电梯曳引机的改进型IMC-PI控制器研究

Research on an Improved Internal Model PI Controller for Elevator Tractions

随着电梯永磁同步曳引机速度控制技术的不断进步,采用智能化的控制方案来降低调试人员的工作难度与维护成本已然是一种趋势。提出了一种基于惯量辨识的内模PI结合扰动观测器的复合控制方法。首先通过内模PI控制器降低参数调试的难度;其次引入扩张状态观测器组成复合控制器来进行扰动补偿,并证明了其闭环系统的稳定性;再次,提出基于EKF的在线惯量辨识方法并将其引入复合控制器,解决电梯系统惯量变化给复合控制器性能带来的影响,实现智能化的控制。最后,在Saber仿真软件中搭建电梯系统仿真平台验证了方法的有效性。

With the development of speed loop control technology for permanent magnet synchronous tractionsof elevators,it is a trend to adopt intelligent schemes to reduce the difficulty of debugging work and the maintenancecost. A composite control method based on inertia identification was proposed,consisting of internal model PIcontroller and disturbance observer. Firstly,internal model PI controller was used to decrease the difficulty ofparameters debugging. Then the composite controller with extended state observer was presented to compensate thedisturbance. The stability of the close-loop system was also proved. Moreover,inertia identification based on EKF wasproposed and introduced to the composite controller to reduce the performance influence caused by the inertia changeof elevator,and the intelligent control of speed loop was realized. Finally,a series of experiments were performed onthe Saber platform to illustrate the effectiveness of the proposed scheme.