基于二自由度PID的永磁同步曳引机调速策略

Optimized speed regulation strategy based on two-degree-of-freedom PID regulator for permanent magnet synchronous tractor

针对基于一自由度PI控制的电梯永磁同步曳引机调速系统无法兼具良好的鲁棒性与跟随性,而影响乘梯舒适度的问题,提出一种基于二自由度PID控制的调速优化策略。首先建立了永磁同步曳引机的数学模型,分析了在电梯运行过程中其等效负载转矩与等效转动惯量的变化规律,构建了一自由度PI控制方案并阐明了该方案未能兼顾系统鲁棒性与跟随性的原因。在此基础上,提出了基于二自由度PID控制的调速改进策略,并给出了其参数设计方法,最后利用仿真试验验证了所述调速策略的有效性与优越性。

In order to improve the speed control system of permanent magnet synchronous tractor(PMST)by one-degree-of-freedom PI with good robustness and follow-ability,and the ride comfort of the elevator,an optimized speed regulation strategy based on two-degree-of-freedom PID is proposed.The PMST mathematical model is established to analyze the change laws of equivalent load torque and equivalent moment of inertia during elevator operation firstly.Then the one-degree-of-freedom PI control scheme for the PMST is constructed to avoid this scheme failure in the robustness and the speed regulation system.On this basis,a two-degree-of-freedom PID based speed regulation improvement strategy and its parameter design method are given.Finally,the correctness and superiority of the proposed control strategy is verified by simulation comparison results.