CN103954844B - Online detection method of inductance parameters of suspension electromagnet of middle and low speed magnetic-levitation train - Google Patents
Online detection method of inductance parameters of suspension electromagnet of middle and low speed magnetic-levitation train Download PDFInfo
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- CN103954844B CN103954844B CN201410145549.XA CN201410145549A CN103954844B CN 103954844 B CN103954844 B CN 103954844B CN 201410145549 A CN201410145549 A CN 201410145549A CN 103954844 B CN103954844 B CN 103954844B
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Abstract
The invention discloses an online detection method of inductance parameters of a suspension electromagnet of a middle and low speed magnetic-levitation train. A PWM signal is added to the suspension electromagnet in the normal operating process; the signal controls the dredge duty ratio of one bridge arm to be 100%, controls the dredge duty ratio of the other bridge arm to be 50% and achieves switch on before switch off; the PWM voltage start time current I0, the PWM voltage half circle time current I1 and the PWM voltage finish time current value I2 of the electromagnet are detected, and the inductance of the electromagnet is calculated on line through system input voltage U and the PWM voltage half circle time Tm according to the formula that L=U/(2I1-I0-I2)*Tm. According to the online detection method of the inductance parameters of the suspension electromagnet, only the current values and the voltage value need to be detected, other known quantities are not needed, and the online detection method can be applied to online state detection, parameter identification and control, and the like of the electromagnet of the middle and low speed magnetic-levitation train.
Description
Technical field
The present invention relates to a kind of medium-and low-speed maglev train levitating electromagnet inductance parameters online test method.
Background technology
Medium-and low-speed maglev train mainly adopts electromagnetic attraction to suspend, and suspending power is provided by levitating electromagnet, levitating electromagnet
By producing electromagnetic attraction between electric current and track, system is allow by the size adjustment electromagnetic force controlling electromagnet current
Stablize on fixing suspension air gap.
Levitating electromagnet is suspension system critical piece, needs in actual use to carry out on-line monitoring to its state, with
When judging the fault being likely to occur and breaking down, fault is analyzed.Levitating electromagnet can be equivalent on electrology characteristic
Think that resistant series inductance, electromagnetism iron resistance and inductance are the key parameters of reflection electric magnet state.
Inductance parameters are the important state parameters of electric magnet, are also to judge one of Main Basiss of electric magnet state.Work as electricity
When Magnet occurs some faults, fault state can be identified by inductance parameters.When electric magnet is opened a way, electromagnetism ferroelectricity
Sense can become infinitely great or very big；When electric magnet short circuit, electric magnet inductance can diminish even zero；When circle in electric magnet
Between partial short circuit when, electric magnet inductance can than normality be worth little；When electric magnet connects unstable, electric magnet inductance value can occur shakiness
Fixed.So being judged by the state to levitating electromagnet that can be online to the identification of levitating electromagnet inductance parameters.This
Outward, electric magnet inductance is important parameter used in suspension system control, is the important on-line parameter that system needs identification.Pass through
System control parameters can be carried out on-line tuning, optimal controller performance by the identification to electric magnet inductance parameters.In a word, electricity
Magnet inductance parameters ONLINE RECOGNITION is that suspension system on-line fault diagnosis, systematic parameter ONLINE RECOGNITION and control parameter are adjusted online
Whole important evidence.
Levitating electromagnet inductance parameters are detected online, there be difficulties involved when, this difficulty essentially consists in suspension
It is a kind of real-time control system that system controls, and detection voltage adds difficult.Medium-and low-speed maglev train adopts electromagnetic attraction suspension system
System, this suspension system be a kind of essence time-dependent system, system realized by the size of real-time regulation electromagnet current be
System stable suspersion.Suspension system calculates electric magnet in real time and needs electric current (target according to the air gap value of electric magnet and accekeration
Electric current) size, electromagnet current controls and controls pulse according to electric magnet target current and actual current generation, controls Pulse Width Control
Turning on and off of suspension chopper circuit breaker in middle pipe is realized adjusting to electromagnet current, makes actual current follow target current.
In medium-and low-speed maglev train, the size of electromagnet current is realized by suspension chopper circuit.Because switching tube operating frequency has
Limit, in real work using fixing switching frequency, its control signal typically adopts pulse width modulation (PWM) signal, leads to
Overregulate the dutycycle of pwm signal, adjust ON time in switch periods for the switching tube to adjust electric current.Suspension chopper circuit
Under pwm signal control to electric magnet produce voltage be PWM voltage.Electric magnet is controlled by PWM voltage, and PWM voltage needs reality
When change so that detection voltage detect corresponding electric current is applied to electric magnet according to control law, there be difficulties involved when.
Content of the invention
A kind of in view of above deficiency of prior art, it is an object of the present invention to provide medium-and low-speed maglev train suspension electromagnetism
Ferrum inductance parameters online test method, is allowed to overcome the deficiencies in the prior art.Its scheme is：
A kind of medium-and low-speed maglev train levitating electromagnet inductance online test method, is carried out to levitating electromagnet state online
Monitoring, to be analyzed to fault when judging the fault being likely to occur and breaking down providing real time data, walks including following
Suddenly：A () adds a pulse width modulation (PWM) detection signal in levitating electromagnet course of normal operation, this signal controls one
It is 100% that individual brachium pontis opens dutycycle, and another brachium pontis is opened dutycycle and first opened for 50% and closes afterwards, and (b) is to add PWM to detect electric
In the pressure cycle, detect electric magnet start time electric current I under this PWM voltage0, moment half period electric current I1With the end cycle moment
Electric current I2, using system input voltage U and PWM voltage half cycle time Tm, according to formulaObtain online
Obtain electric magnet inductance value and be delivered to on-line fault diagnosis and adjustment subsequent execution unit.
In medium-and low-speed maglev train, levitating electromagnet electric current, voltage ratio are higher, generally adopt suspension chopper circuit to electricity
Magnet current is controlled.Suspension chopper circuit is operated on off state, at work, when switching tube is opened simultaneously, input
Power supply is charged to levitating electromagnet by switching tube, and levitating electromagnet electric current increases；When switching tube simultaneously turns off, suspend
Electric magnet passes through diode and discharges to input power, and levitating electromagnet electric current reduces；When a switching tube opens a switching tube
During shutoff, the switching tube that levitating electromagnet passes through to open carries out afterflow with diode itself.In normal work, by ceaselessly
Adjust turning on and off of switching tube, realize the regulation of electric current.
According to circuit theory it is assumed that input voltage is Ui, electric magnet inductance and resistance are respectively L, R, electric magnet output electricity
Flow for io, definition time constant is τ=L/R.Levitating electromagnet adds a pulse width modulation in course of normal operation
(PWM) detection voltage, it is 100% that one of brachium pontis opens dutycycle, and it is (first open-minded for 50% that another brachium pontis opens dutycycle
Turn off afterwards), the voltage that electric magnet is subject to is as illustrated, calculating moment half period and end cycle moment electromagnet current value, false
If the detection voltage cycle is 2TM.
When switch transistor T 1, T3 turn on, had according to circuitSolution can obtain, electric currentWherein I0For initial time electric current, opening is time zero constantly.To current equation according to Taylor's level
Number launches, and ignores high-order term, can obtain inductive current current value within switching tube service time is
This expression formula may be considered inductance in Ui-IoCharge under R voltage, for electric magnet, in the Single switch cycle, ripple current is much
Less than steady state value it is believed that in the Single switch cycle electric current be I0.
In switch transistor T 1, T3 during one shutoff of a conducting, switching tube and the diode discharge of conducting, electric current are passed through in load
Reduce, had according to circuitSolution can obtainWherein I1For state initial time electric current, shape
State initial time is time zero.Current equation is launched, ignores high-order term, inductive current can be obtained and close in switching tube
In the disconnected time, current value isThis expression formula may be considered inductance in I1Discharge under R voltage.
It is recognised that in detection voltage half period moment electromagnet current in above-mentioned derivation
In detection voltage finish time, electromagnet current isIt is evident thatThat
Inductance value
According to formula above, can obtain, detect PWM detection voltage start time electric current I0, moment half period electric current I1
Electric current I with finish time2, according to formulaWherein TMFor system known set amount, UiCan survey for system
Amount, can calculate inductance parameters according to formula.
By above-mentioned analysis it can be seen that in medium-and low-speed maglev train levitating electromagnet inductance on-line checking, Ke Yitong
Cross and levitating electromagnet is added in course of normal operation with pulse width modulation (PWM) detection voltage, one of brachium pontis
Opening dutycycle is 100%, and it is 50% (first open and turn off afterwards) that another brachium pontis opens dutycycle, detection electric magnet here detection
Open under voltage moment, moment half period and end cycle moment electric current, coupling system input voltage and time half period, permissible
It is calculated electric magnet inductance parameters.Online test method of the present invention, current variation value in detection electric magnet charge and discharge process, profit
With electromagnet current value, system input voltage and detection voltage half period Time Calculation system inductance value, it is to the electricity that suspends first
Magnet inductance parameters carry out on-line checking, next to that employing pulse width modulation (PWM) detection voltage, one of brachium pontis is opened
Logical dutycycle is 100%, and it is 50% (first open and turn off afterwards) that another brachium pontis opens dutycycle, so that the electric magnet half period is operated in
Charged state, the half period is operated in nature freewheeling state, is finally the value of the electric current under detection voltage by detection to electromagnetism
Ferroelectricity sense is calculated.The inventive method be applied to medium-and low-speed maglev train levitating electromagnet inductance parameters on-line monitoring and
Parameter identification and control etc., it is accurate rapidly to have a monitoring, the features such as be not required to known parameters amount.
Brief description
Fig. 1 is suspension chopper circuit schematic diagram.
Fig. 2 is the systematic schematic diagram in embodiment.
Specific embodiment
In suspension system normal work, according to time interval 1s, suspension system digital control circuit is to levitating electromagnet
Provide pulse width modulation (PWM) detection voltage, it is 100% that detection voltage controls a brachium pontis to open dutycycle, another
It is 50% (first open and turn off afterwards) that individual brachium pontis opens dutycycle.
Digital control circuit was adopted by AD in PWM detection voltage output initial time, moment half period and finish time
Sample circuit is sampled to system power detected value, is recorded as I successively0、I1、I2；Simultaneously when the output of PWM detection voltage is initial
Carve and by AD sample circuit, system voltage detected value is sampled, be recorded as U.
According to PWM detection voltage half period time TM, according to formulaCalculate electric magnet inductance, and
Acquired inductance value is delivered to on-line fault diagnosis and adjustment subsequent execution unit.
Claims (1)
1. a kind of medium-and low-speed maglev train levitating electromagnet inductance online test method, is supervised online to levitating electromagnet state
Survey to be analyzed to fault when judging the fault being likely to occur and breaking down providing real time data, comprise the following steps：
A () adds a pulse width modulation (PWM) detection signal in levitating electromagnet course of normal operation, this signal controls a bridge
It is 100% that arm opens dutycycle, and another brachium pontis is opened dutycycle and first opened for 50% and closes afterwards, and (b) is in addition pulse width modulation
In the detection voltage cycle, detect electric magnet start time electric current I under this pulse width modulated voltage0, moment half period electric current I1
With end cycle moment electric current I2, using system input voltage U and pulse width modulated voltage half period time TM, according to formulaOnline acquisition electric magnet inductance value is simultaneously delivered to on-line fault diagnosis and adjustment subsequent execution unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410145549.XA CN103954844B (en) | 2014-04-11 | 2014-04-11 | Online detection method of inductance parameters of suspension electromagnet of middle and low speed magnetic-levitation train |
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| CN201410145549.XA CN103954844B (en) | 2014-04-11 | 2014-04-11 | Online detection method of inductance parameters of suspension electromagnet of middle and low speed magnetic-levitation train |
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| CN103954844B true CN103954844B (en) | 2017-02-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105929248B (en) * | 2016-05-27 | 2019-01-29 | 广东美的制冷设备有限公司 | The inductance repair method and device of power factor corrector on electric-controlled plate |
| CN109725221B (en) * | 2019-01-14 | 2020-11-03 | 中车青岛四方机车车辆股份有限公司 | Magnetic suspension test system and electromagnet test method |
| WO2022143450A1 (en) * | 2020-12-31 | 2022-07-07 | 苏州艾利特机器人有限公司 | Industrial robot, brake, and state monitoring method |
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| CN102095941B (en) * | 2010-12-15 | 2013-03-27 | 广东电网公司电力科学研究院 | Method for measuring equivalent inductance of coupling capacitance loop under lightning over-voltage and system thereof |
| CN202502164U (en) * | 2012-04-23 | 2012-10-24 | 欧阳斌林 | On-off inductance measuring device |
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| GB1416137A (en) * | 1971-10-01 | 1975-12-03 | Ettinger G M | Methods of and apparatus for measuring inductance |
| US6222356B1 (en) * | 1998-04-01 | 2001-04-24 | Siemens Aktiengesellschaft | Current mode switching regulator configured such that a measuring resistor is not needed to measure the current at an inductor |
| CN1493881A (en) * | 2002-10-28 | 2004-05-05 | ������������ʽ���� | Method for measuring inductance value |
| CN101533071A (en) * | 2009-04-20 | 2009-09-16 | 哈尔滨工业大学 | Global nonlinear inductance test method of switched reluctance motor |
| CN102621399A (en) * | 2012-04-23 | 2012-08-01 | 欧阳斌林 | Inductance measuring method based on switching circuit |
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