Permanent Magnet Synchronous Motor Drives for Gearless Traction Elevators

Preface
Contents
1 Permanent Magnet Synchronous Motor Traction System—An Overview
	1.1 Background
	1.2 Geared Versus Gearless Traction Elevators
		1.2.1 Energy Consumption
		1.2.2 Volume
		1.2.3 Use and Maintenance
	1.3 Basic of PMSM Traction Machines
	1.4 Applications of Low-Resolution Encoder in Elevators
	1.5 Applications of Weight-Transducerless Elevators
	1.6 Summary
	References
2 Mathematical Model of Gearless PMSM Traction Elevators
	2.1 Introduction
		2.1.1 PMSM Applications
		2.1.2 PMSM Classification
	2.2 Mathematical Model of PMSM
		2.2.1 Coordinate Transformation
		2.2.2 Mathematical Model of SPMSM
		2.2.3 Mathematical Model of IPMSM
	2.3 Vector Control of PMSM
		2.3.1 id = 0 Vector Control Mode
		2.3.2 Maximum Torque Per Ampere Control
		2.3.3 Flux-Weakening Control
	2.4 Dynamic Model of Gearless PMSM Traction Elevators
	2.5 Summary
	References
3 Initial Position Detection for PMSM Traction Drives
	3.1 Introduction
	3.2 Basic Principle of Saliency-Tracking-Based Methods
		3.2.1 HF Mathematical Model of PMSM
	3.3 HF Sinusoidal Signal Injection-Based Method
		3.3.1 HF Rotating Sinusoidal Signal Injection-Based Method
		3.3.2 HF Pulsating Sinusoidal Signal Injection-Based Method
	3.4 HF Square-Wave Signal Injection-Based Method
		3.4.1 Basic Principle
		3.4.2 Experimental Comparison
	3.5 Initial Magnet Polarity Detection
		3.5.1 Conventional Initial Magnet Polarity Detection Method
		3.5.2 Proposed Continuous Initial Magnet Polarity Detection Method
	3.6 Experimental Evaluation
	3.7 Summary
	References
4 Speed Detection Method at Low-Speed Operation
	4.1 Introduction
	4.2 Limitation of the Conventional Speed Calculation
	4.3 Speed Detection Based on the NTD Theory
	4.4 Frequency–Response Analysis and Parameter Selection
	4.5 Signal Processing of the SIN/COS Encoder
	4.6 Simulation and Experimental Results
		4.6.1 Simulation Results
		4.6.2 Experimental Results
	4.7 Summary
	References
5 Starting Torque Control Based on Dichotomy and Staircase Methods
	5.1 Introduction
	5.2 Torque Compensation Based on Dichotomy Method
	5.3 Torque Compensation Based on Staircase Method
	5.4 Experimental Evaluation
	5.5 Summary
	References
6 Fuzzy Self-tuning Torque Control Strategy
	6.1 Introduction
	6.2 Analysis of the Brake Releasing Process
	6.3 Starting Torque Control Strategy
	6.4 Design of the Fuzzy Self-tuning Torque Compensator
	6.5 Experimental Evaluation
	6.6 Summary
	References
7 Starting Torque Control Strategy Based on Offset-Free Model Predictive Control Theory
	7.1 Introduction
	7.2 Dynamic Model of Elevator Traction System
	7.3 Offset-Free MPC for Anti-rollback During the Elevator Startup
		7.3.1 Establishment of the Offset-Free MPC for Elevator Startup
		7.3.2 Cost Function Design
		7.3.3 Stability Analysis of the Proposed Speed Controller
	7.4 Simulation and Experimental Evaluation
		7.4.1 Simulation Results
		7.4.2 Experimental Results
	7.5 Summary
	References
8 Enhanced MPC for Rollback Mitigation During Elevator Startup
	8.1 Introduction
	8.2 Analysis of the Conventional MPC
	8.3 Establishment of the Enhanced MPC Speed Controller
	8.4 Stability Analysis and Parameter Selection of the ESO
	8.5 Application of the NTD in Speed Sampling
	8.6 Analysis of Parameter Selection
	8.7 Experimental Evaluation
		8.7.1 Experimental Setup
		8.7.2 Performance of NTD
		8.7.3 Performance of the Internal Current Loop Adopting PI Regulator
		8.7.4 Experimental Comparison Between Conventional and Proposed Enhanced MPC
		8.7.5 Control Performance Comparison of PI, Conventional MPC and Proposed Enhanced MPC
	8.8 Summary
	References
9 ADRC Strategy for Gearless PMSM Traction Elevators
	9.1 Introduction
	9.2 Establishment of ESO for Direct-Drive Elevator Traction System
	9.3 Stability Analysis and Parameter Selection
	9.4 NLEF Controller
	9.5 Experimental Evaluation
		9.5.1 Experimental Setup
		9.5.2 Performance of the Inner Current Loop
		9.5.3 Experimental Results of ESO with Different Gain B
		9.5.4 Experimental Results of ESO Combining with NLEF
	9.6 Summary
	References