An Adaptive Integral Backstepping Control Method for Anti-Load Disturbance of Elevator pmsm

Abstract

The invention proposes an adaptive integral backstepping control method for anti-load disturbance of PMSM used in elevators. Compare the motor speed w with the given motor speed w * By comparison, the speed error e is obtained; according to the feedback motor speed w and electromagnetic torque T e Estimated load torque τ L ;The estimated load torque τ L and the rotational speed error e are input into the adaptive integral backstepping controller for adjustment to eliminate the steady-state error of the speed so as to obtain the virtual control quantity of the q-axis of the stator current in the rotating coordinate system d-q and use the excitation current component as a reference value to input the current In the ring, and the stator current i after the coordinate transformation d Make a difference to get the d-axis stator current error e d ;According to the q-axis stator current error e q and d-axis stator current error e d Calculate the control voltage u d and u q ; will u d and u q After inverting through the park, it is input to the SVPWM pulse width modulation module to generate the pulse signal required to drive the inverter, thereby driving the motor to run. The invention improves the robustness of the electric system of the elevator, and enhances the comfort and speed of the elevator.

Description

technical field [0001] The invention belongs to the technical field of motor intelligent control, in particular to an adaptive integral backstepping control method for PMSM used in elevators to resist load disturbance. Background technique [0002] Elevators are a common means of transportation in buildings. With the development of the times, people put forward higher requirements for the high speed, stability and energy saving of elevators. Due to the advantages of simple structure, reliable operation, small size and high efficiency, the permanent magnet synchronous motor (PMSM) is widely used in the elevator speed control system. The ever-changing complex application environment requires continuous optimization and updating of the control strategy of the elevator electric system. [0003] In the elevator traction speed regulation system, the PI controller is often used to regulate the system speed. Although the controller is more convenient to use, it is still a linear ...

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Problems solved by technology

Therefore, although the PI control algorithm is simple, it is not effective in a high-precision control system like a motor.

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