Weight-Transducerless Rollback Mitigation Adopting Enhanced MPC With Extended State Observer for Direct-Drive Elevators
Weight-Transducerless Rollback Mitigation Adopting Enhanced MPC With Extended State Observer for Direct-Drive Elevators
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DOI：
10.1109/tpel.2015.2475599
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发表时间：
2016-06
影响因子：
6.7
通讯作者：
Gaolin Wang;Ying Wang;Jin Xu;Nannan Zhao;Dianguo Xu
中科院分区：
文献类型：
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作者：
Gaolin Wang;Ying Wang;Jin Xu;Nannan Zhao;Dianguo Xu
永磁曳引机以其体积小、效率高、动态性能好等优点成为现代无齿轮电梯的发展趋势。然而，当电梯启动时，如果速度控制器不能产生合适的电磁转矩来跟踪曳引轮上的不确定扰动的变化，则在电磁制动器释放过程中，直驱电梯轿厢将发生滑动。针对安装普通分辨率编码器的无齿轮电梯的溜车问题，提出了一种基于扩展状态观测器（ESO）的无重量传感器速度环预测控制策略。ESO用于克服制动力矩和车辆载荷未知引起的预测模型失配。分析了观测器的稳定性和参数选择。此外，采用非线性跟踪微分器代替低通滤波器对传统速度微分采样产生的原始速度信号进行处理，克服了制动器释放时轿厢的振动。实验结果表明，对于安装普通分辨率编码器的直驱式电梯，该控制策略可以实现较短的滑行距离和较小的滑行速度。
The permanent magnet traction machine has become the tendency of modern gearless elevators, because of small volume, high efficiency, and good dynamics. However, the direct-drive elevator car will slide during the electromagnetic brake releasing at elevator startup, if the speed controller cannot generate a suitable electromagnetic torque to trace the change of the uncertain disturbance on traction sheave. To attenuate the car sliding of the gearless elevator installed with an ordinary resolution encoder, a weight-transducerless rollback mitigation strategy adopting an enhanced model predictive control with extended state observer (ESO) for speed loop is proposed. The ESO is used to overcome the mismatch of predictive model caused by the braking torque and the unknown car load. Both the stability and the parameter selection of the observer are analyzed. Additionally, a nonlinear tracking differentiator is used to process the raw speed signal generated by the conventional speed differential sampling instead of the low-pass filter, which can overcome the vibration of the elevator car when the brake releases. Finally, experimental results verify that the proposed control strategy can achieve shorter sliding distance and smaller sliding speed for the direct-drive elevator installed with an ordinary-resolution encoder.