摘要
由于受编码器精度限制,传统的电梯零速启动控制方法无法同时保证低遛坡距离、高稳定性以及较好的人体舒适度。在建立了电梯零速启动系统摩擦力模型基础上,提出了一种基于自适应原理的非线性控制方法。给出了一个李雅普诺夫函数,并通过李雅普诺夫稳定性判据证明了该非线性控制器的稳定性。最后,通过一个装有ECN413绝对值编码器的永磁同步直驱实验电梯系统证明了该控制器的性能。
Due to the limited accuracy of the encoder, the traditional way of elevator start-up process control can not simultaneously ensure low sliding distance, high stability, and a better human comfort.This paper presents a nonlinear control method based on the elevator friction model and the adaptive control theory.Then the stability of the controller is proved by Lyapunov stability criterion.Finally, the proposed method is implemented and verified by the results on a permanent magnet synchronous motor driving gearless elevator system with an absolute encoder ECN413.
出处
《电力电子技术》
CSCD
北大核心
2013年第6期77-80,共4页
Power Electronics
关键词
电梯
启动控制
自适应控制
非线性控制
elevator
start-up process control
adaptive control
nonlinear control
