【正文】 使用一臺變頻器控制兩 臺永磁同步電動機的一種方法是只控制兩個 相同 的電機 。該門最大速度 ?max = 1ms，最大加速度是 α max = ，和挺舉率是有限的 jmax = 。 可觀性矩陣 ? ?765432 CACACACACACACAC 有 4 級 ，可控性矩陣 外文翻譯（ 譯 文） 21 ? ?b765432 AbAbAbAbAbAAbb 有 5級 。 相應(yīng)的等效兩相參數(shù)然后 L = LS + M = ,， RS = ? ， Keq = 23 Km=， Imax（連續(xù)） = 23 imax =,Vmax= 23 vmax= 。 相電流 范圍 Imax = 10A（峰值）和 電機所提出的 最大（線性）力是 320N。在 dq坐標狀態(tài)空間模型 是 該模型假定轉(zhuǎn)子 是光滑的 （隱 極 ） 和 磁場線 是線性的。 逆變器 最大的電壓是當它是運行在六步模式和 六步 波形基本峰值 這 是 vmax =這 是 相電壓 的 最大極限。 )s i n(n p11321 ??mssssss KiRvdtdiMdtdiMdtdiLs ????? )32s i n(n p22321 ??? ??????? mssssss KiRvdtdiMdtdiLsdtdiM )34s i n(n p33321 ??? ??????? mssssss KiRvdtdiLsdtdiMdtdiM Lsmsm τiKiKdtdJ )34s i n(niK)32s i n(n)s i n(n ps3mp2p1 ?????? ????? － ???dtd 這里 LS 是 一個定子繞組的自感， M 是 相與相之間的 互感系數(shù)， Km是扭矩 /反電動勢常數(shù)（ 因此 KM = Km/req是 線性 電機的 力 /反電 動勢常數(shù) ）， RS是 定子繞組 電阻 ， np是極對數(shù)（轉(zhuǎn)子齒數(shù)或步進電機）。 外文翻譯（ 譯 文） 18 2. 永磁同步電動機的建模與控制 永磁直線電機可以模擬為等效的三相永磁同步電機的旋轉(zhuǎn)（ 永磁電機 ）。 這種行為仍然是希望在新的系統(tǒng)，需要一個能夠獨立控制每個門（即 他們的直線電機驅(qū)動器）保持剛度。使用位置傳感器反饋的墻， 門 的位置 是由電機控制 /逆變 器系統(tǒng)，推 /拉電纜。在這種方法中，正交電流的每個電機控制而直接電流控制。 本 文認為 永磁同步電動機 的控制 采用一 個單一的逆變器。實際上電梯是根據(jù)外部呼叫信號以及自身控制規(guī)律等運行的，而呼叫是隨機的，電梯實際上是一個人機交互式的控制系統(tǒng)，單純用順序控制或邏輯控制是不能滿足控制要求的，因此，電梯控制系統(tǒng)采用隨機邏輯方式控制。 同時，由于電機交流變頻調(diào)速技術(shù)的發(fā)展，電梯的拖動方式己由原來直流調(diào)速逐漸過渡到了交流變頻調(diào)速。 電梯繼電器控制系統(tǒng)故障率高，大大降低了電梯的可靠性和安全性，經(jīng)常造成停梯，給乘用人員帶來不便和驚憂。 人們認為單逆變器的串并聯(lián)能夠避免在每種情況下的顯示控制的異常狀況 。2kπ, id1, id2 ? ? and consequently, the currents id1, id2 can be large near the singularity. Again, the control scheme is to offset the angular position of the two motors by (1/2) π/np. As before, both motors nominally track the same trajectory so that the controller would nominally keep np(? 2 ——? 1) = π/2 and therefore keep the system away from the singularity. . Simulations To simulate the series connected system, the first and second equation of (10) are added to the first and second equation of (11), respectively so that with vsa = vsa2 + vsa1, vsb = vsb2 + vsb1, along with the two speed and two position equations, the overall dynamic model for simulation is sapeqpeqsaSsa vnKnKiRdtdiL ????? )s i n()s i n(22 2211 ???? sbpeqpeqsbSsb vnKnKiRdtdiL ????? )s i n()c os (22 2211 ???? 1111 )c os ()s i n( Lpsbeqpsaeq niKniKdtdJ ???? ???? 11 ?? ?dtd 外文翻譯（ 原 文） 14 222 )c os ()s i n(2 Lpsbeqpsaeq niKniKdtdJ ???? ???? 22 ?? ?dtd Here dtdrrxxeqeq11111???? dtdrrxxeqeq22221???? The speed profile was the same as the parallel connected case. The position profile are also similar to the parallel connected case. The speed tracking error is less than 5+104m/s and therefore is not shown. The quadrature currents shown below are identical to the parallel case as it must since the torque required for either case is the same. The uncontrolled currents id1, id2. The difference in the trajectories of the two currents can be explained by the fact the initial angular position of the two motors was different. As in the parallel case, this represents wasted power RSi2 d because in a one inverter—one motor scenario, this current would typically be zero. The direct currents below show a slight difference between the parallel and series cases. Finally, the phase voltage vS1 is shown where it is noted that the maximum of the voltage is about 180V. 5. Conclusions and summary A controller has been presented that allows one to independently control the torque (force) of two motors which share the same inverter. Such a system allows one to force each motor to track its reference trajectory despite the load disturbances acting on it. However, due to the presence of a singularity in the controller, the 外文翻譯（ 原 文） 15 viability of this approach is limited to situations for which the two motors are tracking the same trajectory such as elevator doors. In such a case, the system can be designed where the two motors track the nominal trajectory and are well removed from the singularity. The difference between the parallel and series connection is not really significant and the choice could be made based on reliability considerations. For example, if a phase fails in the parallel case, then one of the doors could still be operational (one would have to detect the failure and then control the remaining motor in the normal fashion). The rating of the inverter could also determine the choice of the connection. The series connected motor system uses twice the voltage of the parallel concocted motor system, but half the current. This is simply a result of conservation of energy. Safety and recovery issues are important issues for future consideration. For example, when one door is being blocked and therefore, manded to reopen, then this same mand (trajectory reference) must be sent to the other door so that they maintain their separation of req? /2 to avoid the singularity in the controller. This ―stiffness‖ of the doors (., acting as if they are mechanically connected to a single cable to force them to open and close together) is dependent on how fast the blocking of the door can be detected and then a mand given to the other door to open them while maintaining the separation req? /2. Acknowledgment The authors are grateful to Dr. Thomas He for his help with the door model. We would also like to thank the anonymous reviewers for their helpful ments. 外文翻譯（ 譯 文） 16 一個逆變器在電梯門中控制兩個永磁直線電動機 摘要 : 本 文認為 永磁同步電動機 的 控制采用一個單一的逆變器。外文翻譯（ 原 文） 1 Control of two PM linear motors with asingle inverter: application to elevator doors Abstract This work considers the control of two PM synchronous motors using a single inverter. The standard approach to the control of a PM synchronous motor is to use a single inverter which provides independent control of the direct and quadrature voltages (and therefore of the direct and quadrature currents) of the motor. Here, an approach is presented that provide