Robust Speed Control For Linear Elevator Based On Model Reference Fuzzy Sliding Mode

Vertical elevator system drove by Permanent magnet linear synchronous motor(PMLSM) is a new type cordless elevator, people attach importance to it increasingly because its marked excellences is distinguished from traditional lift system. Foreign scholars first conceived the idea of"Vertical lift system droved by linear synchronous motor"during 90s and in this Period of time they commenced the basic and experimental research. This cordless elevator is widely used in the field of elevator for tall buildings and lift system for pit. It faces fatal challenges on theoretics and technique if you want to make a horizontal running engine setup. Such challenges make this problem becomes foreland problem in field of linear motor study. Traditional lift system will happen a great change if these problems are solved,the theoretical value and the social benefits are immeasurable. Permanent magnet linear synchronous motor as the hard core of new type cordless elevator has many benefits,such as super-efficient, saving energy, doing linear movement and simple structure,convenience control, no pollution and low yawp. So far, Permanent magnet linear synchronous motor as a primary drive source is one of the best subjects in this field.This dissertation analyzes and researches following problems on PMLSM for vertical movement:(1) Contraposing the character of vertical lift system and uniting the mathematic model under the d-q reference frame,thrust equation and mechanism-motorial equation, the mathematic model of linear elevator is built. Speed curves of elevator running are designed according to elevator comfort and fast requirements and simulations are built.(2) The end effect is produced since Permanent magnet linear synchronous motor core breaking. Chattering is caused, so it affects the comfort of elevator. According to the end effect and large variability of load, Fuzzy sliding mode control method is proposed and it is applied to elevator driving by PMLSM.(3) Linear lift speed loop controllers are designed. Simulations are built using sliding mode control, model reference sliding mode control and model-based fuzzy sliding mode control of three kinds of reference control, respectively. Their speed and position curves are compared. The speed curves of controller came up to performance indicators of elevator. The control strategies that designed in this paper are effective.