Research On Control Method For Direct Drive System Of Automatic Door

The linear motor drive system has many advantages compared to systems made up of rotary motor and the transmission mechanism.In this paper,both the hardware platform and software of the direct drive system of automatic door are designed.Based on the vector control method and space vector pulse width modulation technology,the position-speed-current three-closed-loop control of the automatic door is realized.Besides,a two-level controller based on single neuron PID is designed to improve the performance of the speed loop.And a fuzzy adaptive cross-coupling control method is designed to realize the synchronous control of the double door system.Firstly,the principle of the permanent magnet linear synchronous motor as the drive motor is analyzed in detail,and its mathematical model both in three-phase stationary coordinate system and two-phase synchronous rotating coordinate system are deduced.In Matlab/Simulink,the simulation model of three-loop control of permanent magnet linear synchronous motor is built and the simulation results verify the improvement of the speed loop with the two-level controller based on single neuron PID,and validity of the fuzzy adaptive cross-coupling control method to realize the synchronous control of the double-door system.Secondly,the hardware platform based on STM32F4 and the control program based on Keil MDK5 are designed.The hardware platform includes power circuits,sampling conditioning circuits and protection circuits.The software program includes hardware initialization module,motor control module and automatic door function module.Specifically,electrical angle calculation program based on hall sensors,initial position detection program of motor mover and the software filter program are analyzed and designed.Finally,the experimental results verify that the control system can control the speed and position of direct-drive automatic doors effectively;the designed two-level controller based on single neuron PID can improve the dynamic performance of the speed loop;the designed fuzzy adaptive cross-coupling control method can ensure the synchronization of position and speed of double door.