CN101985284A - Two-in-one guide controller for high-speed maglev train - Google Patents
Two-in-one guide controller for high-speed maglev train Download PDFInfo
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- CN101985284A CN101985284A CN2010105056486A CN201010505648A CN101985284A CN 101985284 A CN101985284 A CN 101985284A CN 2010105056486 A CN2010105056486 A CN 2010105056486A CN 201010505648 A CN201010505648 A CN 201010505648A CN 101985284 A CN101985284 A CN 101985284A
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Abstract
The invention discloses a two-in-one guide controller of a high-speed maglev train, which is used for replacing two sets of independently-set control devices so as to reduce half of the guide controllers in the train and then correspondingly reduce the volume of a whole control system, wherein the control devices is set for two guide unit points oppositely arranged at the two sides of the train. The invention is characterized in that the two oppositely-arranged guide unit points can share a signal processing circuit and a digital controller in the two-in-one guide controller, so that the acquisition and processing of sensor feedback signals of the two guide unit points can be fused well; and according to a control algorithm, corresponding choppers are driven by the chopper circuits of two H-bridge outputs so as to control the guide unit points, thereby enhancing the compatibility of control between the two oppositely-arranged guide unit points, and optimizing the performance of the guide controller. In the invention, signal wires for connecting the two independent control devices in the prior art are removed, therefore, the system wiring is reduced, so that the control is more flexible; and meanwhile, the control structure is simplified, and the cost is reduced.
Description
Technical field
The present invention relates to a kind of guide controller, particularly a kind of two-in-one guide controller of often leading high-speed maglev train.
Background technology
In the prior art, often leading the high-speed maglev train side direction moves along track centerline, ACTIVE CONTROL by train both sides guiding electromagnet, provide the side direction exciting force in guiding electromagnetic force and the train travelling process to balance each other, make the size of the relative two siding track air gaps of train keep constant, realize the guiding of train with this.
The single-unit magnetic-levitation train is placed with 6 pairs of guiding electromagnets along working direction, also is provided with a pair of eddy current brake electromagnet between train midway location, 6 pairs of guiding electromagnets.6 magnetic poles that are provided with in each guiding electromagnet, can be divided into two groups or three groups according to the residing diverse location of guiding electromagnet controls, wherein: in the guiding electromagnet of eddy current brake electromagnet both sides, front and back and vehicle end, 6 magnetic poles are divided into 3 groups, in the guiding electromagnet of all the other positions, magnetic pole is divided into 2 groups.Every group as a pilot unit point, a corresponding cover orientation sensor, a cover controller and a cover chopper.The single-unit magnetic-levitation train is equipped with 32 guide controllers altogether.
The principle of work of guide controller is as follows: the control of relative two the pilot unit points in train both sides, be difference with both sides gap sensor signal as controlled volume, realize by the position feedback of two pilot unit points.Both sides current transformer signal is realized the current feedback of two unit spot respectively.The acceleration feedback signal of two unit spot can be obtained by corresponding acceleration transducer signals respectively.
Every cover controller is according to the feedback information and the control algorithm of position, electric current and the acceleration/accel of above-mentioned two pilot unit points, obtain the output control signal, drive chopper separately,, realized the differentiating control of guiding clearances, both sides with the electric current in the coil that changes corresponding guiding electromagnet.
Yet existing guide controller of often leading high-speed maglev train also has the following disadvantages:
1. loaded down with trivial details relatively in the wiring, need to exchange the gap sensor signal between the relative pilot unit point in train both sides, therefore, need to adopt signal wire (SW) to connect between two controllers, increased the wiring of system.
2. optimize inadequately on structure and the performance, the controller of relative two the pilot unit points of train is compatible fully on structure and performance, and wherein obtaining of gap error signal exists fusion, therefore can be optimized fully between two controllers.
3. because each pilot unit point all is equipped with independent controller, car load needs 32 controllers, and the controller number is many, and corresponding cost is higher.
Summary of the invention
The two-in-one guide controller that the purpose of this invention is to provide a kind of high-speed maglev train, by shared same guide controller of the present invention, realization is to the parallel control of two relative pilot unit points of train both sides, substitute original control setup that is provided with respectively by this two-in-one guide controller, car load guide controller number is reduced by half, and on the structure of guide controller, performance, be optimized, make that its wiring is simple, control realizes more flexible.
In order to achieve the above object, technical scheme of the present invention provides a kind of two-in-one guide controller of high-speed maglev train, described guide controller is by two cover orientation sensors, be connected with two pilot unit points that are arranged on magnetic-levitation train both sides relative position respectively, and receive the feedback signal of described two pilot unit points respectively; Described guide controller is output drive signal to two chopper respectively also, to described two the pilot unit points of the bonded assembly control of leading simultaneously respectively of these two choppers; Described guide controller comprises bonded assembly one signal processing circuit, a digitial controller and two cover chopper circuits successively.
Described two cover orientation sensors also are connected with the signal processing circuit of described guide controller respectively, and export the feedback signal of described two pilot unit points that are oppositely arranged respectively to it; By described signal processing circuit to those feedback signals gather, Filtering Processing.
The described orientation sensor of every cover comprises and is installed in a gap sensor summation current transformer on the pilot unit point, and it exports the position feed back signal and the current feedback signal of this pilot unit point respectively to described signal processing circuit.
The feedback signal of described two the pilot unit points that are oppositely arranged after described digitial controller is handled according to described signal processing circuit obtains the differential control signal of two-way at the gap of described two pilot unit points that are oppositely arranged.
Described two cover chopper circuits also are connected with two described choppers respectively; The described chopper circuit of every cover, receive wherein one road differential control signal of described digitial controller output respectively after, output drive signal is to corresponding bonded assembly chopper with it.
Described chopper circuit is a H bridge output chopper circuit.
Described guide controller also comprises an internal auxiliary power supply and powers.
Compared with prior art, substituting in the prior art with the two-in-one guide controller of a high-speed maglev train among the present invention is the independent control setup that is provided with of each pilot unit point, make guide controller in the car load decreased number 1/2, the volume of The whole control system is also corresponding to be reduced.
Because it is related that the control of the guiding of left and right sides exists, thereby corresponding two the pilot unit points that are provided with in train both sides, signal processing circuit and digitial controller in can shared described two-in-one guide controller, make two pilot unit points sensor feedback signal collection and handle and can merge well; And according to control algorithm, by the chopper circuit of two H bridge outputs, drive each self-corresponding chopper the pilot unit point is controlled respectively, improved the compatibility of control between relative two pilot unit points, optimized the performance of guide controller.
Because the present invention only is provided with a two-in-one guide controller for two relative pilot unit points, cancelled the signal wire (SW) that connects independent two control setups in the prior art, thereby reduced system wiring simultaneously, make control more flexible, simplify control structure in addition, also effectively reduced cost.
Description of drawings
Fig. 1 is the structural representation of the two-in-one guide controller of high-speed maglev train of the present invention.
The specific embodiment
Below in conjunction with description of drawings the specific embodiment of the present invention, the direction of arrow is the signal trend among the figure.
As shown in Figure 1, the two-in-one guide controller 10 of high-speed maglev train of the present invention, two pilot unit points 40 that can be oppositely arranged for the train both sides simultaneously carry out parallel control.This guide controller 10 also comprises a signal processing circuit 11, a digitial controller 12 and two cover chopper circuits 13 by internal auxiliary power supply 14 power supplies.
Each described pilot unit point 40 is some magnetic poles of grouping bonded assembly in the electromagnet.Each pilot unit point 40 correspondence is connected respectively with a chopper 30 with a cover orientation sensor.
Described orientation sensor comprises gap sensor 21 summation current transformers 22 that are installed in respectively on the pilot unit point 40 etc., and it exports the signal processing circuit 11 of various types of signal to described guide controller 10 respectively.Described signal processing circuit 11 is gathered, after filtering etc. handles, is delivered to the digitial controller 12 of described guide controller 10 signal of those orientation sensors.
In order to realize differentiating control to the gap of corresponding two the pilot unit points 40 that are provided with in train both sides, signals such as the position feedback of two pilot unit points 40 after 12 pairs of processing of described digitial controller, current feedback merge, control algorithm by digitial controller 12 internal preset, obtain two path control signal, export the described chopper circuit 13 of two covers respectively to.
Described control algorithm is based on the STATE FEEDBACK CONTROL of gap, interstitial velocity, acceleration/accel and electric current, wherein, gap state adopts the difference of corresponding two the pilot unit point gap signals in both sides, interstitial velocity adopt the differential of sensor gap signal separately or acceleration signal every direct integral, simultaneously for reducing the steady state error of system, additional integral feedback passage based on gap signal.
Described two cover chopper circuits 13 are chopper circuits 13 of H bridge output, and output drive signal is in corresponding bonded assembly chopper 30 respectively.By the corresponding electric current that changes in the connected pilot unit point 40 on one group of pole coil of described chopper 30, realize the guidance force of pilot unit point 40 is controlled.
When design two-in-one guide controller 10 of the present invention, after the configuration of finishing above-mentioned signal processing circuit 11, digitial controller 12 and two cover chopper circuits 13 successively, generally internal auxiliary power supply 14 is designed, make it can satisfy the power requirement of this guide controller 10.Afterwards, carry out the design of other auxiliary circuits, and control box structure and volume is definite.Make the model machine of this two-in-one guide controller 10, replace existing independent two control setups that are provided with, test and verify the performance of guide controller 10 of the present invention.
Two-in-one guide controller of the present invention, wherein the acp chip of signal processing circuit 11 and digitial controller 12 adopts FPGA and DSP family chip respectively, chopper 30 adopts Siemens FF3 series, current transformer 22 adopts the LEM type, and internal auxiliary power supply 14 adopts the floating power source special of SW200-440DC magnetic.
Compared with prior art, substituting in the prior art with a two-in-one guide controller among the present invention is the control setup of the independent setting of each pilot unit point, make guide controller in the car load decreased number 1/2, the volume of The whole control system is also corresponding to be reduced.
Because it is related that the control of the guiding of left and right sides exists, thereby corresponding two the pilot unit points that are provided with in train both sides, signal processing circuit and digitial controller in can shared described two-in-one guide controller, make two pilot unit points sensor feedback signal collection and handle and can merge well; And according to control algorithm, by the chopper circuit of two H bridge outputs, drive each self-corresponding chopper the pilot unit point is controlled respectively, improved the compatibility of control between relative two pilot unit points, optimized the performance of guide controller.
Because the present invention only is provided with a two-in-one guide controller for two relative pilot unit points, cancelled the signal wire (SW) that connects independent two control setups in the prior art, thereby reduced system wiring simultaneously, make control more flexible, simplify control structure in addition, also effectively reduced cost.
Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple modification of the present invention with to substitute all will be conspicuous.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (7)
1. the two-in-one guide controller of a high-speed maglev train, it is characterized in that, described guide controller (10) is by two cover orientation sensors, be connected with two pilot unit points (40) that are arranged on magnetic-levitation train both sides relative position respectively, and receive the feedback signal of described two pilot unit points (40) respectively;
Described guide controller (10) is output drive signal to two chopper (30) respectively also, to described two pilot unit points of bonded assembly (40) control of leading simultaneously respectively of these two choppers (30);
Described guide controller (10) comprises bonded assembly one signal processing circuit (11), a digitial controller (12) and two cover chopper circuits (13) successively.
2. the two-in-one guide controller of high-speed maglev train according to claim 1, it is characterized in that, described two cover orientation sensors also are connected with the signal processing circuit (11) of described guide controller (10) respectively, and export the feedback signal of described two the pilot unit points (40) that are oppositely arranged respectively to it; By described signal processing circuit (11) to those feedback signals gather, Filtering Processing.
3. as the two-in-one guide controller of high-speed maglev train as described in the claim 2, it is characterized in that, the described orientation sensor of every cover comprises gap sensor (21) summation current transformer (22) that is installed on the pilot unit point (40), and it exports the position feed back signal and the current feedback signal of this pilot unit point (40) respectively to described signal processing circuit (11).
4. as the two-in-one guide controller of high-speed maglev train as described in the claim 2, it is characterized in that, the feedback signal of described two the pilot unit points (40) that are oppositely arranged after described digitial controller (12) is handled according to described signal processing circuit (11) obtains the differential control signal of two-way at the gap of described two the pilot unit points (40) that are oppositely arranged.
5. as the two-in-one guide controller of high-speed maglev train as described in the claim 4, it is characterized in that described two cover chopper circuits (13) also are connected with two described choppers (30) respectively; The described chopper circuit of every cover (13), receive wherein one road differential control signal of described digitial controller (12) output respectively after, output drive signal is to corresponding bonded assembly chopper with it (30).
6. as the two-in-one guide controller of high-speed maglev train as described in the claim 5, it is characterized in that described chopper circuit (13) is a H bridge output chopper circuit.
7. the two-in-one guide controller of high-speed maglev train according to claim 1 is characterized in that described guide controller (10) also comprises an internal auxiliary power supply (14) and powers.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105056486A CN101985284A (en) | 2010-10-13 | 2010-10-13 | Two-in-one guide controller for high-speed maglev train |
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| CN2010105056486A CN101985284A (en) | 2010-10-13 | 2010-10-13 | Two-in-one guide controller for high-speed maglev train |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102862493A (en) * | 2012-09-21 | 2013-01-09 | 南车株洲电力机车有限公司 | Power supply system used for suspension control system |
| CN103101450A (en) * | 2013-02-26 | 2013-05-15 | 南车株洲电力机车有限公司 | Vehicle suspension control cabinet |
| CN103192733A (en) * | 2013-04-03 | 2013-07-10 | 南车株洲电力机车有限公司 | Suspension control method and device |
| CN103522913A (en) * | 2013-10-17 | 2014-01-22 | 中国人民解放军国防科学技术大学 | Suspension control method and device used for EMS type low-speed suspension train |
| CN103941620A (en) * | 2014-04-21 | 2014-07-23 | 南车株洲电力机车有限公司 | Vehicle levitation control circuit |
| CN105599634A (en) * | 2016-02-29 | 2016-05-25 | 同济大学 | Magnetic-levitation train levitation control device and method |
| CN111332130A (en) * | 2020-02-26 | 2020-06-26 | 同济大学 | Digital twinning technology-based debugging method for suspension system of magnetic-levitation train |
| CN112706622A (en) * | 2019-10-25 | 2021-04-27 | 株洲中车时代电气股份有限公司 | Electromagnet controller of maglev train |
| CN113623318A (en) * | 2020-05-07 | 2021-11-09 | 株洲中车时代电气股份有限公司 | Differential control method and device |
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| CN1431117A (en) * | 2003-01-29 | 2003-07-23 | 国家磁浮交通工程技术研究中心 | Differential type lead control device of normal conduct type high-speed magnetic suspension vehicles |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102862493B (en) * | 2012-09-21 | 2015-02-04 | 南车株洲电力机车有限公司 | Power supply system used for suspension control system |
| CN102862493A (en) * | 2012-09-21 | 2013-01-09 | 南车株洲电力机车有限公司 | Power supply system used for suspension control system |
| CN103101450A (en) * | 2013-02-26 | 2013-05-15 | 南车株洲电力机车有限公司 | Vehicle suspension control cabinet |
| CN103101450B (en) * | 2013-02-26 | 2016-03-30 | 南车株洲电力机车有限公司 | A kind of Vehicle suspension control cabinet |
| CN103192733A (en) * | 2013-04-03 | 2013-07-10 | 南车株洲电力机车有限公司 | Suspension control method and device |
| CN103522913B (en) * | 2013-10-17 | 2015-10-28 | 中国人民解放军国防科学技术大学 | For suspension control method and the device of EMS type low speed aerotrain |
| CN103522913A (en) * | 2013-10-17 | 2014-01-22 | 中国人民解放军国防科学技术大学 | Suspension control method and device used for EMS type low-speed suspension train |
| CN103941620A (en) * | 2014-04-21 | 2014-07-23 | 南车株洲电力机车有限公司 | Vehicle levitation control circuit |
| CN103941620B (en) * | 2014-04-21 | 2016-03-16 | 南车株洲电力机车有限公司 | A kind of vehicle suspension control circuit |
| CN105599634A (en) * | 2016-02-29 | 2016-05-25 | 同济大学 | Magnetic-levitation train levitation control device and method |
| CN112706622A (en) * | 2019-10-25 | 2021-04-27 | 株洲中车时代电气股份有限公司 | Electromagnet controller of maglev train |
| CN111332130A (en) * | 2020-02-26 | 2020-06-26 | 同济大学 | Digital twinning technology-based debugging method for suspension system of magnetic-levitation train |
| CN111332130B (en) * | 2020-02-26 | 2022-06-07 | 同济大学 | Digital twinning technology-based debugging method for suspension system of magnetic-levitation train |
| CN113623318A (en) * | 2020-05-07 | 2021-11-09 | 株洲中车时代电气股份有限公司 | Differential control method and device |
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Application publication date: 20110316 |