永磁外转子提升机时变负载无位置传感器控制研究

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中图分类号：TD534 文献标志码：A

Sensorless control of permanent magnet external rotor hoist under time-varying load

CHEN Longwei12.3，WUJuan1.2.3

（1.CollegeofMechanicaleEngineering，TaiyuanUniversityofTechnology，TaiuanO3oo24，China；2.ShanxiMine Fluid ControlEngineeringLaboratory，TaiuanUnversityofechnology，TaiyuanO3o24，China；3.National-Local JointEngineeringLaboratoryofMiningFluidControl，TaiyuanUniversityofTechnology，TaiyuanO3oo24，China）

Abstract：To addressthe problemsof low systemreliabilityand high maintenance costscaused by reliance on mechanical position sensors in permanent magnet external rotor hoists，a sensorlesscontrol strategy integrating multibody dynamics modeling for permanent magnet external rotor hoistsunder time-varying load was proposed. First，amathematicalmodelof the permanent magnet externalrotorhoistwas established，andthepulsating highfrequency signal injection method was theoretically analyzed.Second，a phase-locked loop positionobserver was usedto dynamically track therotor position，andasensorless control system wasconstructed.Then，amultibody dynamics model of the hoist was established using RecurDyn software，including the elasticdeformation of the wireropeandthedrumwinding effect，toaccuratelycharacterize the time-varyingcharacteristicsof thesystem load.Finally，an electromechanicalcouplingco-simulation model based on Matlab/Simulink and RecurDyn was established，and the proposedsensorlesscontrolsystem was experimentallyverified usingaphysical verification platform.The results showed that under the time-varying load torque condition of the hoist，the proposed sensorless control strategy controlled the speed tracking error within ±0.2r/min and the rotor position observation error below O.01 rad. It showed good rotor position tracking accuracy and speed tracking performance throughout the entire operating cycle of the permanent magnet external rotor hoist.

Key words： permanent magnet external rotor hoist; sensorless control; multibody dynamics modeling; pulsating high-frequency signal injection method;phase-locked loop position observer；electromechanical coupling co-simulation

0引言

永磁外转子提升机是实现矿井物料、人员及设备垂直运输的关键设备，其构成了井巷与地表之间不可或缺的连接枢纽，在煤矿生产体系及安全生产中具有至关重要的地位[1-2]。（剩余12637字）