电梯曳引机控制需要实时获取转子的机械角度,而常用的增量式编码器在首次清零信号到来前不能提供准确的转子位置信息,从而可能导致闭环控制失败;因此,转子的初始位置检测成为曳引机控制中必须解决的问题,传统的检测方法计算复杂,且定位过程中易造成转子堵转或摄动,不利于电梯系统的舒适性;为此,提出了一种利用正弦波增量式编码器的换向信号计算转子初始位置的方法,设计并实现了编码器换向信号的调理电路,研究了利用两路换向信号解算转子的初始位置信息的算法,并研发了相应的软件模块;实现了当转子保持静止时初始位置的高精度检测,满足电梯平稳启动的需求;实验结果表明,该方法不依赖电机的数学模型,运算量小,且具有较高的检测精度和通用性.%The control of Hoisting machine needs the mechanical angle of the rotor,but the incremental encoder usually cannot provide accurate location information before its clear signal comes.So,the initial position detection of the rotor becomes a problem that must be solved in the control of the traction machine.The traditional method is complicated and the rotor locked or perturbed during the positioning process,which is not conducive to improving the comfort of the elevator system.To deal with this problem,a positioning method of initial rotor position based on the commutation signal of sinusoidal incremental encoder is presented.What's more,Signal conditioning circuitry and software filtering algorithm are developed in this paper.By sampling the two commutation signals,the initial position of the rotor can be obtained with high accuracy.During the process of positioning,the rotor remains stationary,and the detection accuracy meets the requirements of the motor smooth starting.The experimental results show that the detection method does not rely on the mathematical model of the motor,and has high universality.
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