CN103231664A - Medium-low speed maglev train control method and device - Google Patents
Medium-low speed maglev train control method and device Download PDFInfo
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- CN103231664A CN103231664A CN2013101722621A CN201310172262A CN103231664A CN 103231664 A CN103231664 A CN 103231664A CN 2013101722621 A CN2013101722621 A CN 2013101722621A CN 201310172262 A CN201310172262 A CN 201310172262A CN 103231664 A CN103231664 A CN 103231664A
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Abstract
The embodiment of the invention discloses a medium-low speed maglev train control method and device. The control method comprises the steps of: detecting a suspended current of a suspension system; judging whether the suspended current is greater than a rated value; and when the suspended current is greater than the rated value, reducing a traction force of a linear traction motor, resulting in reduction of a normal force of the linear motor through the reduction of the size of the traction force, further resulting in reduction of the suspended force of the suspension system, and realizing reduction of the suspended current through the reduction of the suspended force. By optimizing and controlling the traction force when the linear traction motor runs, the control method reduces the normal force of the linear motor, reduces the suspended force of the suspension system, decreases the energy consumption of the suspension system, avoids over-current of the suspension system, guarantees working stability of the suspension system and enhances the practicability of the medium-low speed maglev train.
Description
Technical field
The present invention relates to the railway locomotive field, particularly relate to a kind of middle low speed magnetic suspension train control method and device.
Background technology
Aerotrain is a kind of novel track traffic transportation means, utilizes electromagnetic attraction or electrodynamic repulsion force that train is suspended in the track top, drives the train motion by linear electric motors.Magnetic suspension train does not have wheel and corresponding driving system, with the ground no touch, does not produce frictional loss, and operating maintenance is simple and convenient, has bright development prospect.Using line inductance electromotor to drive the magnetic suspension train motion is one of gordian technique of middle low speed magnetic suspension train, and mode and the pull-in control system of the line inductance electromotor of research magnetic suspension train have realistic meaning for the development and the practicality that promote magnetic suspension train.
Magnetic suspension train traction and electric braking function are finished by the work of asynchronous straight line traction motor.The straight line traction motor time will produce thrust and perpendicular to the normal force of track simultaneously in operation, wherein normal force mainly is divided into two parts, a part is by the attractive force of air-gap field to secondary iron core, and another part is the repulsive force that produces between the eddy current in air-gap field and the secondary conductor.The normal force of linear electric motors and the lift force of levitating electromagnet constitute the power of magnetic suspension train rail vertical direction jointly, when changing the tractive force of train, normal force also can change along with the variation of tractive force, cause that the suspension system load is excessive, energy consumption increases, and then causes the suspend instability of control of train.
Based on above-mentioned technical matters, pressing for provides a kind of middle low-speed maglev train control method, the normal force and the suspension equilibrium of forces that produce during the operation of control line inductance electromotor, reduce the energy consumption of suspension system, to avoid interference the stability of suspension system work, to strengthen a kind of practicality of middle low-speed maglev train.
Summary of the invention
In order to solve the problems of the technologies described above, a kind of middle low-speed maglev train control method and device are provided in the embodiment of the present application, the normal force and the suspension equilibrium of forces that produce during the operation of control line inductance electromotor, reduce the energy consumption of suspension system, to avoid interference the stability of suspension system work, to strengthen a kind of practicality of middle low-speed maglev train.
The embodiment of the invention discloses following technical scheme:
Low speed magnetic suspension train control method in a kind of comprises:
Detect the suspension electric current of suspension system;
Judge that whether described suspension electric current is greater than rated value;
When described suspension electric current during greater than rated value, reduce the tractive force of straight line traction motor.
Preferably, the suspension electric current by current sensor collection suspension system detects.
The invention also discloses low speed magnetic suspension train control method in the another kind, it is characterized in that, comprising:
The suspension electric current of the normal force of detection of straight lines traction motor and suspension system;
Whether judge described normal force greater than predetermined threshold value, judge that whether described suspension electric current is greater than rated value;
When described normal force during greater than rated value, reduces the tractive force of straight line traction motor greater than predetermined threshold value and described suspension electric current.
Preferably, under traction working condition, pass through the normal force of suspension controller detection of straight lines traction motor.
The invention also discloses a kind of middle low speed magnetic suspension train control setup, it is characterized in that, comprising:
First detection module is for detection of the suspension electric current of suspension system;
First judge module is used for judging that whether described suspension electric current is greater than rated value;
First processing module is used for reducing the tractive force of straight line traction motor when described suspension electric current during greater than rated value.
Preferably, detect the suspension electric current of suspension system by traction invertor.
The invention also discloses a kind of middle low speed magnetic suspension train control setup, it is characterized in that, comprising:
Second detection module is for detection of the suspension electric current of normal force and the suspension system of straight line traction motor;
Second judge module is used for whether judging described normal force greater than predetermined threshold value, judges that whether described suspension electric current is greater than rated value;
Second processing module is used for during greater than rated value, reducing the tractive force of straight line traction motor greater than predetermined threshold value and described suspension electric current when described normal force.
Preferably, the normal force by suspension controller detection of straight lines traction motor.
As can be seen from the above-described embodiment, the application's a kind of middle low speed magnetic suspension train control method is by detecting the suspension electric current of suspension system; Judge that whether described suspension electric current is greater than rated value; When described suspension electric current during greater than rated value, reduce the tractive force of straight line traction motor.The reducing of tractive force can cause reducing of normal force, and then the lift force of suspension system will reduce along with reducing of normal force, and the suspension electric current of suspension system will reduce accordingly.By the reasonably optimizing between suspension electric current and the tractive force, with tractive force control in the reasonable scope, remain balance between the normal force that produces when guaranteeing the line inductance electromotor operation and the lift force, improve the stability of suspension system work, reduced the energy consumption that reduces and then reduced suspension system that tractive force has caused the suspension electric current, with the practicality of low-speed maglev train in strengthening.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is that a kind of middle low speed that the embodiment of the present application one discloses hangs the method flow diagram of magnetic-levitation train control method;
Fig. 2 is that a kind of middle low speed that the embodiment of the present application two discloses hangs the method flow diagram of magnetic-levitation train control method;
Fig. 3 is the structure drawing of device of the outstanding magnetic-levitation train control setup of a kind of middle low speed of the embodiment of the present application three announcements;
Fig. 4 is the structure drawing of device of the outstanding magnetic-levitation train control setup of a kind of middle low speed of the embodiment of the present application four announcements.
The specific embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with accompanying drawing the embodiment of the invention is described in detail.
Embodiment one
See also Fig. 1, it is the method flow diagram of a kind of middle low speed magnetic suspension train control method of the embodiment of the present application one announcement, specifically comprises:
Step 101: the suspension electric current that detects suspension system;
Preferably, the suspension electric current by current sensor collection suspension system detects.
Step 102: judge that whether described suspension electric current is greater than rated value;
Step 103: when described suspension electric current during greater than default rated value, reduce the tractive force of straight line traction motor.
Middle low-speed maglev train relies on electromagnetic attraction that train is suspended into certain altitude, has realized that train and local interorbital nothing machinery contact, and utilize the linear electric motor train operation then.The lift force of train suspension system is the electromagnet that produced by the current of electromagnet size by suspension system control and the attractive force between the track, and levitating electromagnet is positioned at the below of track, so lift force makes progress with respect to car body, and is opposite with gravity direction.Suspension system makes to keep a balance to guarantee that train can normally suspend between lift force and train gravity and the normal force by regulating the adjusting that the suspension size of current realizes lift force.The lift force of suspension system also will reduce when therefore normal force reduced.The required suspension electric current of suspension system will just reduce when lift force reduces, and the energy consumption of suspension system will reduce.
When described suspension electric current during greater than rated value, export to reduce tractive force according to control command control traction convertor; According to the reducing of normal force that reduces to cause the straight line traction motor of described tractive force, and then make described lift force reduce, the reducing of described lift force causes that the suspension electric current of suspension system reduces.Rationally control the tractive force size of linear electric motors, thereby the normal force of controlling indirectly in the train travelling process is in the minimum value that satisfies system requirements all the time, the normal force that suspension system need overcome reduces to cause reducing of lift force, thereby realizes reducing of suspension electric current.
When described rated value refers to that locomotive dispatches from the factory, at the lowest high-current value that can bear of suspension system normal operation design.When electric current overrate size, the suspension system load is crossed conference and is caused the suspension system job insecurity, can produce and build into the operating troubles that suspension is fallen a little and the suspension power supply transships.
By above-described embodiment as can be seen: by judging the size of suspension electric current, when suspension electric current during greater than rated value, thereby reduce normal force by the size that reduces tractive force, thereby cause reducing of lift force, reducing of final suspension system control suspension electric current, make the suspension system to return under the rated load, nominal load, solved the operating troubles that the low speed aerotrain suspends a little and the suspension power supply transships in causing because the suspension system load is excessive.
Embodiment two
Owing to implement among a kind of in one the low speed magnetic suspension train control method by judging whether off-rating of suspension electric current, and then whether decision carries out the adjusting of tractive force.The influence that can be subjected to several factors owing to the suspension electric current changes, and is not only that the suspension electric current that finally causes because the variation of normal force causes the variation of lift force changes.So in order to make judgement and control result more accurate, the present invention also provides low speed magnetic suspension train control method in the another kind, specifically sees also method flow diagram shown in Figure 2, specifically comprises:
Step 201: the suspension electric current of the normal force of detection of straight lines traction motor and suspension system;
Preferably, the normal force by suspension controller detection of straight lines traction motor.
Under traction working condition, the normal force of straight line traction motor can be measured by detecting device, also can by and tractive force, lift force, gravity between relation derive.Certainly also can detect by other means, not do concrete restriction at this to adopting which kind of detection mode, as long as can detect the size of normal force.
Preferably, the suspension electric current by current sensor collection suspension system detects.
Step 202: whether judge described normal force greater than predetermined threshold value, judge that whether described suspension electric current is greater than rated value;
Step 203: when described normal force during greater than rated value, reduces the tractive force of straight line traction motor greater than predetermined threshold value and described suspension electric current.
The lift force of suspension system is the electromagnet that produced by the current of electromagnet size by suspension system control and the attractive force between the track, and levitating electromagnet is positioned at the below of track, so lift force makes progress with respect to car body, and is opposite with gravity direction.The normal force of so-called straight line traction motor is a power vertical with tractive force of outwardness in the linear electric motors, is the attractive force between the tablet on effect and linear electric motors and the track, and is identical with gravity direction.Suspension system makes to keep a balance to guarantee that train can normally suspend between lift force and train gravity and the normal force by regulating the adjusting that the suspension size of current realizes lift force.Because the variation of tractive force can cause the variation of normal force, normal force will reduce thereupon when tractive force reduces, and the lift force of suspension system also will reduce when normal force reduces.Required suspension electric current will just reduce, and the energy consumption of suspension system can reduce.
Because the size of current that flows through levitating electromagnet in the suspension system is big or small proportional with lift force, suspension system is to pass through the control of size of the electric current realization lift force of levitating electromagnet by control.Simultaneously, suspension system is regulated the distance of guaranteeing to suspend by electric current and is remained in the reasonable range by the distance between rang sensor detection electromagnet and the track, thereby realizes the stable suspersion of train.Suspension system makes to keep balance between lift force and train gravity and the normal force by the adjusting of the size realization lift force of adjusting suspension electric current, to guarantee that train normally suspends.Therefore, when the tractive force of straight line traction motor reduced, the normal force of linear electric motors will reduce thereupon, in order to guarantee the normal suspension of locomotive, lift force can reduce along with reducing of normal force, and final suspension system is by reducing to suspend electric current to realize reducing of lift force.
By above-described embodiment as can be seen: the size by judging normal force whether greater than the size of predetermined threshold value and suspension electric current whether greater than rated value, determine whether tractive force is reduced to handle, because the reducing of tractive force can cause reducing of normal force, and then the lift force of suspension system will reduce, the suspension electric current of suspension system will reduce accordingly, by the reasonably optimizing between suspension electric current and the tractive force, keep balance between the normal force that produces when control straight line traction motor moves and the lift force with tractive force control in the reasonable scope.Processing can determine more accurately that the suspension electric current overrate of current suspension system causes owing to normal force is excessive like this, processing can be so that suspension system returns under the rated load, nominal load like this, solved the operating troubles that the low speed aerotrain suspends a little and the suspension power supply transships in causing because the suspension system load is excessive, reduce the energy consumption of suspension system, improve the stability of suspension system work, with the practicality of low-speed maglev train in strengthening.
Embodiment three
Corresponding with a kind of middle low speed magnetic suspension train control method in above-described embodiment one, the embodiment of the present application provides a kind of middle low speed magnetic suspension train control setup.See also Fig. 3, it is the structure drawing of device of a kind of middle low speed magnetic suspension train control setup of the embodiment of the present application three announcements, and this device comprises: first detection module 301, first judge module 302 and first processing module 303.Principle of work below in conjunction with this device is further introduced its inner structure and annexation thereof.
Preferably, described first detection module specifically is the suspension electric current that detects suspension system by traction invertor.
When described suspension electric current during greater than rated value, export to reduce tractive force according to control command control traction convertor; According to described tractive force reduce cause that the normal force of straight line traction motor reduces, and then make described lift force reduce, the reducing of described lift force causes that the suspension electric current of suspension system reduces.When described rated value refers to that locomotive dispatches from the factory, at the lowest high-current value that can bear of suspension system normal operation design.When electric current overrate size, the suspension system load is crossed conference and is caused the suspension system job insecurity, can produce and build into the operating troubles that suspension is fallen a little and the suspension power supply transships.First processing module, make after handling tractive force reduce can cause that finally the suspension electric current reduces, guaranteed the stable operation of suspension system, to guarantee that aerotrain normally moves.
By above-described embodiment as can be seen: by judging the size of suspension electric current, when suspension electric current during greater than rated value, thereby reduce normal force by the size that reduces tractive force and realize reducing of lift force, and then cause reducing of suspension electric current, make the suspension system to return under the rated load, nominal load, solved the operating troubles that the low speed aerotrain suspends a little and the suspension power supply transships in causing because the suspension system load is excessive.
Embodiment four
Corresponding with low speed magnetic suspension train control method in the another kind in above-described embodiment two, the embodiment of the present application provides low speed magnetic suspension train control setup in the another kind.See also Fig. 4, it is the structure drawing of device of low speed magnetic suspension train control setup in the another kind that discloses of the embodiment of the present application three, and this device comprises: the detection module 401 of winning the second place, second judge module 402 and second processing module 403.Principle of work below in conjunction with this device is further introduced its inner structure and annexation thereof.
Preferably, described second detection module is the normal force by suspension controller detection of straight lines traction motor.
Because the size of current that flows through levitating electromagnet in the suspension system is big or small proportional with lift force, suspension system is to pass through the control of size of the electric current realization lift force of levitating electromagnet by control.Simultaneously, suspension system is regulated the distance of guaranteeing to suspend by electric current and is remained in the reasonable range by the distance between rang sensor detection electromagnet and the track, thereby realizes the stable suspersion of train.So-called lift force is the electromagnet that produced by the current of electromagnet size by suspension system control and the attractive force between the track, and levitating electromagnet is positioned at the below of track, so lift force makes progress with respect to car body, and is opposite with gravity direction.The normal force of so-called straight line traction motor is a power vertical with tractive force of outwardness in the linear electric motors, is the attractive force between the tablet on effect and linear electric motors and the track, and is identical with gravity direction.Suspension system makes to keep balance between lift force and train gravity and the normal force by regulating the adjusting that the suspension size of current realizes lift force, to guarantee that train normally suspends.Therefore, when the tractive force of straight line traction motor reduced, the normal force of linear electric motors will reduce thereupon, in order to guarantee the normal suspension of locomotive, lift force can reduce along with reducing of normal force, and final suspension system is by reducing to suspend electric current to realize reducing of lift force.
By above-described embodiment as can be seen: the size by judging normal force whether greater than the size of predetermined threshold value and suspension electric current whether greater than rated value, determine whether tractive force is reduced to handle, because the reducing of tractive force can cause reducing of normal force, and then the lift force of suspension system will reduce, the suspension electric current of suspension system will reduce accordingly, by the reasonably optimizing between suspension electric current and the tractive force, the normal force and the suspension equilibrium of forces that produce when with tractive force control in the reasonable scope, the control line inductance electromotor moves.Processing can determine more accurately that the suspension electric current overrate of current suspension system causes owing to normal force is excessive like this, processing can be so that suspension system returns under the rated load, nominal load like this, solved the operating troubles that the low speed aerotrain suspends a little and the suspension power supply transships in causing because the suspension system load is excessive, reduce the energy consumption of suspension system, improve the stability of suspension system work, with the practicality of low-speed maglev train in strengthening.
More than to provided by the present invention a kind of in low speed magnetic suspension train control method and device be described in detail, used specific embodiment herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (8)
1. low speed magnetic suspension train control method in a kind is characterized in that, comprising:
Detect the suspension electric current of suspension system;
Judge that whether described suspension electric current is greater than rated value;
When described suspension electric current during greater than rated value, reduce the tractive force of straight line traction motor.
2. method according to claim 1 is characterized in that, the suspension electric current of gathering suspension system by current sensor detects.
3. low speed magnetic suspension train control method in a kind is characterized in that, comprising:
The suspension electric current of the normal force of detection of straight lines traction motor and suspension system;
Whether judge described normal force greater than predetermined threshold value, judge that whether described suspension electric current is greater than rated value;
When described normal force during greater than rated value, reduces the tractive force of straight line traction motor greater than predetermined threshold value and described suspension electric current.
4. method according to claim 3 is characterized in that, passes through the normal force of suspension controller detection of straight lines traction motor under traction working condition.
5. low speed magnetic suspension train control setup in a kind is characterized in that, comprising:
First detection module is for detection of the suspension electric current of suspension system;
First judge module is used for judging that whether described suspension electric current is greater than rated value;
First processing module is used for reducing the tractive force of straight line traction motor when described suspension electric current during greater than rated value.
6. device according to claim 5 is characterized in that, detects the suspension electric current of suspension system by traction invertor.
7. low speed magnetic suspension train control setup in a kind is characterized in that, comprising:
Second detection module is for detection of the suspension electric current of normal force and the suspension system of straight line traction motor;
Second judge module is used for whether judging described normal force greater than predetermined threshold value, judges that whether described suspension electric current is greater than rated value;
Second processing module is used for during greater than rated value, reducing the tractive force of straight line traction motor greater than predetermined threshold value and described suspension electric current when described normal force.
8. device according to claim 7 is characterized in that, by the normal force of suspension controller detection of straight lines traction motor.
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| CN201310172262.1A CN103231664B (en) | 2013-05-10 | 2013-05-10 | Low speed magnetic suspension train control method and device in one |
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| CN201310172262.1A CN103231664B (en) | 2013-05-10 | 2013-05-10 | Low speed magnetic suspension train control method and device in one |
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| CN104859481A (en) * | 2015-05-29 | 2015-08-26 | 中国人民解放军国防科学技术大学 | Direct drive type suspension frame with traction linear motor arranged in middle and magnetically levitated train |
| CN108657024A (en) * | 2018-07-12 | 2018-10-16 | 中铁磁浮科技（成都）有限公司 | A kind of novel power supply system suitable for medium-and low-speed maglev train |
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| CN109249945A (en) * | 2018-08-16 | 2019-01-22 | 中车唐山机车车辆有限公司 | Tractive force of train method of adjustment, device, electronic equipment and storage medium |
| CN112158078A (en) * | 2020-10-09 | 2021-01-01 | 中国人民解放军国防科技大学 | Interference self-adaptive active suppression method for magnetic-levitation train guiding system and related components |
| CN112576136A (en) * | 2020-12-30 | 2021-03-30 | 福耀玻璃工业集团股份有限公司 | Glass lifting structure |
| CN113619401A (en) * | 2020-05-07 | 2021-11-09 | 株洲中车时代电气股份有限公司 | Suspension instability control method and device for magnetic-levitation train |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104859481A (en) * | 2015-05-29 | 2015-08-26 | 中国人民解放军国防科学技术大学 | Direct drive type suspension frame with traction linear motor arranged in middle and magnetically levitated train |
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| CN108760129B (en) * | 2018-06-06 | 2020-11-13 | 中车株洲电力机车有限公司 | Method and system for identifying normal force of linear induction motor of medium-low speed maglev train |
| CN108657024A (en) * | 2018-07-12 | 2018-10-16 | 中铁磁浮科技（成都）有限公司 | A kind of novel power supply system suitable for medium-and low-speed maglev train |
| CN108657024B (en) * | 2018-07-12 | 2023-10-27 | 中铁宝桥集团有限公司 | Novel power supply system suitable for medium-low speed maglev train |
| CN109249945A (en) * | 2018-08-16 | 2019-01-22 | 中车唐山机车车辆有限公司 | Tractive force of train method of adjustment, device, electronic equipment and storage medium |
| CN109249945B (en) * | 2018-08-16 | 2020-04-28 | 中车唐山机车车辆有限公司 | Train traction force adjusting method and device, electronic equipment and storage medium |
| CN113619401A (en) * | 2020-05-07 | 2021-11-09 | 株洲中车时代电气股份有限公司 | Suspension instability control method and device for magnetic-levitation train |
| CN112158078A (en) * | 2020-10-09 | 2021-01-01 | 中国人民解放军国防科技大学 | Interference self-adaptive active suppression method for magnetic-levitation train guiding system and related components |
| CN112158078B (en) * | 2020-10-09 | 2022-02-11 | 中国人民解放军国防科技大学 | Interference self-adaptive active suppression method for magnetic-levitation train guiding system and related components |
| CN112576136A (en) * | 2020-12-30 | 2021-03-30 | 福耀玻璃工业集团股份有限公司 | Glass lifting structure |
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