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无齿轮直驱式永磁曳引系统已成为现代电梯的发展趋势。为了提高电梯永磁曳引系统的性能,提出一种基于无静差模型预测控制的无称重传感器起动转矩控制策略。针对直驱曳引系统机械模型不确定、非线性和强扰动负载特性引起的预测模型失配问题,在预测模型中引入模型校正环节以克服模型失配问题。在预测模型中加入估计等效扰动信息来消除零伺服过程的速度静差,并将转速估计量引入到速度预测环节作为速度预测初值,从而无需在价值函数中再对预测速度进行校正。所研究的无称重传感器控制策略能够在抱闸释放瞬间准确控制电磁转矩,快速追踪不确定性综合扰动转矩,有效减小轿厢倒溜距离,并避免机械振动,从而提高了乘梯舒适性。最后,仿真和实验结果均验证了所提出无称重传感器控制方法的有效性。
Gearless direct drive permanent magnet traction system has become the development trend of modern elevators. In order to improve the performance of the elevator permanent magnet traction system, a deadweight sensor based on predictive control of no-error model is proposed to start torque control strategy. In order to overcome the mismatch of prediction model caused by uncertain, non-linear and strong disturbance load characteristics of direct drive traction mechanical system model, model calibration is introduced into the prediction model to overcome the problem of model mismatch. The estimation of equivalent disturbance information is added to the prediction model to eliminate the speed static error of zero-servo process, and the speed estimation is introduced into the speed prediction as the initial value of speed prediction, so there is no need to correct the prediction speed in the value function. The non-load cell control strategy studied in this paper can accurately control the electromagnetic torque when the brake is released, quickly track the uncertainties and disturbing torque, effectively reduce the car back-slip distance and avoid mechanical vibration, Comfort. Finally, the simulation and experimental results verify the effectiveness of the proposed load-cellless control method.