FIR速度最佳化設計應用於永磁同步馬達電梯自動門控制系統

FIR Speed Optimizations for the Real-time Permanent Magnet Synchronous Motor on Automatic Door Control System of Elevator

顏睿廷(Jui-Ting Yen)

指導教授 ： 陳金聖

國立臺北科技大學/機電學院/自動化科技研究所/碩士(2012年)

摘要

自動門機簡稱門機，常出現於百貨公司大門、捷運車廂，或電梯車廂等應用中。近年來，門機已由傳統的直流機連桿驅動，轉變為永磁同步馬達(PMSM)直接驅動的方式發展。但有些建築設計應用上，因自動門機使用不同的材料或結構不同，而造成門機負載的變動，使得傳統控制器，無法適時調整控制參數，導致速度響應不佳。本論文中將提出一種方式，利用FIR濾波器設計出一具備加減速過程的速度曲線，減少因加速度過大導致機構上產生的撞擊與震動的問題，且提出利用權重修正來適時的最佳化速度曲線，讓門機控器不會因系統改變，造成速度追隨誤差，而發生撞門或夾傷人員現象。
另外，近年來各式各樣嵌入式作業系統或是RTOS，慢慢使用在控制領域中，但對於部分需大記憶體或快速程式執行速度要求的嵌入式作業系統，較難應用於低階的控制系統中，因此本論文中，將設計一簡易的排程器與程式監控器，並規劃出系統與驅動程式、應用程式之間的介面模式，使得複雜度較高的程式開發上，提供一快速開發與溝通的環境。

關鍵字

自動門機 ； FIR濾波器 ； 永磁同步馬達 ； 系統參數鑑別

並列摘要

The automatic door is often applied in the different applications, such as doors of department store, car of MRT, or the elevator system. Recently, the structure of automatic door has changed from using the traditional DC motor with multi-link mechanism into using permanent magnet synchronous motor (PMSM), which has improved the operation performance of automatic door. However, the automatic door will be made by different materials or structures considering some special applications or needs, thus the load of door is varied. Moreover, the traditional controller is unable to adjust the control parameters immediately when the load is change. This thesis proposes a scheme, using the FIR filter to reshape the velocity profile with the process of acceleration/ deceleration to reduce the impact and vibration. In the deceleration period, the weighting of FIR filter will be modified to optimize the speed profile which can reduce the following error to avoid the collision of automatic door.
Recently, the embedded operation system and real-time operation system are widely used in the control applications. However, almost all the above systems occupy a lot of resources from system resulting in difficult to be applied for low-level control system. Therefore, this thesis designs a simple scheduler and a real-time program design tool, this will provide a rapid development environment for the complex real-time control program.

並列關鍵字

Automatic door control ； FIR filter ； Permanent magnet synchronous motor ； Real-time operation system.

參考文獻

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