【作者】 张超；

【导师】 张立炎；

【作者基本信息】 武汉理工大学 ， 控制科学与工程， 2010， 硕士

【摘要】 磁悬浮电梯是磁悬浮技术应用到电梯控制的新型电梯技术。利用直线电机定子与转子之间的相互电磁作用力,让轿厢在垂直方向的电磁导轨上运行。磁悬浮电梯控制系统中的关键技术难点之一便是对轿厢定位后根据轿厢相对位移大小,调节定子线圈中电流大小使轿厢受力平衡。本文以磁悬浮电梯为研究对象,对磁悬浮电梯轿厢受力进行分析,以及对系统硬件和软件进行设计。本文首先介绍了磁悬浮电梯工作原理,以及磁悬浮电梯电磁导轨定子与转子结构,在建立磁悬浮电梯轿厢受力模型的基础上,根据电磁学和力学计算公式推导轿厢受力计算公式,分析电磁导轨对电梯轿厢在平衡位置作用力平衡性,并对水平方向分力和垂直方向位移受到扰动时分析轿厢平衡性,得到磁悬浮电梯在运行过程中定子线圈电流的控制规律。结合磁悬浮电梯实际参数计算选用直线电机参数,并对磁悬浮电梯模型直线电机定子与转子位置做出改进,新的方案减小了直线电机定子线圈电流或者线圈匝数。此外对磁悬浮电梯轿厢定位测速以及定子与转子间隙测量传感器进行选型,并给出了测量方案。在上述模型以及数据检测方案基础上,设计合理的磁悬浮电梯控制系统硬件平台。包括对双DSP+CPLD接口电路、位移检测和定子线圈电流检测电路、IPM模块及其驱动电路、SCI通讯和CAN通讯电路等。此硬件平台直接从传统的智能电梯控制系统硬件平台上升级,该传统电梯控制系统硬件平台DSP+CPLD的构架已申请专利,已投入市场运行,实际证明十分稳定可靠。在软件设计上,为了保证对数据检测和系统其他功能模块的实时性,移植入μC/OS-Ⅱ操作系统,该实时多任务系统在工业应用的较为广泛。分析该嵌入式系统较传统前后台系统的优势并结合磁悬浮电梯控制系统表明移植该系统是可行的也是必要的。较为详细介绍了μC/OS-Ⅱ在TMS320F2812移植过程,对移植过程中容易出错的文件重点分析。最后完成磁悬浮电梯控制系统中各个任务管理程序结构和流程,包括μC/OS-Ⅱ系统初始化程序流程、处理器初始化程序、多任务系统各个功能模块程序流程。更多还原

【Abstract】 Maglev elevator is a new elevator technology which magnetic levitation technology applied to. For the electromagnetic force between the stator and rotor in linear motor, the car can run on the electromagnetic rails in the vertical direction. However, one of the key technical problems in maglev elevator control system is positioning relative displacement of the car, and adjusting the current of the stator coil to balance the car. In this paper, taking the problem as a starting point, the author explore feasibility of the magnetic levitation rail control system in the maglev elevator, and design the hardware platform and software platform.This paper firstly introduce the working principle of maglev elevators and maglev elevator guide rail stators and rotors structure, according to mechanics and electromagnetism, the author put forward a physical model of maglev elevators based on which the author analysis balance of force that maglev elevator guide rail acting on the car, and studied balance of the force when the displacement occurred on the horizontal and vertical direction, finally the author give the regular of controlling the electric current in the stator when elevator run.Calculate parameter of linear motor used in maglev elevator according to the parameter of maglev elevator, and improve the position of stator and rotor in the model of the maglev elevator to reduce the current of stator coil or coil turns on the linear motor. In addition, choose the sensor of locating the car and measuring the distance of stator and rotor, and give the measure program.Base on the model and the measure program, the author design a reasonable hardware platform for maglev elevator control system, including interface circuits of double DSP+CPLD, displacement detection and the stator coil current sensing circuit, IPM module and its driver circuit, SCI communication and CAN communication circuit. This hardware platform upgrade from the traditional intelligent elevator control system hardware platform directly, which has been applied for a patent because of DSP+CPLD framework and has been put into operation of the market to be proven very stable and reliable.For software design, in order to ensure the data and system could be test in real-time. Because of the advantage ofμC/OS-Ⅱoperating system comparing to the foreground/background system, the author port theμC/OS-Ⅱoperating system into DSP, and it’s feasible and necessary. Then the author introduce the process of portingμC/OS-Ⅱoperating system into TMS320F2812, and talk about the file which easily be mistaken. Finally the author completed task management program structure and processes in maglev elevator control system, including theμC/OS-Ⅱsystem initialization process, the processor initialization process and multi-task function modules of the program flow system.更多还原