1Introduction In order to achieve high dynamic performance and closed-loop control of crane lifter system, the lifting speed is obtained by mechanical sensors generally。 However, the use of mechanical sensors not only increase the cost of the system, but also have problems with the installation, it may affect the stability of the motor seriously if the improper installation。 Non-sensor detection technology has gained widespread attention with modern control theory, digital signal processing technology and computer development。 The literature [1] proposed a location algorithm based on flux, but the performance of the algorithm depends on the estimated flux and measured voltage and current accuracy, so the parameter changes in motor will affect the accuracy of position estimation。 The literature [2] compared and analyzed of rotating high-frequency voltage injection method and pulsating  high-frequency voltage injection method, but the algorithm needs motors have a higher rate of salient- pole as the external conditions。 The literature [3] studied speed identification scheme based on model reference adaptive system for permanent magnet synchronous motor。 The literature [4] analyzed the sliding mode variable structure predicted velocity estimation algorithm has a faster convergence and better anti-jamming capability, the system robustness had enhanced。 In this paper, the speed controller is designed based on sliding mode variable structure in crane lifter system; the model reference adaptive method is applied to crane lifter system; through the design of adaptive observer to estimate the lifting speed, and ultimately achieve closed-loop control of the  crane lifter system。81986

L。 Jiang (Ed。): International Conference on ICCE2011, AISC 110, pp。 511–519。 springerlink。com © Springer-Verlag Berlin Heidelberg 2011

2Mathematical Mode of Crane Lifter System

Crane lifting system mainly consists of three-phase permanent magnet synchronous motor, the reducer and transmission mechanism and the load。 To facilitate the modeling and analysis, make the following assumptions: 1 excluding the quality of steel wire rope, 2 the flexibility of steel wire rope has nothing to do with the length, for a constant, 3 Brake is in good working condition, so the impact of brake can be neglected when modeling, 4 between deceleration and transmission the connection is rigid, there is no gap between the gears and so on。论文网

2。1     Mathematical Modeling of Three-Phase PMSM

Under the premise of without affecting the control performance, ignoring motor core saturation, excluding the eddy current and hysteresis loss, three-phase windings are symmetrical, uniform, and windings of the induction electric potential waveform is a sine wave, in d-q coordinates the state equation of surface permanent magnet motor can be expressed as:

are respectively stator currents in d axis and q axis,  is

rotor  angular  velocity,  R is  stator  winding  resistance,  L is  axis  inductance,  f  is

rotor flux,   p is motor pole pairs,

B1      is the damping coefficient with the speed of  the

rotor,

J1 is rotational inertia of the electric machine rotor,

Tm  is load torque。

The torque equation of permanent magnet motor is:

T  3 pi

e 2 f  q

The mechanical speed equation of PMSM is:

Tm      is motor shaft exporting mechanical torque, it can drive loads to move by

driving mechanical transmission。

2。2 The Motion Equations of Transmission and Deceleration

Transmission   mechanism  and   deceleration  include   the   drive   shaft,  multi-stage