CN109159672A - Correct the method and device of permanent-magnet magnetic group lateral deviation in magnetic suspension traffic equipment - Google Patents
Correct the method and device of permanent-magnet magnetic group lateral deviation in magnetic suspension traffic equipment Download PDFInfo
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- CN109159672A CN109159672A CN201810993357.2A CN201810993357A CN109159672A CN 109159672 A CN109159672 A CN 109159672A CN 201810993357 A CN201810993357 A CN 201810993357A CN 109159672 A CN109159672 A CN 109159672A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/04—Magnetic suspension or levitation for vehicles
- B60L13/06—Means to sense or control vehicle position or attitude with respect to railway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
Abstract
A kind of method and device for correcting permanent-magnet magnetic group lateral deviation in magnetic suspension traffic equipment, including control unit, track, permanent magnet, sensor and electromagnet.The present invention provides suspending power by the mutual magnetic repulsion between permanent magnet and track, closed-loop control system is formed by sensor, control unit and electromagnet, PID arithmetic is carried out to the data that sensor obtains by control unit therein, obtain the electric current gradually decayed, magnetic field is generated by the current excitation electromagnet, gradually corrects lateral inclined of magnet.The control method of PID obtains so that the magnetic field that the exciting current generates is gradually reduced the active force of bogie; bogie movement also can be slower and slower; thus a buffer protection function can also be played to system; the magnetic field for exciting it keeps the rail permanent magnet array not contact with the vehicle-mounted permanent magnet array, realizes the correction to magnetic suspension system lateral deviation.
Description
Technical field
The present invention relates to field of track traffic, more particularly to the controlling party of the Transit Equipment using magnetic suspension driving
Method.
Background technique
Magnetic-levitation traffic system is broadly divided into three kinds by suspended pattern at present, is respectively: electromagnetic suspension (EMS) and electricity
Dynamic (EDS) and the permanent magnet suspension (PMS) of suspending.
EMS: electromagnetic suspension is a kind of suction suspension system, is incorporated in ferromagnetic on the electromagnet and guide rail on locomotive
The mutually exclusive generation of track suspends.When routine conductive maglev train works, suspension and the guiding electromagnet of lower vehicle are adjusted first
Electromagnetic repulsive force, magnet reaction occurs with the windings of ground rail two sides and floats train.In the guiding electricity of lower vehicle
Under the reaction of magnet and track magnet, make wheel and track keep certain lateral distance, realize wheel track in the horizontal direction and
The contactless support and contactless guiding of vertical direction.Levitation gap between vehicle and Crane Rail is 10 millimeters, is to pass through
What a set of high-precision electronic adjustment system was able to guarantee.Additionally due to suspension and guiding are actually unrelated with train running speed,
So even if suspended state still can be entered in dead ship condition Train.But the energy consumption of EMS type magnetic suspension train is higher.Also,
Stable suspersion could be maintained since calutron must carry larger exciting current, and exciting current can generate on the electronic devices
Larger heat, therefore, the Transit Equipment higher operating costs that EMS mode drives.
EDS: electrodynamics suspension, by magnet using on the locomotive of movement to generate electric current on guide rail.Due to locomotive and lead
Electromagnetic repulsion force will increase when the gap of rail is reduced, so that the electromagnetic repulsion force generated provides the support and guiding of stable locomotive.
However locomotive must install the similar the same device of wheel and effectively be supported to locomotive in " taking off " and " landing ", this be because
Suspension is not can guarantee lower than about 25 miles per hours in locomotive speed for EDS.EDS system obtains under low-temperature superconducting technology
Bigger development.But EDS type magnetic suspension train cannot achieve quiet floating, and train could generate after must reaching certain speed of service
Enough suspending powers make train suspend.Therefore additional mechanical structure is usually required to avoid vortex conductor because contacting with each other
And it wears.
PMS: permanent magnet suspension, with reference to Fig. 3, i.e. permanent magnet repels each other and keeps with track (by electromagnetic path or permeability magnetic material)
Notch middle line can suspension operation, electromagnetism guiding can be achieved zero friction operation, mechanical to can be close to zero friction.But permanent magnet suspension
Mode, due to the factors such as turning or shaking in permanent magnet suspension rail traffic, suspension permanent magnet magnetic group often will appear it is lateral partially
From.This phenomenon will affect the stability of suspension system.Specifically, the lateral deviation of magnetic group will make permanent magnet and track it
Between the active force of mutual exclusion deflect, the deflection of active force will lead to the magnetic line of force in vertical direction and be not enough to maintain equipment outstanding
It is floating.And active force deflects the trend that generated horizontal component can be further exacerbated by deflection, eventually leads to electromagnetism guide material
Between contact, abrasion, generate noise or even security risk.But at present rarely have on the market in permanent magnet suspension rail traffic forever
The method that magnetic magnetic group lateral deviation is corrected.
Therefore, be badly in need of at present it is a kind of can overcome above-mentioned driving method drawback, permanent-magnet magnetic group lateral deviation can be corrected
Technology.
Summary of the invention
In order to solve the shortcomings of the prior art, the purpose of the present invention is to provide a kind of magnetic-levitation traffic suspensions
The method of adjustment of position, the method that permanent magnetism magnetic suspension rail traffic suspension magnetic group lateral deviation can be corrected more particularly, to one kind
And device.
Firstly, to achieve the above object, permanent-magnet magnetic group lateral deviation in a kind of correction suspension type rail transit equipment is proposed
Method, the Transit Equipment includes permanent magnet and track, magnetic field mutual exclusion between the permanent magnet and the track, to mention
For the suspending power to the Transit Equipment；The specific steps of the method include: the first step, setting permanent magnet and track pair
The initial value d0 of lateral distance between should putting obtains the initial excitation electric current i of electromagnet0, for example, when there is no deviateing
Initial current is equal to 0, optionally, after deviateing, just applies electric current by algorithm by current controller and retracts it again
To position when not deviateing, such control mode belongs to real time correction, and one has deviation to correct for；Second step, sensor obtain
The actual value d1 (t) of the lateral distance between permanent magnet and track corresponding points is taken, the difference e between actual value and initial value is calculated
(t)=d1 (t)-d0；Third step carries out PID calculating to the difference e (t), obtains the exciting current of electromagnet needs
Wherein, t indicates time interval, indicates from adjusting is started to output
Current control amount elapsed time interval, we allow system to work i.e. in a preselected sampling period short enough herein
It can；KPIndicate preset proportional gain；TIIndicate preset integration time constant；TDIndicate preset derivative time constant；4th
Step will calculate the exciting current i (t) obtained and be input to the electromagnet, and the electromagnet is by the exciting current i (t)
Excitation, generates lateral magnetic field；The relatively described track corresponding points lateral shift of the permanent magnet for connecting it, described in correcting
The actual value d1 (t) of lateral distance between permanent magnet and track corresponding points；5th step repeats above-mentioned second step to the described 4th
Step, until the Transit Equipment is without lateral deviation.
Optionally, there are many method of PID controller parameter adjusting, summed up two major classes: first is that theoretical calculation is adjusted
Method.It mainly according to the mathematical model of system, determines controller parameter by theoretical calculation.This obtained calculating of method
Data can may not directly be used, it is necessary to be adjusted and modify by the way that engineering is practical.Second is that practical tuning method, it mainly according to
Rely engineering experience, directly carried out in the test of control system, and method is simple, is easy to grasp, it is extensive in practice in engineering
Using.So the method that we use engineering turning in this patent.Applied in above-mentioned method, the preset ratio increases
Beneficial KP；Preset integration time constant TI；Preset gentle breeze time constant TDIt obtains as follows: step s1: determining ratio
Gain KP；Determine proportional gain KPWhen, remove the integral term and differential term of PID first, enables TI=0, TD=0, it is gradually increased by 0
Proportional gain KP, until calculated result vibrates；Again in turn, from proportional gain K at this timePIt is gradually reduced, until calculating knot
The oscillation of fruit disappears, and records proportional gain K at this timePNumerical value, set PID calculate in proportional gain as current value
60%~70%；Step s2: integration time constant T is determinedI；First set a biggish integration time constant TIInitial value, then
It is gradually reduced TI, until calculated result vibrates, it is gradually increased integration time constant T again laterI, until the vibration of calculated result
Disappearance is swung, T at this time is recordedIAnd set the integration time constant T in the PID calculatingIIt is the 150%~180% of current value；
Step s3: derivative time constant T is determinedD；Derivative time constant TDIt is traditionally arranged to be 0, or, setting by following steps: first setting
One biggish derivative time constant TDInitial value, be then gradually reduced TD, until calculated result vibrates, later again gradually
Increase derivative time constant TD, until the oscillation of calculated result disappears, record T at this timeDAnd it sets micro- in the PID calculating
Divide time constant TDIt is the 30% of current value.
Meanwhile the present invention also provides a kind of suspension type rail transit equipments using the above method, including support construction；It is outstanding
Day beam is hung, in the sky by support construction support, the inner wall of the suspension day beam is equipped with auxiliary spacer, on the auxiliary spacer
Equipped with box beam, the box beam is equipped with sleeper, and the sleeper is equipped with track；Bogie, the first end of the bogie
Be set in suspension day beam, the second end of the bogie connects a compartment, the first end of the bogie be equipped with
The permanent magnet of the track magnetic pole mutual exclusion；Control unit makes the compartment along described outstanding for driving the Transit Equipment
Hang the operation of day beam.Wherein, the surface of the bogie, the position opposite with the track are equipped with sensor；On the bogie,
The two sides opposite with the suspension day beam inner wall are equipped with electromagnet；The electromagnet and the sensor are single with the control respectively
Member connection；The sensor is used to obtain the actual value d1 (t) of the lateral distance between the bogie and track corresponding points, defeated
The actual value d1 (t) of the lateral distance is to described control unit out；Described control unit is also to execute following steps:
Calculate difference e (t)=d1 (t)-d0 between actual value and initial value d0；
It is calculated according to the difference e (t), obtains the exciting current of electromagnet needs
Wherein, KPIndicate preset proportional gain；TIIndicate preset product
Divide time constant；TDIndicate preset derivative time constant；
The exciting current i (t) obtained will be calculated and be input to the electromagnet, the electromagnet is by the exciting current
I (t) excitation, generates lateral magnetic field；The relatively described track corresponding points lateral shift of the bogie for connecting it, to correct
The actual value d1 (t) of lateral distance between the bogie and track corresponding points.
Optionally, in suspension type rail transit equipment as described above, at least side of the electromagnet is additionally provided with air
Spring.
Optionally, in suspension type rail transit equipment as described above, the preset proportional gain KP, it is described preset
Integration time constant TI, the preset gentle breeze time constant TDIt is stored in described control unit, and obtains as follows
:
Step s1: proportional gain K is determinedP；Determine proportional gain KPWhen, remove the integral term and differential term of PID first, enables
TI=0, TD=0, proportional gain K is gradually increased by 0P, until calculated result vibrates；Again in turn, increase from ratio at this time
Beneficial KPIt is gradually reduced, until the oscillation of calculated result disappears, records proportional gain K at this timePNumerical value, setting PID calculate in
Proportional gain is the 60%~70% of current value；
Step s2: integration time constant T is determinedI；First set a biggish integration time constant TIInitial value, then by
Decrescence small TI, until calculated result vibrates, it is gradually increased integration time constant T again laterI, until the oscillation of calculated result
It disappears, records T at this timeIAnd set the integration time constant T in the PID calculatingIIt is the 150%~180% of current value；
Step s3: derivative time constant T is determinedD；Derivative time constant TDIt is traditionally arranged to be 0, or, setting by following steps
It is fixed: first to set a biggish derivative time constant TDInitial value, be then gradually reduced TD, until calculated result vibrates, it
It is gradually increased derivative time constant T again afterwardsD, until the oscillation of calculated result disappears, record T at this timeDAnd set the PID meter
Derivative time constant T in calculationDIt is the 30% of current value.
Optionally, in suspension type rail transit equipment as described above, the first end of the bogie includes: framework,
Directive wheel 22 is also connected on the outside of the framework, the top of the framework is provided with suspension arrangement, traction device and braking dress
It sets, the air spring is equipped with below the bogie；The inner wall of the suspension day beam, the position opposite with the directive wheel is also
Equipped with wheel track 23, there are gaps between the directive wheel and the wheel track；Wherein, the suspension arrangement is set to the bogie
Between the compartment, to hang the compartment；The traction device be set to the bogie and suspension day beam it
Between, to provide the driving force for driving the bogie；The brake apparatus is set to the bogie and suspension day beam
Between, to provide the brake force for braking the bogie.
Meanwhile the present invention also provides a kind of magnetic suspension systems, including, bogie, track and control unit.Wherein, described
Bogie includes framework, and the top of the framework is provided with the suspension arrangement being electrically connected with the control unit, traction device
And brake apparatus；The suspension arrangement is to hang the compartment；The traction device is to provide the driving bogie
Driving force；The brake apparatus brakes the brake force of the bogie to provide；It is equipped with permanent magnet below the bogie, passes
Sensor and electromagnet；The permanent magnet and the track magnetic pole mutual exclusion；The electromagnet and the sensor are symmetrically set
The track two sides are placed in, the electromagnet and the sensor are electrically connected with the control unit respectively；The sensor is used
In the actual value d1 (t) for obtaining the lateral distance between the bogie and track corresponding points, the reality of the lateral distance is exported
Actual value d1 (t) is to described control unit；Described control unit is following to be executed according to the actual value d1 (t) of the lateral distance
Step:
Calculate difference e (t)=d1 (t)-d0 between actual value and initial value d0；
It is calculated according to the difference e (t), obtains the exciting current of electromagnet needs
Wherein, KPIndicate preset proportional gain；TIIndicate preset product
Divide time constant；TDIndicate preset gentle breeze time constant；
The exciting current i (t) obtained will be calculated and be input to the electromagnet, the electromagnet is by the exciting current
I (t) excitation, generates lateral magnetic field；The relatively described track corresponding points lateral shift of the bogie for connecting it, to correct
The actual value d1 (t) of lateral distance between the bogie and track corresponding points；
Wherein, the preset proportional gain KP, preset integration time constant TI, preset gentle breeze time constant TD?
It defaults in described control unit.
Optionally, in above-mentioned magnetic suspension system, the preset proportional gain KPTo calculate described control unit
The obtained exciting current i (t) occurs in 60%~70% range of the numerical value shaken；The preset integration time constant
TIThere is 150%~180% range of the numerical value shaken in the exciting current i (t) for described control unit is calculated
It is interior；The preset gentle breeze time constant TDIt is 0.The exciting current i (t) occur the numerical value shaken can by gradually increasing or
Reduce the proportional gain KP, preset integration time constant TI, preset gentle breeze time constant TD, according to described control unit
The calculated result of output determines.
Beneficial effect
The present invention provides a kind of method for correcting permanent-magnet magnetic group lateral deviation in suspension type rail transit equipment, Yi Jiying
With the suspension type rail equipment of this method.Closed-loop control system, control therein are formed by sensor, control unit and electromagnet
Unit processed carries out PID arithmetic (pid calculation) to the data of sensor, obtains the electric current gradually decayed, passes through the electricity
Stream excitation electromagnet generates magnetic field, gradually corrects the lateral offset of magnet.The control method of PID obtains so that the exciting current produces
Raw magnetic field is gradually reduced the active force of bogie, and bogie movement also can be slower and slower, thus can also play to system
One buffer protection function, the magnetic field for exciting it keep the rail permanent magnet array not connect with the vehicle-mounted permanent magnet array
The correction to magnetic suspension system lateral deviation is realized in touching.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, and with it is of the invention
Embodiment together, is used to explain the present invention, and is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of bogie in suspension type rail transit equipment of the invention.
Fig. 2 is the overall structure diagram of suspension type magnetic suspension train of the invention.
Fig. 3 is the schematic diagram of traditional permanent magnetism magnetic suspension system.
Fig. 4 is the schematic diagram under permanent magnetism magnetic suspension system deviation state of the invention.
Fig. 5 is the flow chart of the method for permanent-magnet magnetic group lateral deviation in correction suspension type rail transit equipment of the invention.
Fig. 6 is the schematic diagram of PID arithmetic in the present invention.
Fig. 7 is the schematic diagram for correcting the permanent magnetism magnetic suspension system after lateral deviation in the present invention by PID arithmetic.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
This patent be in permanent magnet suspension mode, in permanent magnet suspension rail traffic due to turn or shake etc. because
Element makes suspension permanent magnet magnetic group the phenomenon that lateral deviation occur, this phenomenon influences whether the stability of suspension system.But current city
Rarely has the method corrected to the permanent-magnet magnetic group lateral deviation in permanent magnet suspension rail traffic on face.This patent is then to be related to one
Kind has the method and device of correction permanent-magnet magnetic group lateral deviation.
Fig. 2 is suspension type rail transit equipment according to the present invention, including support construction 1；Day beam 2 is hung, by the branch
Support structure supports in the sky, and the inner wall of the suspension day beam is equipped with auxiliary spacer, and the auxiliary spacer is equipped with box beam, described
Box beam is equipped with sleeper, and the sleeper is equipped with track 21；Compartment 3；Bogie 4, the first of the bogie shown in FIG. 1
End is set in suspension day beam, and referring to Fig. 2, the second end of the bogie passes through single sunpender or double sunpenders connect the vehicle
Compartment；Control unit (visual angle is not shown in figure) makes the compartment along suspension day beam for driving the Transit Equipment
Operation；Wherein, the surface of the bogie, the position opposite with the track are equipped with sensor 413；On the bogie, with
The opposite two sides of the suspension day beam inner wall are equipped with electromagnet 412；The electromagnet and the sensor respectively with the control
Unit connection constitutes the lateral deviation in above-mentioned magnetic suspension system and corrects control closed loop；Described control unit is mainly to basis
The electric signal of the sensor controls the size of the exciting current in the electromagnet, keeps exciting current excitation magnetic field
The rail permanent magnet array is not contacted with the vehicle-mounted permanent magnet array.
Track girder is the support device entirely to suspend as shown in two middle part of figure or Fig. 4 or Fig. 7.Shown in Fig. 7, permanent-magnet magnetic group
It is in face levitation position with guide rail, by installing two position sensors in the top of bogie, is pacified in the side of bogie
Two electromagnet are filled, are denoted as initial value in the parallel distance d of face levitation position measurement position sensor to track girder.Work as train
When turning or generating vibration, it may appear that the phenomenon that permanent-magnet magnetic group lateral deviation.At this point, side position sensor numerical value
For d1, other side position sensor numerical value is d2, and the numerical signal of two positions sensor is sent into current controller and is compared
And analysis.Current controller, to electric current is applied on two electromagnet, has electric current to flow through, electromagnet according to the result of analysis on electromagnet
Variation just generated to the attraction of track girder, both sides are because horizontal direction force is of different sizes, so that bogie is to stress big
It moves on one side, hauls permanent-magnet magnetic group again to the position that lateral deviation does not occur.As the range sensor detected value d1=of two sides
When d2=d, the numerical signal of position sensor is sent into current controller and is compared and analyzes, and current controller compares this letter
Number post analysis goes out permanent-magnet magnetic group at this time and has been returned to the position that lateral deviation does not occur, can stop at and apply electric current on electromagnet,
Without electric current on electromagnet, electromagnet also disappears to the power in track girder level, and correction procedure terminates at this time.This patent is exactly
It is a kind of that position is detected by position sensor, current controller is delivered a signal to, analysis is compared by current controller, to electricity
Apply electric current on magnet, generate the power of horizontal direction, the permanent-magnet magnetic group for generating lateral deviation is retracted, from deviating from the position does not occur
Real time correction method.
Specifically, bogie structure front view is as shown in Figure 1 in above-mentioned equipment.Its shape is such as metal four
Take turns trolley, each bogie is equipped with 42, two groups of wheels of a framework to, components such as suspension arrangement, traction device and brake apparatus.
Two groups of wheels are connected to by crossbeam 43.The air spring ined succession below bogie similar to automobile tire, such magnetic suspension train are
It is generated repulsive force by being mounted on bogie A, B, C, D as shown in Figure 1 vehicle-mounted levitation device everywhere and permanent magnetism track and is constituted mainly
Magnetic suspension system, provide main suspending power for train.
Magnetic suspension system therein, can by bogie first end in permanent magnet and the track (21) magnetic pole it is mutual
Reprimand realizes that aerotrain suspends, and the winding for being also may rely on electromagnet generates electromagnetic force, and electromagnetic force and permanent magnet lateral force are made jointly
With the guiding for realizing train laterally offset.
Refering to what is shown in Fig. 4, when the permanent-magnet magnetic group that permanent magnet and guide rail form produces lateral deviation, for example, permanent magnetism iron phase
The left side is biased to for guide rail and deviates 5mm.At this moment, the symmetrical position sensor on both sides can detect the distance values on both sides not
Deng.As shown in figure 4, two position sensings are 800mm, i.e. initial value d0=apart from track girder horizontal distance under normal condition
800mm.And the position sensor detecting distance d1=795mm on the left side under shift state is illustrated, the position sensor detection on the right
Away from for d2=805mm, both sides can be detected signal and be transferred to current controller by position sensor at this time, and current controller passes through figure
Pid algorithm shown in 6, which compares and analyzes, can issue the order for applying electric current to electromagnet, to application one on the electromagnet of side
Initial value is 50A and the electric current gradually decayed, has electric current to flow through on electromagnet, will generate the 1000N to track girder and gradually subtract
Small attraction, therefore bogie can move right under the attraction effect that this is gradually reduced, since electric current is gradually reduced,
Attraction is gradually reduced, and bogie movement also can be slower and slower, a buffer protection function is played to system, at this point, if two
The position sensor on side all detects that distance at this time is d1=d2=d=800mm, illustrates that permanent-magnet magnetic group is acted in apparatus for correcting
Under had returned to the position that lateral deviation does not occur.This position signal can be passed to corresponding current control by sensor
Device, current controller receive this signal, reuse pid algorithm and compare and analyze, and stop applying electric current to electromagnet, turn
It is zero to frame horizontal direction both sides stress, there is no bonding force horizontally to the right, correcting process terminates.Bogie returns to Fig. 7 institute
The center shown maintains, and keeps stable magnetic suspension state.Dextrad deviates similarly, is not added repeats herein.
It is above-mentioned that control flow shown in fig. 5 can be summarized as to the correction procedure of laterally offset, with sensor, electromagnet
The control of control unit and realize.Specifically, position sensor is apart from track girder horizontal distance initial value d as input, position
The measured value d1 or d2 of sensor is set as value of feedback, relatively generates an error later, this error can in proportional component
Quickly reduce, but cannot completely eliminate.Therefore, it is necessary to enter integral element, integral element can eliminate past accumulated error,
The accuracy of integral control system, but concussion is easily caused, cause overshoot.Finally it can reduce overshoot, differential in differentiation element
The stability of control system.Ratio, integral, differential control cooperate, can rapidly, it is accurate, smoothly eliminate deviation, reach good
Good control effect.
Its step includes:
The initial value d0 of the lateral distance between permanent magnet and track corresponding points is arranged in the first step, obtains the first of electromagnet
Beginning exciting current i0；
Second step, sensor obtain the actual value d1 (t) of the lateral distance between permanent magnet and track corresponding points, calculate real
Difference e (t)=d1 (t)-d0 between actual value and initial value；
Third step carries out PID calculating to the difference e (t), obtains the exciting current of electromagnet needs
Wherein, KPIndicate preset proportional gain；TIIndicate preset product
Divide time constant；TDIndicate preset gentle breeze time constant；
4th step will calculate the exciting current i (t) obtained and be input to the electromagnet, and the electromagnet is by described
Exciting current i (t) excitation, generates lateral magnetic field；The relatively described track corresponding points of the permanent magnet for connecting it are laterally inclined
It moves, to correct the actual value d1 (t) of the lateral distance between the permanent magnet and track corresponding points；
5th step repeats above-mentioned second step to the 4th step, until the Transit Equipment is out of service.
Wherein, the preset proportional gain KP；Preset integration time constant TI；Preset gentle breeze time constant TDIt is logical
Cross following steps acquisition:
Step s1: proportional gain K is determinedP；Determine proportional gain KPWhen, remove the integral term and differential term of PID first, enables
TI=0, TD=0, so that PID calculating is become simple proportion adjustment.Proportional gain K is gradually increased by 0P, until calculated result occurs
Oscillation；Again in turn, from proportional gain K at this timePIt is gradually reduced, until the oscillation of calculated result disappears, records ratio at this time
Example gain KPNumerical value, set PID calculate in proportional gain as the 60%~70% of current value；
Step s2: integration time constant T is determinedI；First set a biggish integration time constant TIInitial value, then by
Decrescence small TI, until calculated result vibrates, it is gradually increased integration time constant T again laterI, until the oscillation of calculated result
It disappears, records T at this timeIAnd set the integration time constant T in the PID calculatingIIt is the 150%~180% of current value；
Step s3: derivative time constant T is determinedD；Derivative time constant TDIt is traditionally arranged to be 0, or, setting by following steps
It is fixed: first to set a biggish derivative time constant TDInitial value, be then gradually reduced TD, until calculated result vibrates, it
It is gradually increased derivative time constant T again afterwardsD, until the oscillation of calculated result disappears, record T at this timeDAnd set the PID meter
Derivative time constant T in calculationDIt is the 30% of current value.Above-mentioned steps S1 is to the interchangeable sequence of step S3.
Above-mentioned suspension type rail transit equipment, the top of bogie are additionally provided with suspension arrangement, traction device and system
Dynamic device, the bogie lower section are equipped with the air spring；
The inner wall of the suspension day beam, the position opposite with the directive wheel is additionally provided with wheel track 23, the directive wheel and institute
State between wheel track that there are gaps；
Wherein, the suspension arrangement may be selected to be sunpender, connect bogie and compartment by sunpender；
The traction device may be selected to be the linear motor right above bogie, provide driving force；
The brake apparatus may be selected to be electric braking or mechanical braking, and electric braking is applied instead in linear motor
To electric current, mechanical braking is just mounted in the upper left side position of bogie, and forced brake effect is reached by mechanical structure.
Present invention has an advantage that
Suspension type magnetic suspension train on the vertical direction of center can stable suspersion, have very big suspension stiffness, and
Not needing artificial control can stable suspersion.
The magnetic suspension system can process in a modular manner, and structure is simple, debugging is convenient, easy to install, maintenance
It is convenient.
When detecting that laterally offset occurs for magnetic suspension system, the present invention can be by the electromagnet being mounted on bogie
Electromagnetic force and track are laterally generating attraction or repulsion, provide guiding force, correct offset.Also, due to using pid algorithm,
For correcting the guiding force of laterally offset because algorithm self character can voluntarily decay at any time.Attenuation process can be to the system
It works as a buffer, passenger's not noticeable adjustment process when turning to adjustment.Present invention energy consumption is low, meets modern " green traffic " reason
It reads.
Those of ordinary skill in the art will appreciate that: the foregoing is only a preferred embodiment of the present invention, and does not have to
In the limitation present invention, although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art
For, still can to foregoing embodiments record technical solution modify, or to part of technical characteristic into
Row equivalent replacement.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of method of permanent-magnet magnetic group lateral deviation in correction suspension type rail transit equipment,
The Transit Equipment includes permanent magnet and track, magnetic field mutual exclusion between the permanent magnet and the track, to provide
To the suspending power of the Transit Equipment；
It is characterized in that, step includes:
The initial value d0 of the lateral distance between permanent magnet and track corresponding points is arranged in the first step, obtains the initial of electromagnet and swashs
Encourage electric current i0；
Second step, sensor obtain the actual value d1 (t) of the lateral distance between permanent magnet and track corresponding points, calculate actual value
Difference e (t)=d1 (t)-d0 between initial value；
Third step carries out PID calculating to the difference e (t), obtains the exciting current of electromagnet needs
Wherein, KPIndicate preset proportional gain；TIIndicate preset product
Divide time constant；TDIndicate preset derivative time constant；
4th step will calculate the exciting current i (t) obtained and be input to the electromagnet, and the electromagnet is by the excitation
Electric current i (t) excitation, generates lateral magnetic field；The relatively described track corresponding points lateral shift of the permanent magnet for connecting it, with
Correct the actual value d1 (t) of the lateral distance between the permanent magnet and track corresponding points；
5th step repeats above-mentioned second step to the 4th step, until the Transit Equipment is without lateral deviation.
2. the method for correcting permanent-magnet magnetic group lateral deviation in suspension type rail transit equipment as described in claim 1, feature
It is, the preset proportional gain KP；Preset integration time constant TI；Preset gentle breeze time constant TDBy walking as follows
It is rapid to obtain:
Step s1: proportional gain K is determinedP；Determine proportional gain KPWhen, remove the integral term and differential term of PID first, enables TI=
0、TD=0, proportional gain K is gradually increased by 0P, until calculated result vibrates；Again in turn, from proportional gain K at this timeP
It is gradually reduced, until the oscillation of calculated result disappears, records proportional gain K at this timePNumerical value, setting PID calculate in ratio
Example gain is the 60%~70% of current value；
Step s2: integration time constant T is determinedI；First set a biggish integration time constant TIInitial value, then gradually subtract
Small TI, until calculated result vibrates, it is gradually increased integration time constant T again laterI, until the oscillation of calculated result disappears,
The T of record at this timeIAnd set the integration time constant T in the PID calculatingIIt is the 150%~180% of current value；
Step s3: derivative time constant T is determinedD；Derivative time constant TDIt is traditionally arranged to be 0, or, setting by following steps: first
Set a biggish derivative time constant TDInitial value, be then gradually reduced TD, until calculated result vibrates, Zhi Houzai
It is gradually increased derivative time constant TD, until the oscillation of calculated result disappears, record T at this timeDAnd it sets in the PID calculating
Derivative time constant TDIt is the 30% of current value.
3. a kind of suspension type rail transit equipment using claim 1 the method, including
Support construction (1)；
It hangs day beam (2), in the sky by support construction support, the inner wall of the suspension day beam is equipped with auxiliary spacer, described
Auxiliary spacer is equipped with box beam, and the box beam is equipped with sleeper, and the sleeper is equipped with track (21)；
Bogie (4), the first end of the bogie are set in suspension day beam, the second end connection one of the bogie
A compartment (3), the first end of the bogie are equipped with the permanent magnet (41) with the track (21) magnetic pole mutual exclusion；
Control unit (5) runs the compartment along the suspension day beam for driving the Transit Equipment；
It is characterized in that,
The surface of the bogie, the position opposite with the track are equipped with sensor (413)；It is and described on the bogie
It hangs the opposite two sides of day beam inner wall and is equipped with electromagnet (412)；The electromagnet and the sensor are single with the control respectively
Member connection；
The sensor is used to obtain the actual value d1 (t) of the lateral distance between the bogie and track corresponding points, output
The actual value d1 (t) of the lateral distance is to described control unit；Described control unit is also to execute following steps:
Calculate difference e (t)=d1 (t)-d0 between actual value and initial value d0；
It is calculated according to the difference e (t), obtains the exciting current of electromagnet needs
Wherein, KPIndicate preset proportional gain；TIIndicate preset product
Divide time constant；TDIndicate preset derivative time constant；
The exciting current i (t) obtained will be calculated and be input to the electromagnet, the electromagnet is by the exciting current i (t)
Excitation, generates lateral magnetic field；The relatively described track corresponding points lateral shift of the bogie for connecting it, described in correcting
The actual value d1 (t) of lateral distance between bogie and track corresponding points.
4. suspension type rail transit equipment as claimed in claim 3, which is characterized in that at least the one of the electromagnet (412)
Side is additionally provided with air spring (414).
5. suspension type rail transit equipment as claimed in claim 3, which is characterized in that the preset proportional gain KP, it is described
Preset integration time constant TI, the preset gentle breeze time constant TDIt is stored in described control unit, and by walking as follows
It is rapid to obtain:
Step s1: proportional gain K is determinedP；Determine proportional gain KPWhen, remove the integral term and differential term of PID first, enables TI=
0、TD=0, proportional gain K is gradually increased by 0P, until calculated result vibrates；Again in turn, from proportional gain K at this timeP
It is gradually reduced, until the oscillation of calculated result disappears, records proportional gain K at this timePNumerical value, setting PID calculate in ratio
Example gain is the 60%~70% of current value；
Step s2: integration time constant T is determinedI；First set a biggish integration time constant TIInitial value, then gradually subtract
Small TI, until calculated result vibrates, it is gradually increased integration time constant T again laterI, until the oscillation of calculated result disappears,
The T of record at this timeIAnd set the integration time constant T in the PID calculatingIIt is the 150%~180% of current value；
Step s3: derivative time constant T is determinedD；Derivative time constant TDIt is traditionally arranged to be 0, or, setting by following steps: first
Set a biggish derivative time constant TDInitial value, be then gradually reduced TD, until calculated result vibrates, Zhi Houzai
It is gradually increased derivative time constant TD, until the oscillation of calculated result disappears, record T at this timeDAnd it sets in the PID calculating
Derivative time constant TDIt is the 30% of current value.
6. the suspension type rail transit equipment as described in the claim 3 to 4, which is characterized in that the first end packet of bogie
Included: framework is also connected with directive wheel 22 on the outside of the framework, and the top of the framework is provided with suspension arrangement, traction dress
It sets and brake apparatus, the bogie lower section is equipped with the air spring；
The inner wall of the suspension day beam, the position opposite with the directive wheel is additionally provided with wheel track 23, the directive wheel and the wheel
There are gaps between rail；
Wherein, the suspension arrangement is set between the bogie and the compartment, to hang the compartment；
The traction device is set between the bogie and suspension day beam, to provide the drive for driving the bogie
Power；
The brake apparatus is set between the bogie and suspension day beam, to provide the system for braking the bogie
Power.
7. a kind of magnetic suspension system, including bogie, track (21) and control unit (5), which is characterized in that
The bogie includes framework, the top of the framework be provided with the suspension arrangement being electrically connected with the control unit,
Traction device and brake apparatus；
The suspension arrangement is to hang the compartment；
The traction device drives the driving force of the bogie to provide；
The brake apparatus brakes the brake force of the bogie to provide；
Permanent magnet (41), sensor (413) and electromagnet (412) are equipped with below the bogie；
The permanent magnet and the track (21) magnetic pole mutual exclusion；
The electromagnet and the sensor are symmetrically disposed on the track two sides, the electromagnet and the sensor point
It is not electrically connected with the control unit；
The sensor is used to obtain the actual value d1 (t) of the lateral distance between the bogie and track corresponding points, output
The actual value d1 (t) of the lateral distance is to described control unit；Described control unit is to the reality according to the lateral distance
Actual value d1 (t) executes following steps:
Calculate difference e (t)=d1 (t)-d0 between actual value and initial value d0；
It is calculated according to the difference e (t), obtains the exciting current of electromagnet needs
Wherein, KPIndicate preset proportional gain；TIIndicate preset product
Divide time constant；TDIndicate preset gentle breeze time constant；
The exciting current i (t) obtained will be calculated and be input to the electromagnet, the electromagnet is by the exciting current i (t)
Excitation, generates lateral magnetic field；The relatively described track corresponding points lateral shift of the bogie for connecting it, described in correcting
The actual value d1 (t) of lateral distance between bogie and track corresponding points；
Wherein, the preset proportional gain KP, preset integration time constant TI, preset gentle breeze time constant TDIt is default
In in described control unit.
8. magnetic suspension system as claimed in claim 7, which is characterized in that
The preset proportional gain KPThere is the number shaken in the exciting current i (t) for described control unit is calculated
In 60%~70% range of value；
The preset integration time constant TIThe exciting current i (t) for described control unit is calculated is shaken
Numerical value 150%~180% range in；
The preset gentle breeze time constant TDIt is 0.
9. magnetic suspension system as claimed in claim 7, which is characterized in that the distal end of the electromagnet or the electromagnetism are untouchable
Buffer structure is also connected with to the side of the track.
10. magnetic suspension system as claimed in claim 9, the buffer structure is air spring or rubber spring.
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| CN201810993357.2A CN109159672B (en) | 2018-08-29 | 2018-08-29 | Method and device for correcting lateral deviation of permanent magnet set in magnetic suspension traffic equipment |
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| CN201810993357.2A CN109159672B (en) | 2018-08-29 | 2018-08-29 | Method and device for correcting lateral deviation of permanent magnet set in magnetic suspension traffic equipment |
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| CN109733823A (en) * | 2019-02-13 | 2019-05-10 | 山东博远重工有限公司 | Adjustment device is limited for heavy body transporting unit track travel |
| CN109910631A (en) * | 2019-01-31 | 2019-06-21 | 江西理工大学 | Correct the device and whole permanent magnetic magnetic suspension system of the lateral deviation of permanent-magnet magnetic group |
| CN112519804A (en) * | 2019-09-18 | 2021-03-19 | 江西理工大学 | Suspension type hybrid magnetic suspension rail transit system |
| CN113085565A (en) * | 2021-04-15 | 2021-07-09 | 江西理工大学 | Suspension frame of permanent magnetic suspension rail transit equipment and operation method thereof |
| CN113119740A (en) * | 2021-05-27 | 2021-07-16 | 江西理工大学 | Single magnetic track permanent magnet and electromagnetic hybrid suspension device |
| CN114688211A (en) * | 2020-12-30 | 2022-07-01 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Lateral buffering vibration damper and high-speed magnetic suspension equipment |
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