基于嵌入式技术的施工升降机多电机同步控制方法

Multi-motor Synchronous Control Method of Construction Elevator Based on Embedded Technology

为提升施工升降机的自动化控制水平,设计基于嵌入式技术的施工升降机多电机同步控制方法。选取型号为STM32F407的嵌入式芯片,作为多电机同步控制的嵌入式微处理器。利用偏差耦合控制方法,将施工升降机的一台电机速度,与其它电机速度信息反馈结果作差处理。设置多电机速度偏差作为速度补偿信号,利用滑模速度控制器,使电机的速度误差快速收敛直至趋于0,确定电机控制量。嵌入式芯片依据电机控制量,向电机驱动单元发送电机控制命令,电机驱动单元接收控制信号后,控制施工升降机的电机运行参数调节,实现施工升降机多电机的同步控制。实验结果表明,采用该方法控制施工升降机多电机,跟踪误差和同步误差可以降低至10 r/min,多电机同步控制性能优越。

To improve the automation control level of construction elevators,a multi motor synchronous control method for construction elevators based on embedded technology was designed,selected an embedded chip with model STM32F407 as the embedded microprocessor for multi motor synchronous control.Using the deviation coupling control method,the speed of one motor of the construction elevator was treated as a difference from the feedback results of other motor speed information.Set the speed deviation of multiple motors as the speed compensation signal,and used a sliding mode speed controller to quickly converge the speed error of the motor until it approaches 0,determining the motor control quantity.The embedded chip sends motor control commands to the motor drive unit based on the motor control quantity.After receiving the control signal,the motor drive unit controls the motor operation parameters of the construction elevator to achieve synchronous control of multiple motors of the construction elevator.The experimental results show that using this method to control multiple motors of construction elevators can reduce tracking error and synchronization error to 10r/min,and the synchronous control performance of multiple motors is superior.