基于广义预测PID的高速电梯水平振动主动控制研究  

Study on Active Control of Horizontal Vibration for High-speed Elevators Based on Generalized Predictive PID

作　　者：薛金莲[1] 冯永慧[1] 吴惠兴[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《机械科学与技术》2012年第8期1222-1226,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：上海大学科技创新基金项目资助

摘　　要：水平振动是影响高速电梯乘坐舒适性的一个关键因素,而导向系统是引起电梯水平振动的最主要原因之一。为了降低电梯的水平振动,以其中一个导靴作为研究对象,建立了1/4电梯轿厢水平振动模型,给出了系统x方向和y方向的微分方程和状态空间方程;并在此基础之上采用广义预测控制与PID相结合的策略,设计了广义预测PID控制器;最后用Matlab/Simulink进行了仿真分析。仿真研究结果表明:广义预测PID控制能有效降低电梯水平方向的振动,且抑制效果优于PID控制。The horizontal vibration is a key factor that affects riding comfort of high-speed elevators. The guiding system is one of the main parts leading to the horizontal vibration of elevators. In order to reduce the horizontal vibrations, we establish the mathematical models of one fourth of the total elevator car with a guide shoe. On the basis of the model, the differential equations and the state space model of x and y directions are given respectively. Then the generalized predictive PID （proportion integration differentiation） control strategy is designed by means of combining GPC （generalized predictive control） with PID. The simulation results show that the generalized predictive PID controller suppresses effectively the horizontal vibration of high-speed elevators, and it is better than PID controller.

关 键 词：高速电梯 水平振动 广义预测PID控制 仿真 

分 类 号：TH211[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]