结合PI自调整与模糊逻辑补偿的控制方法

Control method using auto-tuning PI and fuzzy logic compensator

为了给乘客提供一个安全舒适的乘梯体验,研究了永磁同步电梯系统的启动控制方法.考虑到因乘客数量变化而导致的系统惯量变化,在分析电梯启动过程的基础上,提出了一种结合比例-积分(PI)自调整与模糊逻辑补偿的复合控制方法.首先,采用PI自调整方法有效减小了滑车距离并消除速度超调带来的震动感;然后,引入模糊逻辑补偿进一步减少了启动时的溜车距离,并指出2.3mm为最佳的溜车距离;最后,Saber平台的仿真结果与实际物理平台的实验结果验证了该复合启动控制方法的可行性与有效性.

In order to provide passengers a safe and comfortable riding experience,starting control for elevators with permanent magnet synchronous machines（SPMSMs）was studied.Considering the fact that inertia varies due to the unfixed passenger number,a composite method consisting of auto-tuning proportional-integral（PI）method and fuzzy logic compensator was proposed after analyzing the startup process of elevator.The auto-tuning PI method can evidently decrease the sliding distance and eliminate the oscillation feeling caused by the speed overshoot.Then the introduction of fuzzy logic compensator further reduced the sliding distance.Finally,the improvement and effectiveness of the proposed composite method were illustrated by the simulations on Saber platform and experiments on a test system consisting of two traction motors.