Permanent Magnet Synchronous Motor Drives for Gearless Traction Elevators

185 Pages·2022·7.579 MB·English

by  Guoqiang Zhang, Gaolin Wang, Nannan Zhao, Dianguo Xu

Guoqiang Zhang
Gaolin Wang
Nannan Zhao
Dianguo Xu
Permanent Magnet
Synchronous Motor
Drives for Gearless
Traction Elevators
Permanent Magnet Synchronous Motor Drives
for Gearless Traction Elevators
· · ·
Guoqiang Zhang Gaolin Wang Nannan Zhao
Dianguo Xu
Permanent Magnet
Synchronous Motor Drives
for Gearless Traction
Elevators
GuoqiangZhang GaolinWang
SchoolofElectricalEngineering SchoolofElectricalEngineering
andAutomation andAutomation
HarbinInstituteofTechnology HarbinInstituteofTechnology
Harbin,Heilongjiang,China Harbin,Heilongjiang,China
NannanZhao DianguoXu
SchoolofElectricalEngineering SchoolofElectricalEngineering
andAutomation andAutomation
HarbinInstituteofTechnology HarbinInstituteofTechnology
Harbin,Heilongjiang,China Harbin,Heilongjiang,China
ISBN978-981-16-9317-5 ISBN978-981-16-9318-2 (eBook)
https://doi.org/10.1007/978-981-16-9318-2
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Preface
Thisbookfocusesonthepermanentmagnetsynchronousmotor(PMSM)drivesfor
gearlesstractionelevators.Bothbasicprinciplesandexperimentalevaluationhave
beenaddressed.Thisisachievedbyprovidingin-depthstudyonanumberofmajor
topicssuchasspeeddetectionatlow-speedoperation,startingtorquestrategybased
on dichotomy and staircase methods, fuzzy self-tuning method, MPC and ADRC.
Thecomprehensiveandsystematictreatmentofcontrolstrategiesforcost-effective
gearlessPMSMtractionelevatorsandpracticalissuesarethemajorfeaturesofthe
book,whichisparticularlysuitedforreaderswhoareinterestedtolearnthecontrol
strategiesforcost-effectivegearlessPMSMtractionelevators.Thebookcouldbenefit
researchers,engineersandgraduatestudentsinfieldsofACmotordrivesandcontrol
strategiesforcost-effectivegearlessPMSMtractionelevators,etc.
This book begins with an overview of PMSM traction system. The difference
between geared and gearless traction elevators and the brief introduction of cost-
effectivegearlessPMSMtractionelevatorsarediscussedinChap.1.
Chapter2presentsthemathematicalmodelofgearlessPMSMtractionelevators,
including the vector control and the dynamic model of PMSM drives for gearless
tractionelevators.
Chapter3discussestheinitialpositiondetectionforPMSMtractiondriveswith
low-cost incremental encoder. The high-frequency signal injection-based initial
positiondetectioniscomprehensivelyillustrated.
Chapter4presentsthespeeddetectionmethodatlow-speedoperation.Thespeed
detectionbasedonNTDtheoryandthesignalprocessingforthesin/cosencoderare
discussed.
Weight-transducerlesscontrolispopularandnecessaryforcost-effectivegearless
PMSMtractionelevators.FromChaps.5–9,differentweight-transducerlessstarting
torque compensations of gearless PMSM drive are comprehensively discussed.
Chapter 5 introduces the starting torque control based on dichotomy and staircase
methods. The fuzzy self-tuning torque control strategy is illustrated in Chap. 6.
v
vi Preface
Chapter7presentsthestartingtorquecontrolstrategybasedontheoffset-freemodel
predictivecontroltheory.TheenhancedMPCforrollbackmitigationisdiscussedin
Chap.8.Andfinally,Chap.9presentstheADRCstrategy.
Harbin,China GuoqiangZhang
GaolinWang
NannanZhao
DianguoXu
Contents
1 Permanent Magnet Synchronous Motor Traction
System—AnOverview .......................................... 1
1.1 Background ............................................... 1
1.2 GearedVersusGearlessTractionElevators ..................... 2
1.2.1 EnergyConsumption ................................. 2
1.2.2 Volume ............................................. 3
1.2.3 UseandMaintenance ................................. 3
1.3 BasicofPMSMTractionMachines ........................... 4
1.4 ApplicationsofLow-ResolutionEncoderinElevators ........... 5
1.5 ApplicationsofWeight-TransducerlessElevators ................ 7
1.6 Summary .................................................. 9
References ..................................................... 9
2 MathematicalModelofGearlessPMSMTractionElevators ........ 11
2.1 Introduction ............................................... 11
2.1.1 PMSMApplications .................................. 11
2.1.2 PMSMClassification ................................. 12
2.2 MathematicalModelofPMSM ............................... 15
2.2.1 CoordinateTransformation ............................ 15
2.2.2 MathematicalModelofSPMSM ....................... 23
2.2.3 MathematicalModelofIPMSM ........................ 26
2.3 VectorControlofPMSM .................................... 29
2.3.1 i =0VectorControlMode ........................... 29
d
2.3.2 MaximumTorquePerAmpereControl .................. 30
2.3.3 Flux-WeakeningControl .............................. 32
2.4 DynamicModelofGearlessPMSMTractionElevators .......... 34
2.5 Summary .................................................. 36
References ..................................................... 37
vii
viii Contents
3 InitialPositionDetectionforPMSMTractionDrives ............... 39
3.1 Introduction ............................................... 39
3.2 BasicPrincipleofSaliency-Tracking-BasedMethods ............ 41
3.2.1 HFMathematicalModelofPMSM ..................... 42
3.3 HFSinusoidalSignalInjection-BasedMethod .................. 43
3.3.1 HF Rotating Sinusoidal Signal Injection-Based
Method ............................................. 43
3.3.2 HF Pulsating Sinusoidal Signal Injection-Based
Method ............................................. 45
3.4 HFSquare-WaveSignalInjection-BasedMethod ................ 48
3.4.1 BasicPrinciple ...................................... 48
3.4.2 ExperimentalComparison ............................. 52
3.5 InitialMagnetPolarityDetection ............................. 55
3.5.1 Conventional Initial Magnet Polarity Detection
Method ............................................. 55
3.5.2 Proposed Continuous Initial Magnet Polarity
DetectionMethod .................................... 59
3.6 ExperimentalEvaluation .................................... 60
3.7 Summary .................................................. 66
References ..................................................... 66
4 SpeedDetectionMethodatLow-SpeedOperation ................. 67
4.1 Introduction ............................................... 67
4.2 LimitationoftheConventionalSpeedCalculation ............... 68
4.3 SpeedDetectionBasedontheNTDTheory .................... 69
4.4 Frequency–ResponseAnalysisandParameterSelection .......... 74
4.5 SignalProcessingoftheSIN/COSEncoder .................... 77
4.6 SimulationandExperimentalResults .......................... 79
4.6.1 SimulationResults ................................... 79
4.6.2 ExperimentalResults ................................. 81
4.7 Summary .................................................. 84
References ..................................................... 86
5 StartingTorqueControlBasedonDichotomyandStaircase
Methods ....................................................... 89
5.1 Introduction ............................................... 89
5.2 TorqueCompensationBasedonDichotomyMethod ............. 90
5.3 TorqueCompensationBasedonStaircaseMethod ............... 93
5.4 ExperimentalEvaluation .................................... 95
5.5 Summary .................................................. 101
References ..................................................... 102
6 FuzzySelf-tuningTorqueControlStrategy ....................... 105
6.1 Introduction ............................................... 105
6.2 AnalysisoftheBrakeReleasingProcess ....................... 106
6.3 StartingTorqueControlStrategy .............................. 109
Contents ix
6.4 DesignoftheFuzzySelf-tuningTorqueCompensator ........... 112
6.5 ExperimentalEvaluation .................................... 116
6.6 Summary .................................................. 116
References ..................................................... 120
7 StartingTorqueControlStrategyBasedonOffset-FreeModel
PredictiveControlTheory ...................................... 123
7.1 Introduction ............................................... 123
7.2 DynamicModelofElevatorTractionSystem ................... 124
7.3 Offset-Free MPC for Anti-rollback During the Elevator
Startup .................................................... 126
7.3.1 EstablishmentoftheOffset-FreeMPCforElevator
Startup ............................................. 126
7.3.2 CostFunctionDesign ................................. 129
7.3.3 StabilityAnalysisoftheProposedSpeedController ....... 130
7.4 SimulationandExperimentalEvaluation ....................... 132
7.4.1 SimulationResults ................................... 132
7.4.2 ExperimentalResults ................................. 133
7.5 Summary .................................................. 138
References ..................................................... 140
8 Enhanced MPC for Rollback Mitigation During Elevator
Startup ........................................................ 141
8.1 Introduction ............................................... 141
8.2 AnalysisoftheConventionalMPC ............................ 142
8.3 EstablishmentoftheEnhancedMPCSpeedController ........... 144
8.4 StabilityAnalysisandParameterSelectionoftheESO ........... 147
8.5 ApplicationoftheNTDinSpeedSampling .................... 149
8.6 AnalysisofParameterSelection .............................. 151
8.7 ExperimentalEvaluation .................................... 152
8.7.1 ExperimentalSetup .................................. 152
8.7.2 PerformanceofNTD ................................. 153
8.7.3 PerformanceoftheInternalCurrentLoopAdopting
PIRegulator ......................................... 153
8.7.4 ExperimentalComparisonBetweenConventional
andProposedEnhancedMPC .......................... 154
8.7.5 ControlPerformanceComparisonofPI,Conventional
MPCandProposedEnhancedMPC ..................... 155
8.8 Summary .................................................. 156
References ..................................................... 160
9 ADRCStrategyforGearlessPMSMTractionElevators ............ 163
9.1 Introduction ............................................... 163
9.2 EstablishmentofESOforDirect-DriveElevatorTraction
System .................................................... 164
9.3 StabilityAnalysisandParameterSelection ..................... 167
x Contents
9.4 NLEFController ........................................... 171
9.5 ExperimentalEvaluation .................................... 174
9.5.1 ExperimentalSetup .................................. 174
9.5.2 PerformanceoftheInnerCurrentLoop .................. 175
9.5.3 ExperimentalResultsofESOwithDifferentGainB ...... 176
9.5.4 ExperimentalResultsofESOCombiningwithNLEF ..... 177
9.6 Summary .................................................. 180
References ..................................................... 180