Lift door follow-up drive system with a PMSM motor

The use of permanent magnet motors improves the operational performance of a drive unit while significantly reducing the operation cost of the device and its maintenance. Unfortunately, the high cost of these machines is a major barrier to increasing their market share in small-size drive units where the return on investment period is long. The high cost of equipment makes manufacturers use only one type of motor, for the effect of scale to reduce the unit production cost of the device. This complicates the implementation process of non-standard projects that are required to use higher power drive units. This paper presents a way of controlling the drive unit of a passenger elevator cabin door of non-standard width and weight. Due to the device's mechanical parameters, the use of a single motor cannot achieve the desired operating effects. The prototype system uses two drive units with PMSM motors, connected to each other by a serial bus, which transmit the data necessary for the correct operation of the system. It also provides an additional delay for the torque regulator in the master drive unit to reduce torque oscillation on the motor shafts caused by transmission delay between the master and slave unit. These assumptions were successfully examined on the real door drive system that consisted of two independent PMSM drives.