立体车库智能测控中三闭环电机控制系统

System of three-closed loop motor control for three-dimensional garage intelligent measurement and control

针对当前立体车库存取车时间较长、系统运行可靠性有待进一步提高等问题,提出一种基于空间矢量脉宽调制法的三闭环电机控制方法。以同步旋转电机的模型为基础,建立了永磁同步直线电机的数学模型,并给出控制系统关键部件的实现方案。设计了基于空间矢量脉宽调制法的三闭环电机控制系统,给出了三闭环控制系统的速度、电磁力、位移运行曲线,并与开环状态下的系统波形进行了分析比较,结果表明:该方法能够降低电机转速的波动性、提高车辆传动的平稳性,电机转速的测量标准差可降至0.003 m/s;缩短堆垛机控制小车启动时间,系统响应时间降至0.0153 s;尤其是提高了电机运行过程中位移的跟踪性能,输出位移与输入位移的相对误差降低到1.9%,输出位移基本跟踪输入位移。说明永磁同步直线电机在基于空间矢量脉宽调制法的三闭环电机控制方案下的控制效果能够满足立体车库优化控制需求。

Aiming at the problems of long time for parking and taking the car and the reliability of the system to be further improved,a three-closed loop motor control method based on the space vector pulse width modulation method algorithm was proposed.Based on the model of synchronous rotating electric machine,the mathematical model of permanent magnet synchronous linear motor was established and the realization scheme of the key components of the control system was given.The three-closed loop motor control system based on the SVPWM method was designed.The speed,electromagnetic force and displacement operation curves of the three-closed loop control system were given and compared with the open-loop system curves.The results show that:the method can reduce the fluctuation of the motor speed and improve the stability of the vehicle transmission.The standard deviation of the motor speed can be reduced to 0.003 m/s.The control system can shorten the starting time of the palletizer and the system response time can be reduced to 0.0153 s.The tracking performance of the motor during the operation is improved.The relative error between the output displacement and the input displacement is reduced to 1.9%.The output displacement basically tracks the input displacement.It shows that the control effect of permanent magnet synchronous linear motor under three closed-loop motor control scheme based on SVPWM can meet the demand of three-dimensional garage optimization control.