, after this do not carry out the compensated torque adjustment, the PI that only makes the torque current ring regulates;
Counter-rotating when if motor begins, the sign that then will reverse puts 1, be flag2=1, the torque current set-point adds Δ i, if motor still reverses, then continue to increase Δ i, change up to motor steering, when motor is reverse, then current set-point is deducted Δ i/2, after this no longer carry out the compensated torque adjustment, the PI that only makes the torque current ring regulates.
In the electric current adjustment process, if the current torque current set-point of permagnetic synchronous motor
Figure BDA0000047176460000053
Surpass the breakdown torque current value i that allows Qmax, then should current torque current set-point
Figure BDA0000047176460000054
Be adjusted into this breakdown torque current value i Qmax
Embodiment five: present embodiment is for further specifying 10%～30% of the load current value that described current compensation amount Δ i is a permagnetic synchronous motor to execution mode three or four.Other is identical with execution mode three or four.
The current compensation amount Δ i that sets should be determined according to actual conditions, is generally 10%～30% of rated value.Specifically to determine according to the size of elevator traction system friction torque.If friction torque is big, then Δ i can be suitably big; If friction torque is little, then Δ i can be suitably littler, makes elevator side-play amount minimum of car during zero-speed under the nominal load condition.

Claims (5)

1. no LOAD CELLS elevator traction permagnetic synchronous motor detent torque compensation method, described permagnetic synchronous motor adopts the incremental optical-electricity encoder of quadrature output to measure rotor speed, and it is characterized in that: it may further comprise the steps:
Step 1: the umber of pulse of initialization incremental optical-electricity encoder at first makes P New=P Old=0;
In each sampling period, when described permagnetic synchronous motor is just changeing, orthogonal pulses to incremental optical-electricity encoder adds counting, during the permagnetic synchronous motor counter-rotating, orthogonal pulses to incremental optical-electricity encoder subtracts counting, obtains the current umber of pulse P of current sampling period incremental optical-electricity encoder New
Step 2: with the umber of pulse P in current sampling period NewUmber of pulse P with a last sampling period OldCompare, obtain comparative result Δ P=P New-P Old, simultaneously with the umber of pulse P in current sampling period NewAssignment was given the umber of pulse P in a last sampling period Old, P Old=P New
Step 3: turning to of permagnetic synchronous motor judged according to Δ P;
Step 4: compensate according to the judged result of step 3 detent torque to permagnetic synchronous motor.
2. no LOAD CELLS elevator traction according to claim 1 permagnetic synchronous motor detent torque compensation method, it is characterized in that: the method for according to Δ P turning to of permagnetic synchronous motor being judged in the described step 3 is:
Judge Δ P whether satisfy Δ P 〉=1 or Δ P≤-N/2, N is the rotate a circle orthogonal pulses number of output of incremental optical-electricity encoder in the formula, if judge that permagnetic synchronous motor is for just changeing;
If not, continue to judge whether Δ P satisfies Δ P≤-1 or Δ P 〉=N/2, if judge that permagnetic synchronous motor is counter-rotating; If not, the judgement permagnetic synchronous motor is a halted state, does not carry out compensated torque this moment.
3. no LOAD CELLS elevator traction according to claim 2 permagnetic synchronous motor detent torque compensation method, it is characterized in that: when the initial steer of judging permagnetic synchronous motor according to step 3 when just changeing, the method that in the step 4 detent torque of permagnetic synchronous motor is compensated is:
Step 4 one: make
Figure FDA0000047176450000011
Figure FDA0000047176450000012
Be the current torque current set-point of permagnetic synchronous motor, Δ i is the current compensation amount that presets, if
Figure FDA0000047176450000013
i QmaxFor the breakdown torque current value, then make
Figure FDA0000047176450000014
Return execution in step one to step 3, then heat row step 4 two;
Step 4 two: or if Δ P 〉=1 or Δ P≤-N/2, return execution in step 41; If Δ P≤-1 or Δ P 〉=N/2, execution in step four or three;
Step 4 three: make
Figure FDA0000047176450000015
Execution in step four or four;
Step 4 four: finish.
4. no LOAD CELLS elevator traction according to claim 2 permagnetic synchronous motor detent torque compensation method, it is characterized in that: when the initial steer of judging permagnetic synchronous motor according to step 3 during for counter-rotating, the method that in the step 4 detent torque of permagnetic synchronous motor is compensated is:
Step 4 one: make
Figure FDA0000047176450000021
Figure FDA0000047176450000022
Be the current torque current set-point of permagnetic synchronous motor, Δ i is the current compensation amount that presets, if
Figure FDA0000047176450000023
i QmaxFor the breakdown torque current value, then make
Figure FDA0000047176450000024
Return execution in step one to step 3, then heat row step 4 two;
Step 4 two: or if Δ P≤-1 or Δ P 〉=N/2 return execution in step 41; If Δ P 〉=1 or Δ P≤-N/2, execution in step four or three;
Step 4 three: make
Figure FDA0000047176450000025
Execution in step four or four;
Step 4 four: finish.
5. according to claim 3 or 4 described no LOAD CELLS elevator tractions permagnetic synchronous motor detent torque compensation methodes, it is characterized in that: 10%～30% of the load current value that described current compensation amount Δ i is a permagnetic synchronous motor.
CN2011100406736A 2011-02-18 2011-02-18 Method for compensating starting torque of weighting sensor-free elevator traction permanent magnet synchronous motor Expired - Fee Related CN102097987B (en)

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CN103193116A (en) * 2012-01-05 2013-07-10 苏州远志科技有限公司 Integrated control system of elevator
CN103241605A (en) * 2013-05-09 2013-08-14 日立电梯（中国）有限公司 Elevator starting compensation control method
CN103241604A (en) * 2013-05-09 2013-08-14 日立电梯（中国）有限公司 Method for controlling starting of elevator without aid of weighing device
CN103516283A (en) * 2012-06-15 2014-01-15 通用汽车环球科技运作有限责任公司 Methods, systems and apparatus for estimating angular position and/or angular velocity of a rotor of an electric machine
CN104569815A (en) * 2014-12-24 2015-04-29 格力电器（合肥）有限公司 Motor detection device
CN105314476A (en) * 2015-07-03 2016-02-10 西子奥的斯电梯有限公司 Weighing-device-free elevator system control method
CN106655917A (en) * 2017-01-13 2017-05-10 邵文英 Correction method of correction type garbage door turbine deceleration motor encoder
CN109305612A (en) * 2017-07-28 2019-02-05 上海三菱电梯有限公司 Elevator starts control device
CN110002298A (en) * 2019-04-09 2019-07-12 深圳市海浦蒙特科技有限公司 A kind of elevator starting control method and system
CN110677092A (en) * 2016-11-18 2020-01-10 深圳市道通智能航空技术有限公司 Control system and control method of permanent magnet synchronous motor and unmanned aerial vehicle
CN113670358A (en) * 2021-08-11 2021-11-19 追觅创新科技(苏州)有限公司 Compensation method, compensation device and storage medium
CN115043279A (en) * 2022-07-19 2022-09-13 广州永日电梯有限公司 Torque compensation control method for starting elevator
CN117767831A (en) * 2023-12-26 2024-03-26 湖南进芯电子科技有限公司 High-speed permanent magnet synchronous motor control method based on power control

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CN101723213A (en) * 2009-12-25 2010-06-09 上海永大吉亿电机有限公司 SinCos coder based method for detecting position and speed
CN101734529A (en) * 2009-12-25 2010-06-16 上海永大吉亿电机有限公司 Elevator starting torque compensation method

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CN101723213A (en) * 2009-12-25 2010-06-09 上海永大吉亿电机有限公司 SinCos coder based method for detecting position and speed
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CN103193116B (en) * 2012-01-05 2015-07-01 苏州远志科技有限公司 Integrated control system of elevator
CN103193116A (en) * 2012-01-05 2013-07-10 苏州远志科技有限公司 Integrated control system of elevator
CN103516283A (en) * 2012-06-15 2014-01-15 通用汽车环球科技运作有限责任公司 Methods, systems and apparatus for estimating angular position and/or angular velocity of a rotor of an electric machine
CN103516283B (en) * 2012-06-15 2016-08-10 通用汽车环球科技运作有限责任公司 For the method for Angle Position and/or angular velocity, system and the equipment of estimating rotor
CN103241605A (en) * 2013-05-09 2013-08-14 日立电梯（中国）有限公司 Elevator starting compensation control method
CN103241604A (en) * 2013-05-09 2013-08-14 日立电梯（中国）有限公司 Method for controlling starting of elevator without aid of weighing device
CN103241605B (en) * 2013-05-09 2015-04-01 日立电梯（中国）有限公司 Elevator starting compensation control method
CN103241604B (en) * 2013-05-09 2015-05-06 日立电梯（中国）有限公司 Method for controlling starting of elevator without aid of weighing device
CN104569815A (en) * 2014-12-24 2015-04-29 格力电器（合肥）有限公司 Motor detection device
CN105314476A (en) * 2015-07-03 2016-02-10 西子奥的斯电梯有限公司 Weighing-device-free elevator system control method
CN110677092A (en) * 2016-11-18 2020-01-10 深圳市道通智能航空技术有限公司 Control system and control method of permanent magnet synchronous motor and unmanned aerial vehicle
CN110677092B (en) * 2016-11-18 2021-12-17 深圳市道通智能航空技术股份有限公司 Control system and control method of permanent magnet synchronous motor and unmanned aerial vehicle
CN106655917A (en) * 2017-01-13 2017-05-10 邵文英 Correction method of correction type garbage door turbine deceleration motor encoder
CN106655917B (en) * 2017-01-13 2019-04-26 亿腾科技（无锡）有限公司 The modification method of amendment type garage door turbine gear motor encoder
CN109305612B (en) * 2017-07-28 2020-09-18 上海三菱电梯有限公司 Elevator starting control device
CN109305612A (en) * 2017-07-28 2019-02-05 上海三菱电梯有限公司 Elevator starts control device
CN110002298A (en) * 2019-04-09 2019-07-12 深圳市海浦蒙特科技有限公司 A kind of elevator starting control method and system
CN110002298B (en) * 2019-04-09 2021-09-14 深圳市海浦蒙特科技有限公司 Elevator starting control method and system
CN113670358A (en) * 2021-08-11 2021-11-19 追觅创新科技(苏州)有限公司 Compensation method, compensation device and storage medium
CN115043279A (en) * 2022-07-19 2022-09-13 广州永日电梯有限公司 Torque compensation control method for starting elevator
CN115043279B (en) * 2022-07-19 2023-01-06 广州永日电梯有限公司 Torque compensation control method for starting elevator
CN117767831A (en) * 2023-12-26 2024-03-26 湖南进芯电子科技有限公司 High-speed permanent magnet synchronous motor control method based on power control

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