CN109693554A - Method for inhibiting track dislocation of maglev train - Google Patents
Method for inhibiting track dislocation of maglev train Download PDFInfo
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- CN109693554A CN109693554A CN201910002930.3A CN201910002930A CN109693554A CN 109693554 A CN109693554 A CN 109693554A CN 201910002930 A CN201910002930 A CN 201910002930A CN 109693554 A CN109693554 A CN 109693554A
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
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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
Abstract
The invention discloses a method for inhibiting track dislocation of a maglev train, which comprises the following steps of S100: a sensor is respectively arranged on the left and right groups of suspension electromagnets of the magnetic suspension train, and the two sensors respectively measure the gaps between the left and right suspension electromagnets and the track in real time; step S200: constructing a function curve when the sensor probe passes through the track dislocation; step S300: establishing a system model of a suspension module of the magnetic-levitation train; step S400: determining a reasonable transition process for a closed-loop control method of the suspension module; step S500: the closed-loop control method in the step S400 is adopted to control the suspension module of the maglev train, so that the maglev train can stably pass through the track slab staggering, the impact interference brought to the maglev train by the track slab staggering is effectively inhibited, and the suspension control performance of the maglev train is improved.
Description
Technical field
The present invention relates to magnetic-levitation train field more particularly to magnetic-levitation train track faulting of slab ends suppressing methods.
Background technique
Medium-and low-speed maglev train uses modularization bogie structure, essentially eliminates coupling between suspending module, therefore can
To realize that suspending module freedom of motion on vertical suspension direction, suspending module are the most basic suspension function of medium-and low-speed maglev train
It can unit.As shown in Figure 1, a section medium-and low-speed maglev train is made of 10 suspending modules 10, entire suspending module passes through air
Spring 11 is connect with compartment 20.
Shown in medium-and low-speed maglev train suspending module Fig. 2, suspending module 10 is rigid structure, and two sensors 12 are pacified respectively
On the two groups of levitating electromagnets 13 in left and right, the two groups of electromagnet 13 and rail interaction of inside modules constitute suspending module
Two suspension endpoints.Two controllers control the two groups of levitating electromagnets 13 in left and right respectively, and controller is obtained by sensor 12
The voltage that real-time gap and control between the pole-face and track 30 of electromagnet 13 are added in electromagnet both ends makes in electromagnet coil
Electric current is generated, and then generates electromagnetic field；Electromagnetic field 13 and track 30 interact, and generate electromagnetic attraction；Electromagnetic force is in electricity
Magnet, to change the motion state of module.
In order to allow beam that can extend between adjacent backbar, the installation of track girder will consider certain gap, this quilt
Referred to as track seam.Due to the presence of track seam, the factors such as installation accuracy, difference variation and bridge settlement will lead to rail
The generation of road faulting of slab ends.The presence of track faulting of slab ends has seriously affected the suspended state of middle low speed magnetic suspension train, when track faulting of slab ends reaches
When to certain altitude, high vibration will be caused when train is passed through with certain speed, suspension system unstability is even resulted in and collapse.
The influence of the safety and reliability of this centering low-speed maglev train is fatal.Track faulting of slab ends schematic diagram is as shown in Figure 3.
In order to realize the stable suspersion of suspending module, at present using the thought using serials control suspension control system point
Solution is electric current loop and position ring two subsystems.Inner ring as shown in Figure 4 is electric current loop, and outer ring is position ring.The purpose of electric current loop
It is the variation for making the electric current of electromagnet be enable to respond quickly control voltage, it is sluggish reduces system；The design of position ring is in order to guarantee
Levitation gap tenacious tracking target levitation gap.But the appearance of track faulting of slab ends can cause levitation gap mutation, controller in order to
It keeps levitation gap stable and must quickly adjust the motion state of electromagnet according to target gap tracking track, at this moment electromagnetism
Iron just will appear high vibration.
Therefore, so that magnetic-levitation train is smoothly passed track faulting of slab ends, effectively inhibit the interference of track faulting of slab ends bring, with
Improve the problem of those skilled in the art's urgent need to resolve is become to the suspension control performance of magnetic-levitation train.
Summary of the invention
The technical problem to be solved by the present invention is to overcome drawbacks described above of the existing technology, provide magnetic-levitation train track
Faulting of slab ends suppressing method can make magnetic-levitation train smoothly pass track faulting of slab ends, effectively inhibit the interference of track faulting of slab ends bring, to improve
To the suspension control performance of magnetic-levitation train.
The technical solution used to solve the technical problems of the present invention is that:
Magnetic-levitation train track faulting of slab ends suppressing method, the described method comprises the following steps:
Step S100: a sensor, two biographies are respectively arranged on two groups of the left and right levitating electromagnet of magnetic-levitation train
Sensor distinguishes real-time measurement or so two gaps between levitating electromagnet and track；
Step S200: function curve when structure sensor probe is by track faulting of slab ends；
Step S300: the system model of the suspending module of magnetic-levitation train is established；
Step S400: reasonable transient process is determined for the closed loop control method of suspending module；
Step S500: it is controlled using suspending module of the closed loop control method in step S400 to magnetic-levitation train.
Preferably, the function curve zs (t) when structure sensor probe is by track faulting of slab ends in the step S200 are as follows:
Wherein, v is magnetic-levitation train speed, and jf is track joint gap, and d is sensor probe diameter, t0It is wrong to cross track
Platform initial time, zjThe largest value-added measured when crossing seam for sensor probe, awFor track faulting of slab ends height.
Preferably, in the step S300 suspending module system model are as follows:
Wherein, ifM is that suspending module corresponds to air
Spring the upper compartment quality, m are that suspending module corresponds to half of quality, z under air spring1For the displacement of left side electromagnet, z2For the right side
The displacement of side electromagnet, i1For left side electromagnet current, i2For right side electromagnet current, u1For left side electromagnet winding voltage, u2For
Right side electromagnet winding voltage, R1For left side electromagnet magnetic circuit reluctance, R2For right side electromagnet magnetic circuit reluctance, g is gravity acceleration
Degree, c is constant coefficient, R=R1=R2。
Preferably, the step S400 specifically:
Step S401: the closed loop control method function model of suspending module is determined；
Step S402: initial time and the time of transient process are determined；
Step S403: the function model of the transient process of the two groups of levitating electromagnets in left and right of magnetic-levitation train is determined.
Preferably, in the step S401 suspending module closed loop control method function model are as follows:
Wherein, ki1、ki2The respectively current feedback coefficient of left and right sides electromagnet, ka1、ka2Respectively left and right sides electromagnet
Integrated acceleration feedback factor, kp1、kp2The respectively gap feedback factor of left and right sides electromagnet, krv1、krv2Respectively left and right sides
The gap Derivative Feedback coefficient of electromagnet, uec1、uec2The respectively initial static voltage of left and right sides electromagnet.
Preferably, the step S402 determines initial time and the time of transient process specifically:
Left side electromagnet initial time are as follows: t0, right side electromagnet initial time are as follows: t0+2L/v；
The transit time of transient process are as follows: T=jf/v.
Preferably, in the step S403 transient process of the two groups of levitating electromagnets in left and right of magnetic-levitation train function model
Are as follows:
Cross the function of track faulting of slab ends step transition process are as follows:
Return the function of the transient process in normal orbit stage are as follows:
Wherein, T1To cross track faulting of slab ends step transition process time, T2For the settling time for returning normal orbit.
So that magnetic-levitation train is smoothly passed track faulting of slab ends, effectively inhibit track faulting of slab ends bring impulsive disturbance, eliminates rail
The mutation of road faulting of slab ends bring levitation gap, improves the suspension control performance of magnetic-levitation train.
Detailed description of the invention
Fig. 1 is medium-and low-speed maglev train stereoscopic schematic diagram；
Fig. 2 is medium-and low-speed maglev train suspending module structural schematic diagram；
Fig. 3 is track faulting of slab ends schematic diagram；
Fig. 4 is suspension system serials control block diagram；
Fig. 5 is a kind of flow chart of magnetic-levitation train track faulting of slab ends suppressing method provided by the invention；
Fig. 6 is that sensor passes through track faulting of slab ends schematic diagram；
Fig. 7 is levitation gap change curve when sensor passes through track faulting of slab ends；
Fig. 8 is that sensor probe crosses seam track faulting of slab ends schematic diagram；
Fig. 9 is that the two groups of electromagnet in left and right cross the recovery curve figure arranged when track faulting of slab ends；
Figure 10 is levitation gap change curve when the two groups of electromagnet in left and right cross track faulting of slab ends；
Figure 11 is that the two groups of electromagnet in left and right cross track faulting of slab ends brief acceleration change curve；
Figure 12 is absolute displacement situation of change curve graph when the two groups of electromagnet in left and right cross track faulting of slab ends.
Specific embodiment
In order that those skilled in the art will better understand the technical solution of the present invention, with reference to the accompanying drawing to the present invention
It is described in further detail.
Referring to fig. 2, Fig. 5 and Fig. 6, Fig. 2 are medium-and low-speed maglev train suspending module structural schematic diagram, and Fig. 5 mentions for the present invention
A kind of flow chart of the magnetic-levitation train track faulting of slab ends suppressing method supplied, Fig. 6 are that sensor passes through track faulting of slab ends schematic diagram.
A kind of magnetic-levitation train track faulting of slab ends suppressing method, the described method comprises the following steps:
Step S100: a sensor, two biographies are respectively arranged on two groups of the left and right levitating electromagnet of magnetic-levitation train
Sensor distinguishes real-time measurement or so two gaps between levitating electromagnet and track；
Magnetic floating train suspending module is as shown in Fig. 2, two sensors 12 are separately mounted to the two groups of levitating electromagnets 13 in left and right
On, two controllers control the two groups of levitating electromagnets 13 in left and right respectively, and entire suspending module 10 passes through air spring 11 and vehicle
Compartment connection.Referring to Fig. 6, when sensor passes through track faulting of slab ends with certain speed, sensor probe real-time measurement levitating electromagnet
Change with orbit gap.
Step S200: function curve when structure sensor probe is by track faulting of slab ends；
Step S300: the system model of the suspending module of magnetic-levitation train is established；
Step S400: reasonable transient process is determined for the closed loop control method of suspending module；
Step S500: it is controlled using suspending module of the closed loop control method in step S400 to magnetic-levitation train.
So that magnetic-levitation train is smoothly passed track faulting of slab ends, effectively inhibits track faulting of slab ends to impact to magnetic-levitation train bring dry
It disturbs, eliminates the mutation of track faulting of slab ends bring levitation gap, improve the suspension control performance of magnetic-levitation train.
Referring to fig. 2, Fig. 7 to Fig. 8, Fig. 2 are medium-and low-speed maglev train suspending module structural schematic diagram, and Fig. 7 is logical for sensor
Levitation gap change curve when crossing track faulting of slab ends, Fig. 8 are that sensor probe crosses seam track faulting of slab ends schematic diagram.
The specific implementation of each step will be further told about below.
Step S100: a sensor, two biographies are respectively arranged on two groups of the left and right levitating electromagnet of magnetic-levitation train
Sensor distinguishes real-time measurement or so two gaps between levitating electromagnet and track；
Step S200: levitation gap when structure sensor probe is by track faulting of slab ends changes function curve.
Fig. 7 obtains levitation gap change curve by measurement when track faulting of slab ends for sensor when not applying control.Figure
Show that the gap signal that sensor measurement obtains is a slowly varying process, therefore sensor is passed through to the mistake of track faulting of slab ends
Journey is equivalent at a linear process with certain change rate, wherein the rate of variation is related with the sensor speed of service.
Referring to Fig. 8, a sensor includes three probes, if magnetic-levitation train speed is v, track joint gap is jf, is visited
Head diameter is d, and it is z that sensor probe, which crosses the largest value-added measured when seam,j, track faulting of slab ends height is aw.When popping one's head in sensor
When being located just at seam crossing, at this moment probe measurement to levitation gap value will become larger.Probe moment 1 from figure is t0Moment fortune
Going to the time used in the moment 2 is t1=(jf+d)/2v.
Assuming that from when changing at moment 1 to the moment 2, between orbit information suspends when sensor probe measured seam and faulting of slab ends
Gap information indicates with the monotonous straight lines of a fixed slope, slope k1=2vzj/(jf+d)。
Similarly, probe time used in moment 2 to the moment 3 is t2=(jf+d)/2v, the monotonous straight lines slope k of the process2
=2v (aw-zj)/(jf+d)。
According to it is assumed above obtained track faulting of slab ends when, the i.e. levitation gap information description of the orbit information measured of popping one's head in is bent
Line zs (t) can be described as:
The three road levitation gap signals that three probe detections obtain in sensor are supplied to suspension controller, suspension controller
Above-mentioned three roads levitation gap signal is compared, takes in three minimum value as this moment between levitating electromagnet and interorbital
Gap.
Step S300: the system model of the suspending module of magnetic-levitation train is established；
Magnetic floating train suspending module as shown in Fig. 2, two sensors be mounted on left and right two groups of levitating electromagnets on, two
Controller controls the two groups of levitating electromagnets in left and right respectively, and entire suspending module is connect by air spring with compartment.
It is M that suspending module, which corresponds to air spring the upper compartment quality, and suspending module corresponds to half of quality under air spring
(including bogie and electromagnet) is m, and left side electromagnet and right side electromagnet length are L, and left side electromagnetic force is Fe1, right side electricity
Magnetic force is Fe2, electromagnet displacement in left side is z1, electromagnet displacement in right side is z2, left side electromagnet current is i1, right side electromagnetism ferroelectricity
Stream is i2, left side electromagnet winding voltage is u1, right side electromagnet winding voltage is u2, left side electromagnet magnetic circuit reluctance is R1, right
Side electromagnet magnetic circuit reluctance is R2, air-gap flux φm, electromagnet main pole magnetic flux is φT, electromagnet coil umber of turn is N,
Iron core pole-face product is A, acceleration of gravity g.Remember constant coefficient(μ0For air permeability).
Voltage --- current balance equation:
Electromagnetic force equation are as follows:
Kinetics equation
Equations of moments of momentum
If
The system model of suspending module are as follows:
Step S401: the closed loop control method function model of suspending module is determined；
Wherein, ki1、ki2The respectively current feedback coefficient of left and right sides electromagnet, ka1、ka2Respectively left and right sides electromagnet
Integrated acceleration feedback factor, kp1、kp2The respectively gap feedback factor of left and right sides electromagnet, krv1、krv2Respectively left and right sides
The gap Derivative Feedback coefficient of electromagnet, uec1、uec2The respectively initial static voltage of left and right sides electromagnet, R=R1=R2。
The two groups of levitating electromagnets in left and right cause the levitation gap of left and right two o'clock to be mutated by track faulting of slab ends Shi Douhui, by right
When one appropriate transient process of target gap arrangement can efficiently solve suspending module by track faulting of slab ends system output with
Target gap instantaneous error crosses hang-up.Below by taking two groups of left and right levitating electromagnet is by track faulting of slab ends as shown in Figure 3 as an example
The transient process of design.
Step S402: initial time and the time of transient process are determined；
When first stage was the track faulting of slab ends stage, two groups of left and right electromagnet takes by the time span of track faulting of slab ends
Certainly in the length of entire electromagnet module, therefore the initial time difference of the transient process of the two groups of electromagnet arrangements in left and right here.
In order to study conveniently, it is assumed that being located at traffic direction side is left side levitating electromagnet, at the time of passing through track faulting of slab ends
For t0, the electromagnet speed of service is v.Because left side electromagnet and right side electromagnet length are L, then right side electromagnet start through
It is t at the time of crossing track faulting of slab ends0+2L/v.And setting transit time is used to by the time of seam, it may be assumed that T=jf/v.
The normal orbit stage is returned, the two groups of levitating electromagnets in left and right pass through track faulting of slab ends completely at this time, at this moment target gap
Become smaller suddenly, it is equally also unfavorable to suspension system.This stage will also arrange an appropriate transient process.The two groups of electromagnetism in left and right
The transient process initial time of iron setting is identical, i.e., right side electromagnet passes through starting at the time of track faulting of slab ends for the transient process
Moment.Transit time is less than the time that electromagnet module is run in normal orbit.
Step S403: the function model of the transient process of the two groups of levitating electromagnets in left and right of magnetic-levitation train is determined.
Initial time and the transit time of transient process has been determined, has spent the track faulting of slab ends stage, is setting u0=aω.The stage
Transit time T1=jf/v then can be the function of track faulting of slab ends step transition process are as follows:
The function for returning the transient process of normal orbit is that transition process arranging originates in t0+ 2L/v, setting value u0=-
aω, which is T2, the T2It can preset as the case may be, then can be the transient process of the stage arrangement
Function can be described as:
Step S500: it is controlled using suspending module of the closed loop control method in step S400 to magnetic-levitation train.Structure
Transient process is arranged according to the curvilinear function in function curve when making levitating electromagnet by track faulting of slab ends, using being provided with
The closed loop control method of transient to the suspending module of magnetic-levitation train carry out control be able to maintain keep levitation gap stable and
Track is tracked according to target gap, so that magnetic-levitation train can smoothly pass track faulting of slab ends.
Referring to Fig. 9 to Figure 12, Fig. 9 is that the two groups of electromagnet in left and right cross the recovery curve figure arranged when track faulting of slab ends, is schemed
10 be levitation gap change curve when the two groups of electromagnet in left and right cross track faulting of slab ends, and Figure 11 is that the two groups of electromagnet in left and right cross track mistake
Platform brief acceleration change curve, Figure 12 are absolute displacement situation of change curve graph when the two groups of electromagnet in left and right cross track faulting of slab ends.
Work as aω=2.5mm, joint gap jf=10mm, left side electromagnet and the equal electromagnet length L of right side electromagnet length
Setting gap compensation returns bent when two groups of electromagnet cross track faulting of slab ends when=1.3m, electromagnet speed of service v=50km/h or so
Line and suspension system dynamic response characteristic are as shown in Figure 7 to 10, and a suitable transient process can be conducive to two groups of left and right
The two-point levitation system of electromagnet smoothly passes track faulting of slab ends, effectively inhibits the interference of track faulting of slab ends bring.
Magnetic-levitation train track faulting of slab ends suppressing method provided by the present invention is described in detail above.It is used herein
A specific example illustrates the principle and implementation of the invention, and the above embodiments are only used to help understand
Core of the invention thought.It should be pointed out that for those skilled in the art, not departing from the principle of the invention
Under the premise of, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the claims in the present invention
Protection scope in.
Claims (7)
1. a kind of magnetic-levitation train track faulting of slab ends suppressing method, which is characterized in that the described method comprises the following steps:
Step S100: a sensor, two sensors are respectively arranged on two groups of the left and right levitating electromagnet of magnetic-levitation train
Two gaps between levitating electromagnet and track of real-time measurement or so respectively；
Step S200: function curve when structure sensor probe is by track faulting of slab ends；
Step S300: the system model of the suspending module of magnetic-levitation train is established；
Step S400: reasonable transient process is determined for the closed loop control method of suspending module；
Step S500: it is controlled using suspending module of the closed loop control method in step S400 to magnetic-levitation train.
2. magnetic-levitation train track faulting of slab ends suppressing method according to claim 1, which is characterized in that structure in the step S200
Make function curve z of the sensor probe by track faulting of slab ends whens(t) are as follows:
Wherein, v is magnetic-levitation train speed, and jf is track joint gap, and d is sensor probe diameter, t0To cross the starting of track faulting of slab ends
Moment, zjThe largest value-added measured when crossing seam for sensor probe, awFor track faulting of slab ends height.
3. magnetic-levitation train track faulting of slab ends suppressing method according to claim 2, which is characterized in that hanged in the step S300
The system model of floating module are as follows:
Wherein, ifM is that suspending module corresponds on air spring
Half of compartment quality, m are that suspending module corresponds to half of quality, z under air spring1For the displacement of left side electromagnet, z2For right side electromagnetism
Iron displacement, i1For left side electromagnet current, i2For right side electromagnet current, u1For left side electromagnet winding voltage, u2For right side electricity
Magnet winding voltage, R1For left side electromagnet magnetic circuit reluctance, R2For right side electromagnet magnetic circuit reluctance, g is acceleration of gravity, and c is normal
Coefficient, R=R1=R2。
4. magnetic-levitation train track faulting of slab ends suppressing method according to claim 3, which is characterized in that the step S400 is specific
Are as follows:
Step S401: the closed loop control method function model of suspending module is determined；
Step S402: initial time and the time of transient process are determined；
Step S403: the function model of the transient process of the two groups of levitating electromagnets in left and right of magnetic-levitation train is determined.
5. magnetic-levitation train track faulting of slab ends suppressing method according to claim 4, which is characterized in that hanged in the step S401
The closed loop control method function model of floating module are as follows:
Wherein, ki1、ki2The respectively current feedback coefficient of left and right sides electromagnet, ka1、ka2The respectively acceleration of left and right sides electromagnet
Spend integral feedback coefficient, kp1、kp2The respectively gap feedback factor of left and right sides electromagnet, krv1、krv2Respectively left and right sides electromagnetism
The gap Derivative Feedback coefficient of iron, uec1、uec2The respectively initial static voltage of left and right sides electromagnet.
6. magnetic-levitation train track faulting of slab ends suppressing method according to claim 5, which is characterized in that in the step S402 really
Determine initial time and the time of transient process specifically:
Left side electromagnet initial time are as follows: t0, right side electromagnet initial time are as follows: t0+2L/v；
The transit time of transient process are as follows: T=jf/v.
7. magnetic-levitation train track faulting of slab ends suppressing method according to claim 6, which is characterized in that magnetic in the step S403
The function model of the transient process of the two groups of levitating electromagnets in left and right of floating train are as follows:
Cross the function of track faulting of slab ends step transition process are as follows:
Return the function of the transient process of normal orbit are as follows:
Wherein, T1To cross track faulting of slab ends step transition process time, T2For the settling time for returning normal orbit.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112297865A (en) * | 2020-10-23 | 2021-02-02 | 同济大学 | Control method and system for inhibiting transverse impact interference of suspension system of magnetic-levitation train |
| CN112356680A (en) * | 2020-11-24 | 2021-02-12 | 中国人民解放军国防科技大学 | Average air gap feedback-based suspension control method for magnetic-levitation train |
| CN113836637A (en) * | 2021-09-15 | 2021-12-24 | 成都市新筑路桥机械股份有限公司 | Method and device for measuring weight of magnetic-levitation train and readable storage medium |
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