CN109986972A - Magnetic-levitation train and levitation control system, controller and control method thereof - Google Patents
Magnetic-levitation train and levitation control system, controller and control method thereof Download PDFInfo
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- CN109986972A CN109986972A CN201910415762.0A CN201910415762A CN109986972A CN 109986972 A CN109986972 A CN 109986972A CN 201910415762 A CN201910415762 A CN 201910415762A CN 109986972 A CN109986972 A CN 109986972A
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The invention discloses a magnetic-levitation train and a levitation control system, a controller and a control method thereof. The multi-core hot standby redundancy system has the advantages that the core calculation control units are used for carrying out multi-core hot standby redundancy, the plurality of independent and parallel core calculation control units are additionally arranged, when the core calculation control units are in failure, the rapid switching can be realized through the arbitration control unit, the output of the suspension controller and the stability of the suspension control system are not influenced, the plurality of core calculation control units can realize real-time communication, and the multi-core hot standby redundancy system has the advantages of simple structure, strong reliability, high failure-free rate and lower cost.
Description
Technical field
The present invention relates to magnetic floating traffic suspension control system fields, floating more particularly to a kind of magnetic that can be carried out hot backup redundancy
Train suspension controller, control system, control method and the magnetic-levitation train including the suspension control system.
Background technique
Suspension controller is one of core system of magnetic-levitation train, its reliability is directly related to magnetic-levitation train fortune
Capable is reliable and stable.See Fig. 1, the electromagnetic suspension module of magnetic-levitation train realizes suspension function by the control of suspension controller
Can, each section magnetic-levitation train compartment is at least made of 10 suspension controllers, and the failure of any one controller will cause magnetic to float
Train is not normally functioning, therefore, high reliability, safety, stability suspension controller be magnetic-levitation train operate normally
Guarantee.
It is related to a large amount of electrical equipments inside suspension controller, two parts of forceful electric power and light current can be divided into.Controller
For light current structure mainly based on signal processing and the control digital operation unit that suspends, major function is to receive suspended sensor number
According to, integrated controller internal information, carries out suspension control strategy and obtain operation, export the control information to forceful electric power structure.Currently, outstanding
The design of single unit is generally used to be easy to cause suspension control when any one component breaks down inside floating controller
The failure of device, so that the redundancy of suspension controller is insufficient, the mean free error time is influenced big by Primary Component.
Therefore, be the reliability for improving magnetic floating system, how to research and develop a kind of suspension controller with hot backup redundancy function,
Control system, control method and the magnetic-levitation train including the suspension control system, at those skilled in the art's urgent need to resolve
The problem of.
Summary of the invention
In view of this, the present invention proposes a kind of suspension controller, control system, control method and controls including the suspension
The magnetic-levitation train of system is based on internal two-node cluster hot backup redundancy, is not increasing excessive device, is not greatly improving system cost, no
Under the premise of increasing controller volume, the reliability of suspension controller can be greatly improved.
On the one hand, the present invention provides a kind of suspension controller, including light current structure interconnected and forceful electric power structure, institutes
Stating light current structure includes signal acquisition unit, arbitration control unit and the core calculations control being connected respectively with arbitration control unit
Unit and signal converting transmission unit, the core calculations control unit, arbitration control unit and signal converting transmission unit it
Between information bidirectional transmission:
The quantity of the core calculations control unit is several, several described core calculations control units are set parallel
It sets, each core calculations control unit is connected with arbitration control unit；
The arbitration control unit is by monitoring the working condition of each core calculations control unit in real time, determining based on core
The control calculation amount of the accuracy, selection optimization of calculating control unit is exported；
The signal converting transmission unit for realizing signal reception, conversion and transmission；
The signal acquisition unit is connected with signal conversion output unit, and the internal information for suspension controller is collected.
Further, the arbitration control unit is provided with fpga chip, and the fpga chip is used for concurrent operation and letter
Number processing.
Further, the light current structure further includes the storage unit being connected with arbitration control unit, the storage unit
The fault messages such as delay machine, operation mistake for storing the appearance of core calculations control unit.
Further, the forceful electric power structure includes I GBT drive module and coupled suspending module power supply, the letter
Number converting transmission unit is connected with I GBT drive module.
On the other hand, the present invention also provides a kind of suspension control systems, including suspension controller, suspending module and installation
Sensor on suspending module, the suspension controller are connected with suspending module, and the suspension controller is any one thereon
The suspension controller, the signal acquisition unit are also used to acquire the information of sensor.
Further, the suspension controller and suspending module pass through Ethernet progress information exchange and monitoring.
Further, the sensor includes parallel arrangement of acceleration transducer, gap sensor and current sensor,
The acceleration transducer is used to measure the vertical motion acceleration of suspending module, and the gap sensor is described outstanding for measuring
The levitation gap of floating module；The current sensor is used to measure the levitating current of the suspending module.
In another aspect, the present invention also provides a kind of suspension control methods, comprising the following steps:
Step 1: it after system electrification initialization, brings into operation；
Step 2: signal acquisition unit acquires sensor information and suspension controller internal information；
Step 3: the sensor information of acquisition and suspension controller internal information are transmitted by signal converting transmission unit
To several independent core calculations control units；
Step 4: each independent core calculations control unit is calculated according to the control strategy being pre-designed, and will be counted
It calculates result and is sent to arbitration control unit；
Step 5: being verified by the data that core calculations control unit is calculated in arbitration control unit, to institute
There is core calculations control unit to be detected, correct data is output to signal converting transmission unit, to the core meter of failure
Control unit is calculated to be restarted and be isolated；
Step 6: signal converts output unit for after the signal progress level conversion containing correct data, exports to forceful electric power
Structure, and real-time perfoming controls,.
Further, in step 5, arbitration control unit the core calculations control unit of failure is restarted and every
From specific manifestation are as follows:
When the failures such as delay machine, operation mistake occur in some or multiple cores calculation control unit, arbitration control is single
Member will detect error message within the time no more than 1ms, and control output information is switched to normal operation within 1ms
Core calculations control unit output, while to occur mistake, failure core calculations control unit be temporarily isolating after, control
System carries out soft reboot or restarts firmly, reports current failure information to designated memory cell.
Finally, the present invention also provides a kind of magnetic-levitation train, including several section compartments, each compartment are provided with suspension control
System processed, the suspension control system are described in any item suspension control systems thereon.
The present invention carries out multi-host hot swap redundancy with core calculations control unit, multiple independent and parallel arrangement of by adding
Core calculations control unit can be realized by arbitration control unit and cut rapidly when core calculations control unit breaks down
It changes, does not influence the output of suspension controller and the stability of suspension control system, and multiple cores calculation control unit can be real
Existing real time communication, has the advantages that structure is simple, highly reliable, degree of reliability is high, cost is relatively low.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the relational graph of magnetic-levitation train and suspension control system and suspension controller in the prior art；
Fig. 2 is the structure chart of light current structure in suspension controller in the present invention；
Fig. 3 is the relation structure diagram of suspension controller internal structure in the present invention；
Fig. 4 is the flow chart of suspension control method in the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 2 is the structure chart of light current structure in suspension controller in the present invention.Fig. 3 is in the present invention inside suspension controller
The relation structure diagram of structure.Fig. 4 is the flow chart of suspension control method in the present invention.
Embodiment one:
A kind of suspension controller, including light current structure interconnected and forceful electric power structure, light current structure mainly with signal at
Based on reason and the control digital operation unit that suspends, the control information to strong power part is exported, forceful electric power structure is mainly used for realization pair
The control for exporting electric current, specifically, as shown in figure 3, light current structure includes signal acquisition unit, arbitration control unit, core meter
Control unit and signal converting transmission unit are calculated, arbitration control unit is used to monitor in real time the work of each core calculations control unit
Make state, the accuracy for determining core calculations control unit, the control calculation amount of selection optimization to be exported；Signal converting transmission
Unit for realizing signal reception, conversion and transmission；Internal information of the signal acquisition unit for suspension controller is collected；On
Arbitration control unit is stated to be connected with core calculations control unit and signal converting transmission unit respectively, core calculations control unit,
Information bidirectional transmission between arbitration control unit and signal converting transmission unit: if the quantity of the core calculations control unit is
Dry, several core calculations control units are arranged parallel, and each core calculations control unit is connected with arbitration control unit；
Signal acquisition unit is connected with signal conversion output unit.Above-mentioned core calculations control unit is multiple independent units, mutually
It is independent to run simultaneously, have system communication, information exchange, the mutually functions such as inspection, calculating task coordinated allocation, passes through multiple groups
It closes, the reliability of system can be greatly improved.
It should be noted that for preferably in real time to the Working Status Monitoring of each core calculations control unit, judgement core
Accuracy, the selection optimal control calculation amount of heart calculation control unit carry out output control, and arbitration control unit is with high reliability
For FPGA as arbitration controller part, i.e. arbitration control unit is provided with fpga chip, the fpga chip for concurrent operation and
Signal processing.
Preferably, light current structure further includes the storage unit being connected with arbitration control unit, the storage unit in the present invention
The fault messages such as delay machine, operation mistake for storing the appearance of core calculations control unit.In normal work, all cores
Calculation control unit, arbitration control unit, signal converting transmission unit all operate normally.When some or multiple cores calculate
When the failures such as delay machine, operation mistake occurs in control unit, arbitration control unit will be detected within the time no more than 1ms and be made mistake
Information exports the core calculations control unit that control output information is switched to normal operation within 1ms, while wrong to occurring
Accidentally, after the control unit of failure is temporarily isolating, control carries out soft reboot or restarts firmly, reports and arrives with current failure information
Designated memory cell realizes the hot backup redundancy function of system to realize when core component failure, guarantees system safety and stability
Operation.
Meanwhile as shown in figure 3, forceful electric power structure includes I GBT drive module and coupled suspending module in the present invention
Power supply, aforementioned signal converting transmission unit are connected with I GBT drive module.Preferably, signal converting transmission unit is by output
Pwm signal is exported to I GBT driving circuit.
Embodiment two:
A kind of suspension control system is hanged including suspension controller, suspending module and the sensor being mounted on suspending module
Floating controller is connected with suspending module, and suspension controller is that suspension controller described in embodiment one, aforementioned signal are adopted thereon
Collection unit is also used to acquire the information of sensor.
In further technical solution, sensor includes parallel arrangement of acceleration transducer, gap sensor and electricity
Flow sensor, the acceleration transducer are used to measure the vertical motion acceleration of suspending module, and the gap sensor is used for
Measure the levitation gap of the suspending module；The current sensor is used to measure the levitating current of the suspending module.It should add
Velocity sensor, gap sensor, current sensor metrical information be finally transferred to suspension controller.
Furthermore, it is necessary to be mentioned that, suspension controller and suspending module are mutual by Ethernet progress information in the present embodiment
It changes and monitors.
Embodiment three:
As shown in figure 4, a kind of suspension control method of the invention, comprising the following steps:
Step 1: it after system electrification initialization, brings into operation；
Step 2: signal acquisition unit acquires sensor information and suspension controller internal information；
Step 3: the sensor information of acquisition and suspension controller internal information are transmitted by signal converting transmission unit
To several independent core calculations control units；
Step 4: each independent core calculations control unit is calculated according to the control strategy being pre-designed, and will be counted
It calculates result and is sent to arbitration control unit；
Step 5: being verified by the data that core calculations control unit is calculated in arbitration control unit, to institute
There is core calculations control unit to be detected, correct data is output to signal converting transmission unit, to the core meter of failure
Control unit is calculated to be restarted and be isolated；
Step 6: signal converts output unit for after the signal progress level conversion containing correct data, exports to forceful electric power
Structure, and real-time perfoming controls.
Above-mentioned suspension control method devises and simplifies control method including control, communication, arbitration, can be not
Same version, different computing capability suspension computing unit on realized, and the software algorithm redundancy feature of internal system is clear,
Multiple arithmetic cores can be realized real time communication, further improved from software system computing capability, enhancing system from
Checking functions.
Example IV:
The present invention also provides a kind of suspension control methods of more excellent embodiment, specifically includes the following steps:
Step 1: it after system electrification initialization, brings into operation；
Step 2: signal acquisition unit acquires sensor information and suspension controller internal information；
Step 3: the sensor information of acquisition and suspension controller internal information are transmitted by signal converting transmission unit
To several independent core calculations control units；
Step 4: each independent core calculations control unit is calculated according to the control strategy being pre-designed, and will be counted
It calculates result and is sent to arbitration control unit；
Step 5: being verified by the data that core calculations control unit is calculated in arbitration control unit, to institute
There is core calculations control unit to be detected, when delay machine, operation mistake occur in some or multiple cores calculation control unit
Etc. failures when, arbitration control unit will detect error message within the time no more than 1ms, and control output information is existed
It is switched to the core calculations control unit output of normal operation within 1ms, while the core calculations that mistake, failure occurs are controlled
After unit is temporarily isolating, control carries out soft reboot or restarts firmly, reports current failure information to designated memory cell；
Step 6: signal converts output unit for after the signal progress level conversion containing correct data, exports to forceful electric power
Structure, and real-time perfoming controls.
Embodiment five:
The present invention also provides a kind of magnetic-levitation train, which includes several section compartments, and each compartment is provided with suspension
Control system, the suspension control system are the suspension control system described thereon.The other structures of magnetic-levitation train can refer to existing
And improved technology, herein without repeating.
In conclusion compared with prior art, the present invention has the advantage that
(1) compared to current suspension controller, multi-host hot swap redundancy is carried out with core calculations control unit, when core meter
When calculation control unit breaks down, rapid switching can be realized, switching time is not more than 1ms, and handoff procedure is steady, does not influence to hang
The output of floating controller and the stability of suspension control system, substantially enhance the reliability of suspension controller, improve flat
Equal failure free time.
(2) system portability is strong, can be realized and be worked normally based on different development platforms, different software environment, only needed
Existing suspension controller is suitably optimized, the transformation time is short, it is few that funds are transformed；
(3) the software algorithm redundancy feature of internal system is clear, and between multiple cores calculation control unit, arbitration control is single
It can be realized real time communication between member and core calculations control unit, signal converting transmission unit, further above mentioned from software
The high computing capability of system, the self-checking function for enhancing system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of suspension controller, including light current structure interconnected and forceful electric power structure, which is characterized in that the light current structure
Including signal acquisition unit, arbitration control unit and the core calculations control unit that is connected with arbitration control unit and signal respectively
Converting transmission unit, the information between the core calculations control unit, arbitration control unit and signal converting transmission unit are double
To transmission:
The quantity of the core calculations control unit is several, several described core calculations control units are arranged parallel, often
A core calculations control unit is connected with arbitration control unit；
The arbitration control unit is used to monitor in real time the working condition of each core calculations control unit, determines core calculations control
The accuracy of unit processed, the control calculation amount of selection optimization are exported；
The signal converting transmission unit for realizing signal reception, conversion and transmission；
The signal acquisition unit is connected with signal conversion output unit, and the internal information for suspension controller is collected.
2. suspension controller according to claim 1, which is characterized in that the arbitration control unit is provided with FPGA core
Piece, the fpga chip are used for concurrent operation and signal processing.
3. suspension controller according to claim 1, which is characterized in that the light current structure further includes single with arbitration control
The connected storage unit of member, the storage unit are used to store the events such as delay machine, operation mistake of core calculations control unit appearance
Hinder information.
4. suspension controller according to any one of claim 1 to 3, which is characterized in that the forceful electric power structure includes
IGBT drive module and coupled suspending module power supply, the signal converting transmission unit are connected with IGBT drive module.
5. a kind of suspension control system, described including suspension controller, suspending module and the sensor being mounted on suspending module
Suspension controller is connected with suspending module, which is characterized in that the suspension controller is described in any one of claims 1 to 4
Suspension controller, the signal acquisition unit is also used to acquire the information of sensor.
6. suspension control system according to claim 5, which is characterized in that the suspension controller passes through with suspending module
Ethernet carries out information exchange and monitoring.
7. suspension control system according to claim 5, which is characterized in that the sensor includes parallel arrangement of acceleration
Sensor, gap sensor and current sensor are spent, the vertical motion that the acceleration transducer is used to measure suspending module adds
Speed, the gap sensor are used to measure the levitation gap of the suspending module；The current sensor is described for measuring
The levitating current of suspending module.
8. a kind of suspension control method, which comprises the following steps:
Step 1: it after system electrification initialization, brings into operation；
Step 2: signal acquisition unit acquires sensor information and suspension controller internal information；
Step 3: if being transferred to the sensor information of acquisition and suspension controller internal information by signal converting transmission unit
Dry independent core calculations control unit；
Step 4: each independent core calculations control unit is calculated according to the control strategy being pre-designed, and is tied calculating
Fruit is sent to arbitration control unit；
Step 5: being verified by the data that core calculations control unit is calculated in arbitration control unit, to all cores
Heart calculation control unit is detected, and correct data is output to signal converting transmission unit, the core calculations control to failure
Unit processed is restarted and is isolated；
Step 6: signal converts output unit for after the signal progress level conversion containing correct data, exports to forceful electric power structure,
And real-time perfoming controls.
9. suspension control method according to claim 8, which is characterized in that in step 5, arbitration control unit is to event
The core calculations control unit of barrier is restarted and is isolated, specific manifestation are as follows:
When the failures such as delay machine, operation mistake occur in some or multiple cores calculation control unit, arbitration control unit will
Error message is detected within the time no more than 1ms, and control output information is switched to the core of normal operation within 1ms
The heart calculation control unit output, while to occur mistake, failure core calculations control unit be temporarily isolating after, control into
Row soft reboot is restarted firmly, reports current failure information to designated memory cell.
10. a kind of magnetic-levitation train, including several section compartments, each compartment are provided with suspension control system, which is characterized in that institute
Stating suspension control system is suspension control system described in any one of claim 5 to 7.
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| CN201910415762.0A CN109986972A (en) | 2019-05-18 | 2019-05-18 | Magnetic-levitation train and levitation control system, controller and control method thereof |
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| CN111806245A (en) * | 2020-03-20 | 2020-10-23 | 同济大学 | Suspension control system and control method for magnetic-levitation train |
| CN112848912A (en) * | 2021-02-25 | 2021-05-28 | 湖南凌翔磁浮科技有限责任公司 | High-speed magnetic levitation control method, controller, unit and system |
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| CN114056106A (en) * | 2020-08-06 | 2022-02-18 | 中车株洲电力机车研究所有限公司 | Double-end power supply control device and control method for magnetic-levitation train |
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