CN107612448B - Disturbance-free torque compensation method for permanent magnet synchronous traction elevator system - Google Patents
Disturbance-free torque compensation method for permanent magnet synchronous traction elevator system Download PDFInfo
- Publication number
- CN107612448B CN107612448B CN201710725226.1A CN201710725226A CN107612448B CN 107612448 B CN107612448 B CN 107612448B CN 201710725226 A CN201710725226 A CN 201710725226A CN 107612448 B CN107612448 B CN 107612448B
- Authority
- CN
- China
- Prior art keywords
- speed
- torque compensation
- torque
- permanent magnet
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Ac Motors In General (AREA)
- Elevator Control (AREA)
Abstract
The inventionDisclosed is a disturbance-free torque compensation method for a permanent magnet synchronous traction elevator system. Includes the steps of setting a torque compensation enabling speed omega in step S1enStep S2, determining whether the PWM cycle interrupt is generated according to the set interrupt cycle, if so, executing step S3, otherwise, continuing the determination of step S2. Step S3, determining a predetermined speed command ω*Whether or not it is greater than torque compensation enabling speed omegaen. If so, the process proceeds to step S4, otherwise, the process proceeds to step S8. Step S4, according to the given speed command omega*Calculating the displacement instruction PN of the periodK *Step S5, calculating the displacement PN of the present cycleKStep S6, according to the displacement instruction PNK *And the amount of displacement PNKCalculating the torque compensation value I of the periodqTor+, step S7, the torque compensation value and the speed loop regulator output value iq *Added as a torque current set value iq **。
Description
Technical Field
The invention relates to a disturbance-free torque compensation method for a permanent magnet synchronous traction elevator system.
Background
With the development of the technology, the mainstream driving mode of the elevator system is traction driving at present, and the power source of the traction driving is mainly a permanent magnet synchronous motor. As a driver of a permanent magnet synchronous motor speed regulation device, a speed and current double closed loop control mode is generally adopted, a speed loop is an outer loop, a current loop is an inner loop, generally, the control period of the speed outer loop is 5-10 times of the control period of the current inner loop, the bandwidth and dynamic response characteristics of the speed outer loop are limited, during the brake opening starting and the brake holding stopping of an elevator system, the car can slide backwards or move forwards in an accelerating way due to the unbalance between the elevator car and a counterweight, and in order to solve the problem, torque compensation control needs to be added in the control of the driver.
In the early torque compensation control, a weighing sensor is added in an elevator system, the weighing sensor outputs an analog quantity signal to a driver according to the weight difference between a car and a counterweight, and a control system of the driver determines the torque compensation quantity according to the analog quantity signal. The compensation method needs to add hardware equipment, increases cost and has low reliability. At present, the technical scheme is basically in a phase of elimination in a new project.
The method for compensating the starting torque of an elevator, as disclosed in patent application No. CN101734529A, is based on a load cell from which the initial compensation value of the starting torque is derived, without any adjustment of the compensation value if the weighing result is accurate. As shown in fig. 3, the speed command is zero at the instant the elevator brake is opened. If the initial compensation value from the weighing sensor is larger and the motor speed is larger than zero, comparing the motor speed omega in the current control periodnewWith the motor speed omega of the previous control cycleoldIf ω isnew＞ωoldThe amount of torque compensation is reduced until the current motor speed omeganewIf the torque compensation value is less than 0, the torque compensation value at the moment is determined to be an accurate compensation value; if the initial compensation value from the weighing sensor is smaller and the motor speed is less than zero, comparing the motor speed omega in the current control periodnewWith the motor speed omega of the previous control cycleoldIf ω isnew＜ωoldThe amount of torque compensation is increased until the current motor speed omeganewAnd if the torque compensation value is more than 0, the torque compensation value at the moment is determined to be an accurate compensation value. This method has the following disadvantages:
1. the compensation initial value comes from the weighing sensor, the value is a sudden change constant value, the direct sudden change from zero to the initial value causes large torque disturbance, and the compensation process is not smooth enough.
2. The adjustment of the compensation value depends on the motor speed, the motor speed is low at the moment when the band-type brake is opened, the speed detection precision is difficult to guarantee, and a large speed error is easy to occur, so that a large compensation deviation is caused;
3. the system is required to be provided with a weighing sensor, the system cost is increased, and the transmission of the analog signal of the weighing sensor is easily interfered by the external electromagnetic environment, so that the reliability of the system is reduced.
4. This scheme is limited to zero servo run-time periods (speed command is zero) and cannot be implemented if the speed command is not zero.
Publication number CN104370171A discloses a method for controlling the starting torque of an elevator permanent magnet traction system without a weighing sensor. According to the method, a position signal of an encoder and a technical motor rotor position are sampled, a motor back-slipping distance and a current motor angular speed are calculated according to rotor position information, and starting torque control is performed according to the motor back-slipping distance and the motor angular speed. The speed outer ring control mode is switched according to the back-slipping distance in the starting torque control algorithm, the speed outer ring is switched from the PI control mode to the static error-free prediction control mode under the condition that a certain condition is met, the accuracy of torque control is guaranteed through mode switching, and insufficient torque in the starting process is prevented. The disadvantages are:
1. according to the scheme, the motor speed needs to be calculated according to the position information of the encoder, at the starting moment, the motor speed is low, the speed detection precision is difficult to guarantee, and a large speed error is easy to occur, so that the false operation of a prediction control mode is caused, and the requirement of torque compensation cannot be met;
2. the scheme completes the torque compensation through the switching of a speed loop control mode, and the switching of the two modes can cause disturbance to a control system, so that the disturbance of torque control is caused;
3. the static-error-free prediction control mode needs complex torque calculation, and system parameters such as system rotational inertia, viscous friction coefficient and the like need to be obtained in the torque calculation, so that the realization difficulty is increased;
4. this scheme is limited to zero servo run-time periods (speed command is zero) and cannot be implemented if the speed command is not zero.
The current torque compensation control is basically based on a scheme without a weighing sensor, and the technical scheme in document 1 (curie, development of a frequency converter special for an elevator, shanghai: shanghai university of transportation. 200709) does not need the weighing sensor, adopts a traditional vector control scheme, increases the PI gain of a speed loop in the starting stage of a motor, accelerates the speed response, but due to the bandwidth limitation of the speed loop, the method can only alleviate the problem of the back slip to a certain extent, cannot completely eliminate the back slip, and simultaneously, the excessive gain can increase the speed fluctuation. Document 2(CN104370171A) calculates the position, the back-sliding distance, the back-sliding speed, and the like of the rotor of the permanent magnet synchronous machine according to the position information provided by the encoder, and performs torque compensation according to the calculated data, but too much calculation increases the complexity of the system, occupies more CPU resources, and at the same time, in the starting stage, the data values of the speed, the distance, and the like are small, the calculation deviation is large, and the compensation effect is ultimately affected.
The torque compensation scheme based on the weighing-sensor-free torque compensation does not consider the smoothness of the compensation process, and is easy to bring disturbance in the compensation process; and the compensation scheme of document 2 only considers the start-up process, and does not perform the torque compensation control during the zero-speed stop process that also requires the torque compensation.
Disclosure of Invention
A first object of the present invention is to provide a novel disturbance-free torque compensation method for a permanent magnet synchronous traction elevator system, which can perform torque compensation calculation only by position information of an encoder without performing motor speed calculation, and can realize disturbance-free torque compensation at any operation speed without being limited to a zero servo period.
The second purpose is that the torque compensation value can be smoothly attenuated, and the torque compensation can be quitted without disturbance.
The first technical scheme of the invention is a disturbance-free torque compensation method of a permanent magnet synchronous traction elevator system, the driving source of the permanent magnet synchronous traction elevator system is a permanent magnet synchronous motor, the speed regulation control of the permanent magnet synchronous motor is carried out by adopting a vector control mode, and the method comprises an inner ring for controlling torque current and an outer ring for controlling speed, and is characterized by comprising the following steps,
the driver of permanent magnet synchronous motor speed regulating equipment usually adopts the control mode of speed and current double closed loop
Step 2, judging whether the PWM cycle interruption is generated or not according to the set interruption cycle, if the PWM cycle interruption is generated, executing step 3, otherwise, continuing the judgment of step S2,
step 3, judging a given speed command omega*Whether or not it is greater than torque compensation enabling speed omegaenNot greater than torque compensation enabling speed omegaenThen, the process proceeds to step 4, where torque compensation is performed,
step 4, according to the given speed instruction omega*Calculating the displacement instruction PN of the periodK *，
Step 5, calculating the displacement PN of the periodK，
Step 6, according to the displacement instruction PNK *And the amount of displacement PNKCalculating the torque compensation value I of the periodqTor+，
Step 7, the torque compensation value and the output value i of the speed ring regulator are comparedq *Added as a torque current set value iq **。
The second technical means is based on the first technical means, and is characterized in that,
further comprising a step 8 of commanding ω at a given speed*Greater than or equal to torque compensation enable speed ωenThe process proceeds to step 8 where,
Step 9, exiting the compensation value I at the torqueqTorAt zero or less than the set value, the torque is withdrawn from the compensation value IqTor-set to zero, torque compensation is exited.
The third technical means is based on the second technical means, characterized in that,
in the step 1, the torque compensation enabling speed omega is set according to 5% -10% of the rated speed of the permanent magnet synchronous motoren。
The fourth technical means is the video display device according to any one of the first to third technical means,
in the step 4, the displacement instruction PNK *Is calculated by the following formula,
wherein, TpwmFor PWM interrupt period value, NPGThe high-score count value of the encoder is obtained by rotating the permanent magnet synchronous motor for one circle;
in the step 5, the displacement amount PNKIs calculated by the following formula,
PNK＝CNTK-CNTK-1
wherein the CNT isKCounting pulse values for positions from an encoder, CNTK-1Is the value of the count pulse of the last cycle,
in step 6, the torque compensation value IqTor+ is calculated according to the following formula,
wherein, KTThe coefficients are adjusted for smoothing.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
Fig. 1 is a diagram of a control system for a permanent magnet synchronous motor in a permanent magnet synchronous traction elevator system;
FIG. 2 is a flow chart of disturbance-free torque compensation;
fig. 3 is a flow chart of the prior art.
Detailed Description
The present invention provides many applicable inventive concepts that can be embodied in a wide variety of specific contexts. The specific examples described in the following embodiments of the present invention are merely illustrative of specific embodiments of the present invention and do not limit the scope of the invention.
As shown in fig. 1, the speed regulation control of the permanent magnet synchronous motor M adopts vector control, including an inner loop for controlling torque current and an outer loop for controlling speed.
Compared with the existing vector control, the invention adds a disturbance-free torque compensation link 100. The technical idea is as follows: according to a given speed command omega by each PWM interruption period*Calculates the displacement pulse command of the present period, samples the displacement pulse signal from the encoder 200, and performs step compensationCalculating to obtain a torque compensation value IqTor(ii) a Enabling speed omega based on torque compensationenAnd judging whether to quit the torque compensation algorithm, and if so, executing the torque compensation undisturbed quit algorithm. The encoder may be a sine-cosine encoder. Vector control is prior art and will not be described herein.
FIG. 2 is a flow chart of disturbance-free torque compensation.
Step S1, the torque compensation enabling speed ω is seten。
Torque compensation enabling speed omegaenThe torque compensation function is only active at the highest speed at which the torque compensation function is effective, i.e. below which the operating speed of the elevator system (permanent magnet synchronous motor) is. In the present embodiment, the torque compensation enabling speed ωen5% -10% of the rated speed n of the motor is taken, the compensation effect is influenced if the value is too small, the burden of the speed control loop regulator is increased if the value is too large, and the saturation of the speed loop regulator is easily caused.
Step S2, determining whether the PWM cycle interrupt is generated according to the set interrupt cycle, if so, executing step S3, otherwise, continuing the determination of step S2.
Step S3, determining a predetermined speed command ω*Whether or not it is greater than torque compensation enabling speed omegaenLess than the torque compensation enabling speed ωenThen, the process proceeds to step S4, where torque compensation is performed to a torque compensation enabling speed ω or higherenAnd entering step 8, and executing torque compensation exit.
Step S4, according to the given speed command omega*Calculating the displacement instruction PN of the periodK *。
Step S5, calculating the displacement PN of the present periodK。
Step S6, according to the displacement instruction PNK *And the amount of displacement PNKCalculating the torque compensation value I of the periodqTor+。
Step 7, the torque compensation value and the output value i of the speed ring regulator are comparedq *Added as a torque current set value iq **。
step 9, exiting the compensation value I at the torqueqTorAt zero or less than the set value, the torque is withdrawn from the compensation value IqTor-set to zero. Then, the process proceeds to step S7, where the torque is withdrawn from the compensation value IqTorAnd the speed loop regulator output value iq *Added as a torque current set value iq **。
Wherein, in step 4, the shift instruction PNK *Is calculated by the following formula,
wherein, TpwmFor PWM interrupt period value, NPGThe high-score count value of the encoder is obtained by rotating the permanent magnet synchronous motor for one circle;
in step 5, shift amount PNKIs calculated by the following formula,
PNK＝CNTK-CNTK-1
wherein the CNT isKCounting pulse values for positions from an encoder, CNTK-1Is the value of the count pulse of the last cycle,
in step 6, the torque compensation value IqTor+ is calculated according to the following formula,
wherein, KTThe coefficients are adjusted for smoothing.
The effects of the invention are as follows:
the technical scheme of the invention has the following effects:
1. according to the invention, the torque compensation algorithm is calculated through the displacement count value in the PWM period, speed calculation is not needed, the low speed detection precision is avoided at low speed, and the precision and the reliability of torque compensation are further improved;
2. a stepped torque compensation algorithm to make the torque compensation increase and decrease smoothly, and can pass the control coefficient K in step S6TThe smoothness is adjusted, so that the compensation process is free of disturbance;
3. introducing a torque compensation enabling speed to ensure that the torque compensation quit is carried out when the motor speed is greater than the torque compensation enabling speed, and ensuring that the working load of the speed loop regulator is reduced when the motor runs at a high speed;
4. and a torque compensation undisturbed quit algorithm is carried out, so that the compensation torque is prevented from being suddenly changed from a certain value to zero step by step, the torque compensation is smoothly pushed out, and the torque compensation quits smoothly without disturbance.
Claims (4)
1. A disturbance-free torque compensation method for a permanent magnet synchronous traction elevator system is characterized in that a driving source of the permanent magnet synchronous traction elevator system is a permanent magnet synchronous motor, the permanent magnet synchronous motor is subjected to speed regulation control in a vector control mode and comprises an inner ring for controlling torque current and an outer ring for controlling speed, and the method is characterized by comprising the following steps of,
the driver of the permanent magnet synchronous motor speed regulation equipment adopts a speed and current double closed loop control mode,
step 1, setting a torque compensation enabling speed omegaen，
Step 2, judging whether the PWM cycle interruption is generated or not according to the set interruption cycle, if the PWM cycle interruption is generated, executing step 3, otherwise, continuing the judgment of step S2,
step 3, judging a given speed command omega*Whether or not it is greater than torque compensation enabling speed omegaenNot greater than torque compensation enabling speed omegaenThen, the process proceeds to step 4, where torque compensation is performed,
step 4, according to the given speed instruction omega*Calculating the displacement instruction PN of the periodK *，
Step 5, calculating the displacement PN of the periodK，
Step 6, according to the displacement instruction PNK *And the amount of displacement PNKCalculate the periodTorque compensation value ofqTor+，
Step 7, the torque compensation value and the output value i of the speed ring regulator are comparedq *Added as a torque current set value iq **。
2. The disturbance-free torque compensation method of a permanent magnet synchronous traction elevator system according to claim 1,
further comprising a step 8 of commanding ω at a given speed*Greater than or equal to torque compensation enable speed ωenThe process proceeds to step 8 where,
step 8, setting a torque withdrawal compensation value IqTor-，
Step 9, exiting the compensation value I at the torqueqTorAt zero or less than the set value, the torque is withdrawn from the compensation value IqTor-set to zero, torque compensation is exited.
3. The disturbance-free torque compensation method of a permanent magnet synchronous traction elevator system according to claim 2,
in the step 1, the torque compensation enabling speed omega is set according to 5% -10% of the rated speed of the permanent magnet synchronous motoren。
4. The disturbance-free torque compensation method of a permanent magnet synchronous traction elevator system according to any one of claims 1 to 3,
in the step 4, the displacement instruction PNK *Is calculated by the following formula,
wherein, TpwmFor PWM interrupt period value, NPGThe high-score count value of the encoder is obtained by rotating the permanent magnet synchronous motor for one circle;
in the step 5, the displacement amount PNKIs calculated by the following formula,
PNK＝CNTK-CNTK-1
wherein the CNT isKCounting pulse values for positions from an encoder, CNTK-1Is the value of the count pulse of the last cycle,
in step 6, the torque compensation value IqTor+ is calculated according to the following formula,
wherein, KTThe coefficients are adjusted for smoothing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710725226.1A CN107612448B (en) | 2017-08-22 | 2017-08-22 | Disturbance-free torque compensation method for permanent magnet synchronous traction elevator system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710725226.1A CN107612448B (en) | 2017-08-22 | 2017-08-22 | Disturbance-free torque compensation method for permanent magnet synchronous traction elevator system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107612448A CN107612448A (en) | 2018-01-19 |
| CN107612448B true CN107612448B (en) | 2020-04-14 |
Family
ID=61065460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710725226.1A Active CN107612448B (en) | 2017-08-22 | 2017-08-22 | Disturbance-free torque compensation method for permanent magnet synchronous traction elevator system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107612448B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1944861A2 (en) * | 2007-01-09 | 2008-07-16 | JTEKT Corporation | Motor controller and electric power steering system |
| CN103647490A (en) * | 2013-09-27 | 2014-03-19 | 天津大学 | Permanent magnet motor sliding mode control strategy |
| CN104378037A (en) * | 2014-11-07 | 2015-02-25 | 美的集团股份有限公司 | Current regulating method and device for air conditioner and single rotor compressor |
| JP2017055466A (en) * | 2015-09-07 | 2017-03-16 | ジョンソンコントロールズ ヒタチ エア コンディショニング テクノロジー（ホンコン）リミテッド | Motor drive device, air conditioner and program |
-
2017
- 2017-08-22 CN CN201710725226.1A patent/CN107612448B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1944861A2 (en) * | 2007-01-09 | 2008-07-16 | JTEKT Corporation | Motor controller and electric power steering system |
| CN103647490A (en) * | 2013-09-27 | 2014-03-19 | 天津大学 | Permanent magnet motor sliding mode control strategy |
| CN104378037A (en) * | 2014-11-07 | 2015-02-25 | 美的集团股份有限公司 | Current regulating method and device for air conditioner and single rotor compressor |
| JP2017055466A (en) * | 2015-09-07 | 2017-03-16 | ジョンソンコントロールズ ヒタチ エア コンディショニング テクノロジー（ホンコン）リミテッド | Motor drive device, air conditioner and program |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107612448A (en) | 2018-01-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6008264B2 (en) | Magnetic pole position detection device for permanent magnet type synchronous motor | |
| CN109095301B (en) | Elevator control method, device, equipment and medium | |
| CN106549620B (en) | A kind of Speed Sensorless Induction Motor vector control system low frequency processing method | |
| CN112701968B (en) | Method for improving prediction control robustness performance of permanent magnet synchronous motor model | |
| US20140356126A1 (en) | Method and system for synchronously inhibiting subcritical vibrations of magnetic levitation molecular pump rotor | |
| US8593087B2 (en) | Magnetic pole position estimation method for AC synchronous motor | |
| JP2002330600A (en) | Control system for induction motor drive with no speed sensor, observer, and control method | |
| CN109962651B (en) | Linear motor vector control method for door and window based on switch Hall sensor | |
| KR20140060002A (en) | Apparatus for estimating parameters in induction machine | |
| US8183816B2 (en) | Method for field-oriented operation to zero speed of an encoder-less asynchronous machine | |
| CN107154760A (en) | A kind of high speed high torque (HT) implementation method of composite stepper motor | |
| KR101629059B1 (en) | Apparatus for estimating parameters in induction machine | |
| CN112850389A (en) | Control method and system for elevator running speed and storage medium | |
| CN107612448B (en) | Disturbance-free torque compensation method for permanent magnet synchronous traction elevator system | |
| CN108155839B (en) | Method for measuring back electromotive force coefficient of alternating current permanent magnet synchronous motor special for elevator and elevator operation maintenance method | |
| CN110855191B (en) | Synchronous control method for needle cylinder motor and handpiece motor of intelligent glove knitting machine based on sliding mode control | |
| CN109495045B (en) | Asynchronous motor speed observation and starting unified control method | |
| US20180198398A1 (en) | System and method for controlling a motor | |
| JP4225657B2 (en) | Control device for permanent magnet type synchronous motor | |
| CN109305612B (en) | Elevator starting control device | |
| CN114977904A (en) | PMSM sensorless starting method based on load estimation and dynamic speed regulation | |
| CN113131818B (en) | Hall sensor installation error identification method, device and motor control system | |
| CN113614014B (en) | Elevator control device | |
| JP6043191B2 (en) | Motor speed control device | |
| CN110061666B (en) | Permanent magnet synchronous motor speed regulation performance improvement method based on full-order terminal sliding mode control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181107 Address after: 100176 Beijing Beijing economic and Technological Development Zone, Boxing two road 3, 2, 1 floors. Applicant after: Beijing Kang Kang Xin Polytron Technologies Inc Address before: 100176 Beijing Daxing District Yizhuang Economic Development Zone Boxing two road 3 Applicant before: Beijing hiconics Technology Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |