plc 单片机 外文翻译 外文文献 英文文献 一个逆变器在电梯门中控制两个永磁直线电动机

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URRENTSUNCONTROLLEDONEAPPROACHTOCONTROLLINGTWOPMSYNCHRONOUSMOTORSUSINGONEINVERTERWOULDBETOJUSTCONTROLTHETWOMOTORSIDENTICALLYSPECIFICALLY,ASTHEYNOMINALLYFOLLOWIDENTICALTRAJECTORIES,JUSTSETVD1VD2,VQ1VQ2SOTHAT12,12,ID1ID2,IQ1IQ2THISISASTANDARDAPPROACHFORTORQUE/SPEEDCONTROLOFINDUCTIONMOTORPROPULSIONSYSTEMSLIGHTRAILVEHICLES,SUBWAYCARS,ETCINWHICHTWOTRACTIONINDUCTIONMOTORSAREDRIVENBYASINGLEINVERTERINTHISCASETORQUECONTROL,THEINDUCTIONMOTORSREQUIREONLYTHEROTORSPEEDTOESTIMATETHEROTORFLUXESSOTHATTHEAVERAGESPEEDOFTHETWOMOTORSCANBEUSEDINTHEFLUXESTIMATORANDFORSPEEDCONTROLHOWEVER,INTHECASEOFSYNCHRONOUSMOTORS,THEPOSITIONOFTHEROTORISREQUIREDFORCONTROLAS7,8SHOWTHEEXTERNALDISTURBANCESL1,L2ONTHEINDIVIDUALMOTORSARENOTNECESSARILYEQUALANDSOTHEROTORSWILLMISALIGN,IE,12INTHISSITUATION,ACONTROLSCHEMEBASEDONPUTTINGTHESAMEINPUTINTOBOTHMOTORSISNOTABLETORECOVERAFTERMISALIGNMENTOCCURS,THATIS,TOREALIGN12AGAIN,THEOBJECTIVEHEREISTOUSEONEINVERTERTOCONTROLTWOMOTORSIFTHEREWASANINVERTERFOREACHMOTOR,THENTHEFEEDBACKCONTROLLERGIVENIN6WOULDSUFFICETODEVELOPACONTROLLERUSINGASINGLEINVERTERFORTHETWOMOTORS,TWOCASESARECONSIDERED1THEMOTORSARECONNECTEDINPARALLEL2THEMOTORSARECONNECTEDINSERIES41PARALLELCONNECTIONFIRST,CONSIDERTHEMOTORSCONNECTEDINPARALLEL,THATIS,THEAPPLIEDVOLTAGETO11LQEIKDTJ1TEACHPHASEOFTHEMOTORSARETHESAMETHEMODELOFTHETWOMOTORSINTHEDQCOORDINATESYSTEMARETHENANDTORUNTHESETWOMOTORSOFFOFASINGLEINVERTER,ONEMUSTTAKEINTOACCOUNTHOWTHEVOLTAGESARECOMMANDEDTOTHEMOTORTHESAMETHREEVOLTAGESVS1,VS2,VS3,OREQUIVALENTLY,THESAMETWOPHASEEQUIVALENTVOLTAGESVA,VBARECOMMANDEDTOBOTHMOTORSTHEDQVOLTAGESFORTHETWOMOTORSAREGIVENBYSBAPPQDINICOSINSICSVVSISI11LQEIKDTJTWHERE1,2ARETHEANGULARPOSITIONOFMOTOR1ANDMOTOR2,RESPECTIVELY1ASTHECONTROLLER6INDICATES,THISCANBEDONEBYSPECIFYINGTHEQUADRATURESBAPPQDVNVCOSINSIVOLTAGEVQOFEACHMOTORTOCONTROLTHETORQUEPRODUCINGCURRENTIQOFEACHMOTORTODOSO,EQS7AND8SHOWTHISREQUIRESCHOOSINGVA,VBSUCHTHATCLEARLYTHEREISASINGULARITYINTHEINVERSEATNP21MOD0THEREFERENCETRAJECTORIESFORTHETWOLINEARMOTORSAREDESIGNEDTOMAINTAINANANGULARSEPARATIONOFTHETWOMOTORSACONTROLSCHEMEFORTHETWOMOTORSISTHENEQREFRFREFRFQKJI111DTIIIIKVTRFIQREFP0111EQREFFFREFQKJI222DTIIIIKVTRFIQREFP0222THEDIRECTVOLTAGESAREDETERMINEDBYTHEQUADRATUREVOLTAGESGIVENBY9SPECIFICALLY,SUBSTITUTE9INTOBAPPDVNVSICOS221121110ISASSUMEDTOCORRESPONDWITHTHEMAGNETICAXISOFPHASEAOFMOTOR1ANDSIMILARLYFORMOTOR2SOTHATWHEN210,VD1,VD2ANDCONSEQUENTLY,THECURRENTSID1,ID2CANBELARGENEARTHESINGULARITYTOAVOIDTHESINGULARITY,THECONTROLSCHEMEPROPOSEDHEREISTOPHYSICALLYOFFSETTHEANGULARPOSITIONOFTHEROTORSOFTHETWOMOTORSBY/2/NPTHEN,ASBOTHNOMINALLYTRACKTHESAMETRAJECTORYEXCEPTFORTHEPOSITIONOFFSETOF/2/NP,ATIGHTTRAJECTORYTRACKINGCONTROLLOOPWOULDKEEPNP21CLOSETO/2ANDTHUSKEEPTHESYSTEMAWAYFROMTHESINGULARITY411SIMULATIONSABASICSIMULATIONWASRUNUSINGTHEONEINVERTERTWOMOTORCONTROLLERTHESPEEDPROFILEFORTHETWOMOTORSISSHOWNINFIG1ANDTHEPOSITIONPROFILESARESHOWNINFIG2THESEPLOTSSHOWTHATTHEDOORSOPENIN42STHESPEEDTRACKINGERRORISLESSTHAN5104M/SANDTHEREFOREISNOTSHOWNTHEDIFFERENCEINPOSITIONSHOWNINFIG2ISDUETOTHEFACTTHATX100ANDX2（0）REQNP00356MTHEUNCONTROLLEDCURRENTSID1,ID2ARESHOWNINFIG3THEDIFFERENCEINTHETRAJECTORIESOFTHETWOCURRENTSCANBEEXPLAINEDBYTHEFACTTHEINITIALANGULARPOSITIONOFTHETWOMOTORSAREDIFFERENTBY/2/NPTOAVOIDTHESINGULARITYINTHECONTROLTHECONSEQUENCEOFNOTBEINGABLETOCONTROLTHEDIRECTCURRENTTOZERORESULTSINTHEWASTEDPOWERRSI2DBECAUSEINAONEINVERTER/ONEMOTORCONFIGURATION,THISCURRENTWOULDTYPICALLYBEZEROTHEQUADRATURECURRENTSIQ1,IQ2ARECONTROLLEDAND,ASSHOWN,AREONTOPOFEACHOTHERTHELINEARFORCEFKEQIQ/REQISREQUIREDTOMAKETHEMOVEFINALLY,THEPHASEVOLTAGEVS1ISSHOWNWHEREITISNOTEDTHATTHEMAXIMUMOFTHEVOLTAGEISJUSTUNDER100V42SERIESCONNECTIONINTHESERIESCONNECTION,THECURRENTINEACHMOTORISTHESAMEINTHEIRCORRESPONDINGPHASESTOANALYZETHISSITUATION,CONSIDERTHETWOPHASEEQUIVALENTMODELSOFTHETWOSYNCHRONOUSMOTORS11SINSAPEQSASSVKIRDTIL11SINSBPEQSBSSVKIRDTIL22SISAPEQSASSITI22SINSBPEQSBSSVKIRDTILTHECONTROLINPUTISVSAVSA1VSA2VSBVSB1VSB2USINGHIGHGAINCURRENTFEEDBACK,VSAKPISAREFISAVSBKPISAREFISAONECANFORCEISAISA_REF,ISBISB_REFFASTENOUGHTHATISA,ISBCANBECONSIDEREDASTHE”INPUTS”NOTETHATTHEHIGHGAINFEEDBACKDOESNOTHAVEANINTEGRATORTHISISDUETOTHEFACTTHATTHECURRENTSARESINUSOIDSANDWILLBEOFHIGHFREQUENCYATHIGHSPEEDSANDANINTEGRATORCANHAVETROUBLETRACKINGSUCHAFASTVARYINGSIGNALWITH1,2THETORQUEREFERENCESFORTHETWOMOTORSRESPECTIVELY,THEFOLLOWINGTWOEQUATIONS111COSSINQEPBEQPAEQIKNUKUK222ASINTHEPARALLELCONNECTIONCASE,THISHASASINGULARITYWHENNP21MOD0ASINTHECASEOFTHEPARALLELCONNECTION,THEREFERENCETRAJECTORIESFORTHETWOLINEARMOTORSAREDESIGNEDTOMAINTAINANANGULARSEPARATIONOFTHETWOMOTORSACONTROLSCHEMEFORTHETWOMOTORSISTHEN111REFREFREFKKJ222REFREFREFKKJTHEDIRECTCURRENTSAREDETERMINEDBYTHEQUADRATURECURRENTS,SPECIFICALLY,SUBSTITUTE13INTOBAPPDINISICOS221121WHEN2102K,ID1,ID2ANDCONSEQUENTLY,THECURRENTSID1,ID2CANBELARGENEARTHESINGULARITYAGAIN,THECONTROLSCHEMEISTOOFFSETTHEANGULARPOSITIONOFTHETWOMOTORSBY1/2/NPASBEFORE,BOTHMOTORSNOMINALLYTRACKTHESAMETRAJECTORYSOTHATTHECONTROLLERWOULDNOMINALLYKEEPNP21/2ANDTHEREFOREKEEPTHESYSTEMAWAYFROMTHESINGULARITY421SIMULATIONSTOSIMULATETHESERIESCONNECTEDSYSTEM,THEFIRSTANDSECONDEQUATIONOF10AREADDEDTOTHEFIRSTANDSECONDEQUATIONOF11,RESPECTIVELYSOTHATWITHVSAVSA2VSA1,VSBVSB2VSB1,ALONGWITHTHETWOSPEEDANDTWOPOSITIONEQUATIONS,THEOVERALLDYNAMICMODELFORSIMULATIONISSAPEQPEQSASSAVNKNKIRDTILSISI221SBPEQPEQSBSSBITISICOS21111SSINLPBEQPAEQNIKKDTJ1T22COSSIN2LPBEQPAEQNIKKDTJ2DTHEREDTRXEQ1DTRXEQ221THESPEEDPROFILEWASTHESAMEASTHEPARALLELCONNECTEDCASETHEPOSITIONPROFILEAREALSOSIMILARTOTHEPARALLELCONNECTEDCASETHESPEEDTRACKINGERRORISLESSTHAN5104M/SANDTHEREFOREISNOTSHOWNTHEQUADRATURECURRENTSSHOWNBELOWAREIDENTICALTOTHEPARALLELCASEASITMUSTSINCETHETORQUEREQUIREDFOREITHERCASEISTHESAMETHEUNCONTROLLEDCURRENTSID1,ID2THEDIFFERENCEINTHETRAJECTORIESOFTHETWOCURRENTSCANBEEXPLAINEDBYTHEFACTTHEINITIALANGULARPOSITIONOFTHETWOMOTORSWASDIFFERENTASINTHEPARALLELCASE,THISREPRESENTSWASTEDPOWERRSI2DBECAUSEINAONEINVERTERONEMOTORSCENARIO,THISCURRENTWOULDTYPICALLYBEZEROTHEDIRECTCURRENTSBELOWSHOWASLIGHTDIFFERENCEBETWEENTHEPARALLELANDSERIESCASESFINALLY,THEPHASEVOLTAGEVS1ISSHOWNWHEREITISNOTEDTHATTHEMAXIMUMOFTHEVOLTAGEISABOUT180V5CONCLUSIONSANDSUMMARYACONTROLLERHASBEENPRESENTEDTHATALLOWSONETOINDEPENDENTLYCONTROLTHETORQUEFORCEOFTWOMOTORSWHICHSHARETHESAMEINVERTERSUCHASYSTEMALLOWSONETOFORCEEACHMOTORTOTRACKITSREFERENCETRAJECTORYDESPITETHELOADDISTURBANCESACTINGONITHOWEVER,DUETOTHEPRESENCEOFASINGULARITYINTHECONTROLLER,THEVIABILITYOFTHISAPPROACHISLIMITEDTOSITUATIONSFORWHICHTHETWOMOTORSARETRACKINGTHESAMETRAJECTORYSUCHASELEVATORDOORSINSUCHACASE,THESYSTEMCANBEDESIGNEDWHERETHETWOMOTORSTRACKTHENOMINALTRAJECTORYANDAREWELLREMOVEDFROMTHESINGULARITYTHEDIFFERENCEBETWEENTHEPARALLELANDSERIESCONNECTIONISNOTREALLYSIGNIFICANTANDTHECHOICECOULDBEMADEBASEDONRELIABILITYCONSIDERATIONSFOREXAMPLE,IFAPHASEFAILSINTHEPARALLELCASE,THENONEOFTHEDOORSCOULDSTILLBEOPERATIONALONEWOULDHAVETODETECTTHEFAILUREANDTHENCONTROLTHEREMAININGMOTORINTHENORMALFASHIONTHERATINGOFTHEINVERTERCOULDALSODETERMINETHECHOICEOFTHECONNECTIONTHESERIESCONNECTEDMOTORSYSTEMUSESTWICETHEVOLTAGEOFTHEPARALLELCONCOCTEDMOTORSYSTEM,BUTHALFTHECURRENTTHISISSIMPLYARESULTOFCONSERVATIONOFENERGYSAFETYANDRECOVERYISSUESAREIMPORTANTISSUESFORFUTURECONSIDERATIONFOREXAMPLE,WHENONEDOORISBEINGBLOCKEDANDTHEREFORE,COMMANDEDTOREOPEN,THENTHISSAMECOMMANDTRAJECTORYREFERENCEMUSTBESENTTOTHEOTHERDOORSOTHATTHEYMAINTAINTHEIRSEPARATIONOFREQ/2TOAVOIDTHESINGULARITYINTHECONTROLLERTHIS“STIFFNESS”OFTHEDOORSIE,ACTINGASIFTHEYAREMECHANICALLYCONNECTEDTOASINGLECABLETOFORCETHEMTOOPENANDCLOSETOGETHERISDEPENDENTONHOWFASTTHEBLOCKINGOFTHEDOORCANBEDETECTEDANDTHENACOMMANDGIVENTOTHEOTHERDOORTOOPENTHEMWHILEMAINTAININGTHESEPARATIONREQ/2ACKNOWLEDGMENTTHEAUTHORSAREGRATEFULTODRTHOMASHEFORHISHELPWITHTHEDOORMODELWEWOULDALSOLIKET