| Reliability, security, stability has been the basic requirements of the elevator production, and base on these factors, it develops with energy conservation, humane, intelligent. Switching the elevator door safely and steadily is an important part of the elevator quality. As the development of the manufacturing technology, electronic technology and control technology, the elevator door switch gear is upgrading constantly. The motor of elevator door and its driving and controlling system are also improving and perfect gradually. Compared with the DC motor, the AC induction motor has the advantage of madding simply, controlling easily, stable and reliable. So it has been widely used. Various control strategy are proposed for the AC induction motor by many scholars and vendors, which makes the elevator door control technology developed rapidly.With the saving energy and reducing the cost proposed, the permanent magnet synchronous motor began to be used by the manufacturers with its low energy consumption. It becomes the new generation products of the elevator door. The control system of the permanent magnet synchronous servo motor will become a major trend of the elevator door control system. However, the elevator industry started later in China and the control technology is relatively weak. It produces the product of "OEM" and the main key technologies are mastered by the foreign manufacturers. Therefore, researching the elevator-related technology has been an important practical significance, especially in the elevator door control technology. Studying a kind of the driving and controlling strategy based on the permanent magnet synchronous servo motor has great social and economic value. It can effectively improve the control system performance, save energy and reduce costs.Based on searching and reading much literature, this paper studies the elevator door control strategy and analyzes its structure, working principle and mathematical model of the permanent magnet synchronous motor. A permanent magnet synchronous motor servo control system was designed with the PSO-based PID parameter tuning method. It can control the motor speed more effectively. What’s more, a harmonic suppression strategy based on the variable-frequency carrier was proposed, which can improve the system performance, make the response time of the motor speed shorter. The work and research results in this thesis can be summarized as following:The structure performance, working principle of the permanent magnet synchronous servo motor and its mathematical model in the three coordinates were analyzed and the SPWM control theory and its implementation were studied. The method of the motor control style was identified.According to the requirements of system performance, a permanent magnet synchronous motor servo drive hardware system was designed with the TMS320F2808PZA DSP digital signal processing chip as the core of control system and an intelligent power module IRAMX16UP60A as the drive module. It can be used to drive motor around300W. The hardware system includes the main control circuit, power circuit, drive circuit, communication circuit module and so on. According to the requirement of control system, this paper design the control program and interrupt program, including the design of the system initialization, SPWM control, and other important modules.When the motor is running, the strong interference will be found in the stator current. A kind of the harmonic suppression strategy based on the variable-frequency carrier was proposed. This strategy achieves good results for harmonic suppression, effectively reduces the high amplitude harmonic currents interference and improves the system performance.In order to solving the problem of the motor speed responding slowly, a PID control parameters tuning method based on the particle swarm optimization algorithm was proposed. This method can make the motor speed responding quickly, improve the overall system performance. |
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