CN102185559B - Relaying control method for long-stator linear synchronous motor - Google Patents
Relaying control method for long-stator linear synchronous motor Download PDFInfo
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- CN102185559B CN102185559B CN2011101423936A CN201110142393A CN102185559B CN 102185559 B CN102185559 B CN 102185559B CN 2011101423936 A CN2011101423936 A CN 2011101423936A CN 201110142393 A CN201110142393 A CN 201110142393A CN 102185559 B CN102185559 B CN 102185559B
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Abstract
The invention discloses a relaying control method for a long-stator linear synchronous motor. The method comprises that: 1, a propulsion control system of an nth subarea fully controls a long stator, the propulsion control system of an (n+1)th subarea is on standby, and the propulsion control systems of adjacent subareas perform data synchronization by utilizing a reflective memory network; 2, the propulsion control system of the nth subarea half controls the long stator, and the propulsion control system of the (n+1)th subarea serves as an assistant; 3, the propulsion control system of the nth subarea assists in controlling the long stator, and the propulsion control system of the (n+1)th subarea half controls the long stator; and 4, the propulsion control system of the nth subarea is on standby, and the propulsion control system of the (n+1)th subarea fully controls the long stator. In the method, communication is established by adopting the reflective memory network, high speed, high real-time performance, electromagnetic interference resistance and high accuracy are ensured; the adjacent subareas synchronize data to ensure the consistency of control in the adjacent subareas; and control power is transferred step by step so as to avoid the current of a frequency converter unit being fluctuated in the transfer, ensure the continuity of propulsion forces of the propulsion control systems, maintain the stable running of a rotor and improve the system reliability.
Description
Technical field
The present invention relates to the control technology in a kind of power electronics and Electric Traction field, be specifically related to a kind of relaying control method for long-stator linear synchronous motor.
Background technology
At present, long stator synchronous linear motor is applied to magnetic suspension train, elevator, conveyer belt etc. as drive unit as a kind of novel delivery vehicle, and it has the advantages such as efficient is high, climbing capacity is strong, radius of turn is little.Linear electric motors are developed by electric rotating machine, and electric rotating machine is launched tiling along radial direction, and electric rotating machine has just become linear electric motors, and stator core and winding are along orbital arrangement, and rotor has become mover.By tractive power supply system stator winding is passed to three-phase alternating current and produce travelling-magnetic-field, promote mover and advance.The long-stator linear motor stator is long more a lot of than mover, only has the stator of mover cover part just to play the effect that the promotion mover advances, and consumed energy is only understood in the impedance of the stator winding of unmasked portion.If omnidistance power supply, energy dissipation will be huge, also require high to Converter Capacity.Therefore must adopt the sectional power supply mode, stator is divided into some sections, adopts contactless contactor to be connected between converter cell and the stator segment, by the folding of contactor, and the stator segment that selection will be powered.The method that adopts stator segment to change step is carried out sectional power supply, and tractive power supply system only to the residing stator segment energising of mover, can reduce the wastage like this and raise the efficiency.
The method of changing step commonly used is the method for leapfroging, two-step method, three-step approach.From economical and practical angle, two-step method is the most practical.As shown in Figure 1, during two-step method, two cover stator winding about linear electric motors have, both sides stator segment winding is staggered, and two frequency converter units are arranged, and respectively a side stator segment winding is powered.When changing step, a side stator segment will switch to next section moment, current stops, and this side-lining power drops to zero, but the opposite side stator segment is also in power supply, and gross tractive effort is reduced to original half, so can keep the continuity of tractive effort.
Because frequency converter unit, pull-in control system (Propulsion Control System is called for short PCS) all fix on the ground, when track length increases, it is just more and more longer that frequency converter unit is connected to the feeder cable of mover stator segment winding of living in, the superincumbent electric energy of loss is increasing, and efficient is more and more lower; Pull-in control system obtains feedback information and sends the time-delay of control signal also more and more longer on the other hand.Therefore as shown in Figure 1, the also subregion setting of traction control and electric power system, a subregion is set at a certain distance, and each subregion has cover pull-in control system and 2 converter cells, and each Regional Towing electric power system only manages control to the mover that arrives this subregion.When the mover cross-subarea, will carry out the handing-over of control with next Regional Towing electric power system.Want communication to link up before the handing-over between the subregion, for smooth handing-over, adjacent sectors must exchange synchrodata.Communication modes commonly used is the fieldbus such as Ethernet, PROFIBUS, and these mode speed are slow, real-time is poor, are subject to electromagnetic interference, do not satisfy the real time high-speed requirement of synchrodata.If the adjacent sectors data are asynchronous; and the subregion handing-over is stator segment power supply disposable finishing of the moment; because two pull-in control system calculating is inconsistent; may so that frequency converter unit output amplitude and frequency in handing-over moment generation saltus step, cause the current transformer current fluctuation, cause the frequency converter overcurrent protection when serious; and the fluctuation of electric current can cause the sudden change of linear electric motors moment; speed to mover is influential, if mover is the train of passenger-carrying, the passenger also can feel uncomfortable so.Therefore how the smooth handing-over that realizes control that combines becomes difficult point with two-step method.
Summary of the invention
The invention discloses a kind of relaying control method for long-stator linear synchronous motor, guarantee accuracy, the control of adjacent sectors communication consistency, kept the stable operation of mover, improved system reliability.
For achieving the above object, the invention discloses a kind of relaying control method for long-stator linear synchronous motor, be characterized in, the method includes the steps of:
Step 1 subregion n pull-in control system is controlled long stator entirely, and subregion n+1 pull-in control system is awaited orders, and it is synchronous to utilize Reflective memory network to carry out data between the adjacent sectors pull-in control system;
Step 1.1 subregion n pull-in control system drives some converter cells and powers to long stator, and position ring, speed ring and the electric current loop of control mover;
Step 1.2 subregion n+1 pull-in control system image data is calculated position ring, speed ring and electric current loop;
Step 1.3 subregion n pull-in control system and subregion n+1 pull-in control system exchange synchronization packets by Reflective memory network;
Step 1.4 subregion n+1 pull-in control system refresh data;
The data of step 1.5 subregion n pull-in control system verification subregion n+1 pull-in control system;
Step 2 subregion n pull-in control system half control long stator, subregion n+1 pull-in control system association is from control;
Step 2.1 subregion n pull-in control system transfers the half control state to, is responsible for position and the speed closed loop control of mover, and travels by power supply long stator driving mover;
Step 2.2 subregion n+1 pull-in control system transfers association to from state, receives the given value of current instruction of subregion n pull-in control system, and travels by power supply long stator driving mover;
Step 3 subregion n pull-in control system association is from control long stator, subregion n+1 pull-in control system half control long stator;
Step 3.1 subregion n pull-in control system enters association from state;
Step 3.2 subregion n+1 pull-in control system is upgraded to the half control state, is responsible for position, the speed closed loop control of mover, and travels by power supply long stator driving mover;
Step 3.3 subregion n+1 pull-in control system sends the given value of current instruction to subregion n pull-in control system, replaces internal control power between subregion n+1 pull-in control system and the subregion n pull-in control system;
Step 4 subregion n pull-in control system is awaited orders, and subregion n+1 pull-in control system is controlled long stator entirely;
Step 4.1 subregion n pull-in control system transfers armed state to, and whole controls are delivered subregion n+1 pull-in control system, receives the synchronization packets of subregion n+1 pull-in control system;
Step 4.2 subregion n+1 pull-in control system is accepted whole controls of mover, finishes the position and speed current closed-loop control of motor, is upgraded to full control state, and travels by power supply long stator driving mover.
A kind of long stator synchronous linear motor control system of the present invention and relay-type control method thereof are compared with existing technology, and its advantage is;
One, adopt Reflective memory network to set up communication between the Regional Towing control system of the present invention and connect, this Reflective memory network adopts optical-fibre communications, and transmission speed is fast, and real-time is good, is not subjected to electromagnetic interference, guarantees the accuracy of adjacent sectors communication;
Two, adjacent sectors exchange synchrodata of the present invention has guaranteed the consistency that adjacent sectors is controlled when handing-over;
Three, employing segmentation of the present invention progressively joins the method for control, and the fluctuation of frequency converter unit electric current when having avoided handing-over has guaranteed continuing of trailer system tractive effort, has kept the stable operation of mover, has improved system reliability.
Description of drawings
Fig. 1 is the system configuration schematic diagram of prior art pull-in control system;
Fig. 2 is the structural representation of a kind of long stator synchronous linear motor control system embodiment of being suitable for of a kind of relaying control method for long-stator linear synchronous motor of the present invention;
Fig. 3 is the method flow diagram of a kind of relaying control method for long-stator linear synchronous motor of the present invention.
Embodiment
Below in conjunction with description of drawings the specific embodiment of the present invention.
The invention discloses a kind of relaying control method for long-stator linear synchronous motor, the technology that the present invention's segmentation when adopting reflective memory network communication, exchange synchrodata and handing-over control between each subregion joins step by step, rush of current and torque fluctuations when avoiding the handing-over of long stator synchronous linear motor mover subregion.
As shown in Figure 2, a kind of long stator synchronous linear motor control system that a kind of relaying control method for long-stator linear synchronous motor of the present invention is suitable for has been described among the figure, this system comprises several Regional Towing control system, set up network connection by Reflective memory network between these several Regional Towing control system, this Reflective memory network adopts optical fiber as transmission medium, the pull-in control system of adjacent sectors can be long-range real-time swap data accurately, be achieved the precise synchronization between the subregion.
The reflective memory network technology the earliest by U.S. Encore company in the eighties exploitation in last century and applied for patent, its objective is for real-time, stable multimachine data transmission mechanism is provided, in distributed control and group system, be widely applied.Reflective memory connects into Star Network or loop network.In each node of network the reflective memory card is installed, connects by coaxial cable or optical cable between each reflective memory card, each reflective memory cartoon is crossed self-defining agreement and is carried out network service.Shared memory space is formed by the physical memory mapping that is connected to each node on the bus, and these physical memories logically use identical address.When a node updates during content of sharing position, these data will be broadcast to online every other reflective memory plate and be stored in identical position with corresponding memory address.Data transfer physically exclusively enjoys dedicated network fully, within the extremely short time, finish data sharing between each node of network, whole shared procedure does not have bus collision and protocol overhead, is equivalent to the RAM operation of standard for native processor, thereby has guaranteed the real-time of system.
Compare with traditional network technology such as Ethernet etc., the advantage of reflective memory network is the real-time of communication, certainty and predictability and supports interrupt signal transmission etc.Ethernet adopts the method for software to realize the data communication between each adjacent layer in the osi model, whole process will take the CPU time of machine, and the CSMA/CD(carrier sense of Ethernet is taken the road access/collision by force and is detected) transmission mechanism determined the certainty of very difficult maintenance transmission delay, and reflective memory network relies on hardware approach to realize data communication fully, the CPU burden can be do not increased, and real-time and deterministic requirement can be satisfied; Interrupt signal is very important function in the real-time system, can be used for the synchronous and event response in the system, and reflective memory network can provide the interruption transmission mechanism, these interruptions is sent to destination node trigger the interrupt response program.In addition, reflective memory network is compared with Ethernet and is had more reliable perfect hardware error diagnosis and treatment mechanism.
When adopting two-step method to change step mode, long stator synchronous linear motor track both sides all are covered with stator winding, be staggered, and mutually isolation, as shown in Figure 1.Mover places on the track with magnetic suspension method or with the method for wheel support, and its excitation winding also is to be divided into the left and right sides, is isolated from each other.According to distance, tractive power supply system is divided into a plurality of subregions, and each subregion comprises cover pull-in control system and two converter cells.Converter cell is connected on the side long stator winding of motor by feeder cable and contactor.When mover placed on certain section stator, corresponding contactor was connected, and when stator winding passes to alternating current, travelling-magnetic-field can promote mover and advance.When mover left this section stator, contactor disconnected, and current transformer is no longer powered to this section winding.
The structural representation of two Regional Towing control system of arbitrary neighborhood in above-mentioned a kind of long stator synchronous linear motor control system has been described among the figure as shown in Figure 2.
These two adjacent Regional Towing control system are respectively subregion n pull-in control system 1 and subregion n+1 pull-in control system 2.Setting up communication by Reflective memory network between this subregion n pull-in control system 1 and the subregion n+1 pull-in control system 2 connects.Circuit is connected with two converter cells on the subregion n pull-in control system 1, and it is respectively the first converter cell P1 and the second converter cell P2.Circuit is connected with two converter cells on the subregion n+1 pull-in control system 2, and it is respectively the 3rd converter cell P3 and the 4th converter cell P4.Subregion n pull-in control system 1 is connected two long stators by above-mentioned converter cell circuit respectively with subregion n+1 pull-in control system 2, and these two long stators are respectively the first long stator 3 and the second long stator 4.Subregion n pull-in control system 1 connects the first long stator 3 by the first converter cell P1 circuit, subregion n pull-in control system 1 connects the second long stator 4 by the second converter cell P2 circuit, subregion n+1 pull-in control system 2 connects the first long stator 3 by the 3rd converter cell P3 circuit, and subregion n+1 pull-in control system 2 connects the second long stator 4 by the 4th converter cell P4 circuit.
All include some stator segments on every long stator, be provided with certain intervals between adjacent two stator segments, guaranteeing does not have electrically conducting between adjacent two stator segments mutually.The first long stator 3 between subregion n pull-in control system 1 and subregion n+1 pull-in control system 2 and the mid point of the second long stator 4 are made as subregion point of interface 0, subregion n pull-in control system 1 one sides of this subregion point of interface 0 are n traction power supply subregion, and subregion n+1 pull-in control system 2 one sides of this subregion point of interface 0 are n+1 traction power supply subregion.Between subregion n pull-in control system 1 and subregion n+1 pull-in control system 2, pull-in control system has covered stator segment A and the stator segment B of the first long stator 3, be provided with subregion interface point P between stator segment A and stator segment B, this subregion interface point P is arranged on subregion point of interface 0 near in the n traction power supply subregion of subregion n pull-in control system 1 one sides.Between subregion n pull-in control system 1 and subregion n+1 pull-in control system 2, pull-in control system has covered stator segment C and the stator segment D of the second long stator 4, be provided with subregion interface point N between this stator segment C and stator segment D, this subregion interface point N is arranged on subregion point of interface 0 near in the n+1 traction power supply subregion of subregion n+1 pull-in control system 2 one sides.
Above-mentioned adjacent Regional Towing control system, subregion n pull-in control system 1 is in the process of subregion n+1 pull-in control system 2 handing-over controls, and subregion n pull-in control system 1 and subregion n+1 pull-in control system 2 include following four kinds of states.
One, full control: the position ring of mover, speed ring and current loop control all are responsible for by this subregion, drive two converter cells the both sides stator segment is powered.
Two, half control: this subregion only is responsible for position, speed ring control, and the Current Control of a side stator segment, drives a current transformer one side stator segment is powered.Send the given value of current instruction to being in association's next Regional Towing control system from state.
Three, association from: accept the given value of current instruction that pull-in control system that a upper subregion is in the half control state is sent, finish the current closed-loop of a side stator segment, drive a current transformer one side stator segment is powered.
Four, await orders: position ring, speed ring and current loop control are all inoperative, and traction is the observer to the pull-in control system when being in this state to mover, accepts the synchrodata of master control subregion.
Below in conjunction with Fig. 2 and Fig. 3, the flow process of 2 handing-over mover controls is as example take above-mentioned adjacent subregion n pull-in control system 1 to subregion n+1 pull-in control system, the relay-type control method of a kind of long stator synchronous linear motor control system of the present invention is described, the method includes the steps of.
Step 1 long stator promotes mover axially travelling along long stator, the travel direction of this mover is to 2 one end motions of subregion n+1 pull-in control system by subregion n pull-in control system 1 one ends, mover is between subregion interface point P and subregion n pull-in control system 1 time, subregion n pull-in control system 1 full control long stator, subregion n+1 pull-in control system 2 is awaited orders.Simultaneously, to carry out data by Reflective memory network synchronous for subregion n pull-in control system 1 and subregion n+1 pull-in control system 2.
Step 1.1 subregion n pull-in control system 1 sampling feedback data, the information such as electric current and voltage that comprise position, speed and the stator winding of train, the closed loop of executing location ring, speed ring, electric current loop is calculated, then to the first converter cell P1 and the second converter cell P2 sending controling instruction, drive the first converter cell P1 and the second converter cell P2 to stator segment A and the stator segment C power supply of long stator, drive long stator promotion mover and travel to subregion n+1 pull-in control system 2.Subregion n pull-in control system 1 is finished position, speed and the current closed-loop control of mover, and responsible mover moves all work.
Step 1.2 subregion n+1 pull-in control system 2 is not powered to long stator.2 samplings of subregion n+1 pull-in control system obtain same feedback data, and the closed loop of executing location ring, speed ring, electric current loop is calculated synchronously, but not to converter cell P3 and P4 sending controling instruction.
The scan period of step 1.3 program 500 microseconds is the data synchronous point, subregion n pull-in control system 1 exchanges synchronization packets at each data synchronous point by Reflective memory network with subregion n+1 pull-in control system 2, this synchronization packets comprises Heart rate meters, local clock, action command and local state, mover operation curve, rotor position and speed, speed preset, electric current and voltage detected value, given value of current, voltage vector output valve, switchyard state, and other intermediate variables.The result of calculation that realizes two subregions is consistent in each sampling period, when making mover drive to subregion n+1 pull-in control system 2 from subregion n pull-in control system 1, the control variables of mover realizes smooth seamless handing-over, and this control variables comprises displacement, speed and electric current.
Synchronization packets with subregion n pull-in control system 1 synchronous exchange gained in the step 1.4 subregion n+1 pull-in control system 2 employing above-mentioned steps 1.3 refreshes the variable of oneself.
After step 1.5 subregion n+1 pull-in control system 2 utilizes the synchronization packets of subregion n pull-in control system 1 synchronous exchange gained to refresh its variable, the data of subregion n pull-in control system 1 verification subregion n+1 pull-in control system 2.
When step 2 mover middle part drove to subregion interface point P, the long stator synchronous linear motor control system was enabled two-step method and is changed step to begin, subregion n pull-in control system 1 half control long stator, and subregion n+1 pull-in control system 2 associations are from the control long stator.
Step 2.1 subregion n pull-in control system 1 control the first converter cell P1 lays down electric current, stops stator segment A is powered.Subregion n pull-in control system 1 transfers the half control state to, is responsible for position and the speed closed loop control of mover, and simultaneously subregion n pull-in control system 1 control the second converter cell P2 is to the current closed-loop control of stator segment C.
Step 2.2 subregion n+1 pull-in control system 2 transfers association to from state, receive the given value of current instruction of subregion n pull-in control system 1, after subregion n pull-in control system 1 stops stator segment A power supply, subregion n+1 pull-in control system 2 drives the 3rd converter cell P3 stator segment B is powered, finish the current closed-loop control to stator segment B, control the 4th converter cell P4 and be in holding state.At this moment, the second converter cell P2 drives stator segment C, and the 3rd converter cell P3 drives stator segment B, drives mover by stator segment C and stator segment B and travels to subregion n+1 pull-in control system 2.
When step 3 mover middle part arrived subregion interface point O, subregion n pull-in control system 1 association was from control long stator synchronous linear motor, subregion n+1 pull-in control system 2 half control long stator synchronous linear motors.
Step 3.1 subregion n pull-in control system 1 enters association from state, only controls the second converter cell P2 stator segment C is powered.
Step 3.2 subregion n+1 pull-in control system 2 is upgraded to the half control state, is responsible for position, the speed closed loop control of mover, controls simultaneously the 3rd converter cell P3 to stator segment B power supply, drives mover by stator segment B and stator segment C and travels.
Step 3.3 subregion n+1 pull-in control system 2 sends the given value of current instruction to subregion n pull-in control system 1, the output of above-mentioned converter cell and the power supply of stator segment do not change, and replace internal control power between subregion n+1 pull-in control system 2 and the subregion n pull-in control system 1.
Subregion interface point N is crossed at the middle part of step 4 mover, and control system continues two-step method and changes step.Subregion n pull-in control system 1 is awaited orders, subregion n+1 pull-in control system 2 full control long stator synchronous linear motors.
Step 4.1 subregion n pull-in control system 1 control the second converter cell P2 stops output current, break to the power supply of stator segment C, subregion n pull-in control system 1 is delivered subregion n+1 pull-in control system 2 with whole controls, subregion n pull-in control system 1 transfers armed state to, receives the synchronization packets of subregion n+1 pull-in control system 2.
Step 4.2 subregion n+1 pull-in control system 2 is accepted whole controls of mover, finishes the position and speed current closed-loop control of motor, is upgraded to full control state.Subregion n+1 pull-in control system 2 starts the 4th converter cell P4, begins stator segment D is powered, and adopts stator segment B and stator segment D to drive mover and advances.Subregion handing-over and two-step method between subregion n pull-in control system 1 and the subregion n+1 pull-in control system 2 change step to finish simultaneously.
If mover travels to subregion n pull-in control system 1 from subregion n+1 pull-in control system 2, above-mentioned handing-over flow process antithesis.
Emphasis of the present invention is that two-step method changes step to transfer in conjunction with finishing with the subregion control, progressively joins control, from changing the first step, hands over first an electric current loop, at subregion separation delivery position ring, speed ring, hands over another electric current loop when changing second step at last.The handing-over of electric current loop is not during current transformer power supply, but electric current breaks stator segment when switching when changing step.Do like this handshaking transitions smooth, current fluctuation is little, and output current of converter changes violent and overcurrent in the time of can avoiding causing joining owing to two Regional Towing control system result of calculations inconsistent.
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 apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. a relaying control method for long-stator linear synchronous motor is characterized in that, the method includes the steps of:
Step 1 subregion n pull-in control system (1) is controlled long stator entirely, and subregion n+1 pull-in control system (2) is awaited orders, and it is synchronous to utilize Reflective memory network to carry out data between the adjacent sectors pull-in control system;
Step 2 subregion n pull-in control system (1) half control long stator, subregion n+1 pull-in control system (2) association is from control;
Step 3 subregion n pull-in control system (1) association is from control long stator, subregion n+1 pull-in control system (2) half control long stator;
Step 4 subregion n pull-in control system (1) is awaited orders, and subregion n+1 pull-in control system (2) is controlled long stator entirely.
2. a kind of relaying control method for long-stator linear synchronous motor as claimed in claim 1 is characterized in that, described step 1 also comprises following steps:
Step 1.1 subregion n pull-in control system (1) drives some converter cells and powers to long stator, and position ring, speed ring and the electric current loop of control mover;
Step 1.2 subregion n+1 pull-in control system (2) image data is calculated position ring, speed ring and electric current loop;
Step 1.3 subregion n pull-in control system (1) exchanges synchronization packets with subregion n+1 pull-in control system (2) by Reflective memory network;
Step 1.4 subregion n+1 pull-in control system (2) refresh data;
The data of step 1.5 subregion n pull-in control system (1) verification subregion n+1 pull-in control system (2).
3. a kind of relaying control method for long-stator linear synchronous motor as claimed in claim 1 is characterized in that, described step 2 also comprises following steps:
Step 2.1 subregion n pull-in control system (1) transfers the half control state to, is responsible for position and the speed closed loop control of mover, and travels by power supply long stator driving mover;
Step 2.2 subregion n+1 pull-in control system (2) transfers association to from state, receives the given value of current instruction of subregion n pull-in control system (1), and travels by power supply long stator driving mover.
4. a kind of relaying control method for long-stator linear synchronous motor as claimed in claim 1 is characterized in that, described step 3 also comprises following steps:
Step 3.1 subregion n pull-in control system (1) enters association from state;
Step 3.2 subregion n+1 pull-in control system (2) is upgraded to the half control state, is responsible for position, the speed closed loop control of mover, and travels by power supply long stator driving mover;
Step 3.3 subregion n+1 pull-in control system (2) sends the given value of current instruction to subregion n pull-in control system (1), replaces internal control power between subregion n+1 pull-in control system (2) and the subregion n pull-in control system (1).
5. a kind of relaying control method for long-stator linear synchronous motor as claimed in claim 1 is characterized in that, described step 4 also comprises following steps:
Step 4.1 subregion n pull-in control system (1) transfers armed state to, and whole controls are delivered subregion n+1 pull-in control system (2), receives the synchronization packets of subregion n+1 pull-in control system (2);
Step 4.2 subregion n+1 pull-in control system (2) is accepted whole controls of mover, finishes the position and speed current closed-loop control of motor, is upgraded to full control state, and travels by power supply long stator driving mover.
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| CN113394946A (en) * | 2021-05-10 | 2021-09-14 | 同济大学 | Linear synchronous motor system with redundancy function for magnetic levitation traffic |
| CN113271050B (en) * | 2021-06-09 | 2023-04-28 | 同济大学 | Quasi-synchronous power supply control method for long-stator double-fed linear motor |
| CN116161085A (en) * | 2023-04-24 | 2023-05-26 | 北京全路通信信号研究设计院集团有限公司 | Motion control partition handover method, device, equipment and medium for maglev train |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1240171C (en) * | 2002-08-28 | 2006-02-01 | 原泽 | Stator partition type integrated motor/electric generator |
| JP4314518B2 (en) * | 2004-01-26 | 2009-08-19 | 株式会社安川電機 | Linear motor position detection system and linear motor system |
| CN1585241A (en) * | 2004-05-28 | 2005-02-23 | 上海磁浮交通工程技术研究中心 | Linear synchronous permanent magnetic and electric uniform exciting mixed motor with slender stator |
| CN101789646B (en) * | 2010-01-13 | 2012-05-23 | 河南理工大学 | Multivariant linear arc-shaped motor |
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