摘要：电梯在抱闸打开瞬间，由于突加负载容易导致系统震荡，影响乘客的舒适感。针对无称重曳引机电梯系统，提出一种利用ERN1387高精度编码器的起动转矩补偿算法。算法核心在于高精度细分和变PI控制，可以快速准确的建立起补偿转矩，实现系统在起动阶段中平滑运行。利用Simulink仿真，建立基于永磁同步电机的预转矩模型。仿真结果显示该算法有良好的控制效果。最后在曳引机平台上实现了该算法，实验结果表明该控制算法可以很好的实现起动过程的平稳。

关键词：无称重曳引机；高精度细分；变PI控制；转矩补偿
Abstract: During the brake releases, it is possible that the elevator system is oscillated due to load torque. A rapid and high-accuracy control scheme of starting torque with ERN1387 for elevators without a weight transducer was proposed in this paper. The high accuracy speed measurement and adjusting method of PI controller were established to make the system stable at the starting torque for elevator. Finally, used Simulink to set up simulation model of elevator mechanical system. Results of stimulation were provided to illustrate the validity and improvement of the scheme.

Key words: traction without weight transducer; high accuracy measurement; adjusting method of PI controller; torque compensation