摘要：人们不仅要求现代化的电梯具有高的安全性和可靠性，也要求获得舒适的乘梯体验。因此电梯在启动瞬间需要快速建立启动转矩来平衡负载转矩以免乘客产生失重感。本文提出了一种基于类滑模观测器的负载转矩观测方法，并将观测到的负载转矩作为前馈量补偿到电流环以快速建立启动转矩。该观测器引入了自抗扰控制中常用的幂次函数，不仅可以有效的解决常规滑模观测器中的抖振问题，也能提高系统的动态响应性能。本文采用李雅普诺夫稳定性理论证明了类滑模观测器的稳定性并分析其动态性能，确定了参数的取值范围。最后，在Saber仿真平台中搭建电梯曳引系统来验证本文方案的有效性。

关键词：类滑模观测器；前馈补偿；曳引机；启动转矩控制
Abstract: Not only the safety and reliability, but also a comfortable riding experience are required for the passengers in modern elevator systems. Hence an electromagnetic torque must be produced fast to balance the load torque in order to avoid the sense of weightlessness. In this paper, as a feedforward compensation to the current loop, a load torque observing method based on the quasi-sliding-mode observer was proposed to establish the starting torque quickly. Due to the introduction of power function, the oscillation problem was solved, and the dynamic performance was improved as well. Furthermore, the dynamic property was analyzed after the demonstration of stability by Lyapunov method. Finally, experiments were performed on Saber software to illustrate the effectiveness of the proposed method.