CN110323978B - Linear generator control method and device - Google Patents
Linear generator control method and device Download PDFInfo
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- CN110323978B CN110323978B CN201910568320.XA CN201910568320A CN110323978B CN 110323978 B CN110323978 B CN 110323978B CN 201910568320 A CN201910568320 A CN 201910568320A CN 110323978 B CN110323978 B CN 110323978B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
- H02J7/1469—Regulation of the charging current or voltage otherwise than by variation of field
- H02J7/1492—Regulation of the charging current or voltage otherwise than by variation of field by means of controlling devices between the generator output and the battery
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/40—Special adaptation of control arrangements for generators for railway vehicles
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
Abstract
The invention provides a method and a device for controlling a linear generator, which can calculate the actual control time for turning on and off a thyristor, thereby being capable of controlling the output voltage of the linear generator in time, avoiding the larger fluctuation range of the output voltage, ensuring the generating efficiency of the linear generator and meeting the power supply performance requirement of a maglev train; in addition, the system can respond to the impending change before the input voltage changes, thereby greatly improving the real-time performance of the control of the linear generator, the stability of the voltage and the efficiency of power supply.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a linear generator control method and device.
Background
At present, a magnetic suspension train realizes contactless suspension and guidance between the train and a track through electromagnetic force, and then drives the train to run by utilizing the electromagnetic force generated by ground traction equipment. The electric energy consumed by the maglev train due to levitation during running is provided by a battery, and the electric quantity consumed by the battery is supplemented by a linear generator.
Generally, a controller of the linear generator only adopts output current as a control signal, so that the output voltage fluctuation range of the conventional magnetic suspension train linear generator is large.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a method and an apparatus for controlling a linear generator.
In a first aspect, an embodiment of the present invention provides a linear generator control method, including:
acquiring a suspension gap value, vertical acceleration, running speed, ground long stator input current, rotor current, capacitor output voltage and a linear generator output current value of a suspended object;
calculating a predicted value of the suspension clearance after a preset time according to the suspension clearance value and the vertical acceleration of the suspended object;
inputting the predicted value of the suspension clearance value after the preset time length, the running speed, the ground long stator input current and the rotor current into a fuzzy controller, and calculating the predicted value of the output voltage of the linear generator after the preset time length through the fuzzy controller;
calculating a predicted value of output current of the linear generator after a preset time length according to the predicted value of the output voltage of the linear generator, the output current value of the linear generator, the output voltage of the capacitor and the current state of a thyristor of the boost chopper device;
the actual control moment for turning on and turning off the thyristor is calculated by comparing the predicted value of the output current of the linear generator after the preset time with the thyristor turning on and turning off threshold values of the boost chopper device.
In a second aspect, an embodiment of the present invention further provides a linear generator control apparatus, including:
the acquisition module is used for acquiring a suspension gap value, vertical acceleration, running speed, ground long stator input current, rotor current, capacitor output voltage and a linear generator output current value of a suspended object;
the first calculation module is used for calculating a predicted value of the suspension gap after a preset time length according to the suspension gap value and the vertical acceleration of the suspended object;
the second calculation module is used for inputting the predicted value of the suspension clearance value after the preset time length, the running speed, the ground long stator input current and the rotor current into the fuzzy controller, and calculating the predicted value of the output voltage of the linear generator after the preset time length through the fuzzy controller;
the third calculation module is used for calculating the predicted value of the output current of the linear generator after the preset time length according to the predicted value of the output voltage of the linear generator, the output current value of the linear generator, the output voltage of the capacitor and the current state of a thyristor of the boost chopper;
and the fourth calculation module is used for comparing the predicted value of the output current of the linear generator after the preset time with the thyristor turn-on and turn-off threshold values of the boost chopper device, and calculating the actual control moment for turning on and turning off the thyristor.
In the embodiments of the present invention, in the solutions provided in the first aspect to the second aspect, the predicted value of the output current of the linear generator after the preset time duration is calculated by obtaining the value of the levitation gap of the levitated object, the vertical acceleration, the driving speed, the input current of the ground long stator, the rotor current, the output voltage of the capacitor, and the output current value of the linear generator, and the actual control time for turning on and off the thyristor is calculated by comparing the predicted value of the output current of the linear generator after the preset time duration with the thyristor turn-on and turn-off thresholds of the boost chopper device. Compared with the prior art that the linear generator is controlled through the output current of the linear generator, the method and the device have the advantage that the chopping operation is timely performed on the linear generator at the actual control moment of opening and closing the thyristor calculated through the predicted value of the output current of the linear generator after the preset time length. The invention belongs to feed-forward control, and reduces the fluctuation range of the output voltage of a linear generator. The invention meets the power supply performance requirement of the magnetic suspension train and greatly improves the stability of the output voltage of the linear generator.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart illustrating a linear generator control method according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a linear generator in a flowchart of a method for controlling a linear generator according to embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram illustrating a linear generator control device according to embodiment 2 of the present invention.
Detailed Description
Currently, a magnetic levitation train is provided with a controller for controlling a linear generator. The controller of the traditional linear generator adopts the output current as a control signal, so that the linear generator can be controlled only after the actual output current of the linear generator is greater than the current threshold value in the working process of the linear generator, the fluctuation range of the output voltage of the linear generator is larger, and the generating efficiency is low.
Based on this, the embodiment of the application provides a linear generator control method and device. The linear generator control method comprises the following steps:
acquiring a suspension gap value, vertical acceleration, running speed, ground long stator input current, rotor current, capacitor output voltage and a linear generator output current value of a suspended object; calculating a predicted value of the suspension clearance after a preset time according to the suspension clearance value and the vertical acceleration of the suspended object; inputting the predicted value of the suspension clearance value, the running speed, the input current of the ground long stator and the rotor current into a fuzzy controller, and calculating the predicted value of the output voltage of the linear generator after the preset time length through the fuzzy controller; calculating a predicted value of output current of the linear generator after a preset time length according to the predicted value of the output voltage of the linear generator, the output current value of the linear generator, the output voltage of the capacitor and the current state of a thyristor of the boost chopper device; the actual control moment for turning on and turning off the thyristor is calculated by comparing the predicted value of the output current of the linear generator after the preset time with the thyristor turning on and turning off threshold values of the boost chopper device.
According to the linear generator control method, the suspension gap value of a suspended object, the vertical acceleration, the running speed, the ground long stator input current, the rotor current, the capacitance output voltage and the linear generator output current value are obtained, the predicted value of the output current of the linear generator after the preset time is calculated, the predicted value of the output current of the linear generator after the preset time is compared with the thyristor opening and closing threshold value of the boost chopper device, the actual control time for opening and closing the thyristor is calculated, the actual control time for opening and closing the thyristor can be obtained, the actual control time for opening and closing the thyristor is calculated according to the calculated predicted value of the output current of the linear generator after the preset time, and chopping operation is performed on the linear generator in time. The invention belongs to feed-forward control, and reduces the fluctuation range of the output voltage of a linear generator. The invention meets the power supply performance requirement of the magnetic suspension train and greatly improves the stability of the output voltage of the linear generator.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
Example 1
Referring to a flowchart of a linear generator control method shown in fig. 1, the present embodiment proposes a linear generator control method in which a controller whose main execution body is a linear generator provided in a magnetic levitation train.
The controller may be any processor, microprocessor or single chip microcomputer capable of controlling the linear generator in the prior art, and is not described in detail herein.
The embodiment provides a linear generator control method, which comprises the following specific steps:
and step 100, obtaining a suspension clearance value, vertical acceleration, running speed, ground long stator input current, rotor current, capacitor output voltage and linear generator output current value of the suspended object.
The levitated object can be any levitated object including a magnetic levitation train, such as: the suspension box body of a magnetic suspension train and a magnetic suspension elevator, the suspension carrier in a magnetic suspension goods inspection system and the like.
The value of the levitation gap is used for representing the size of the gap between the levitated object and the passing track in the normal running process. Can be detected by a gap sensor arranged in the magnetic suspension train.
The vertical acceleration is used to indicate the acceleration of the maglev train in the direction perpendicular to the direction of travel during normal travel. Can be obtained by means of an acceleration sensor mounted on the magnetic levitation vehicle.
The vertical acceleration includes: magnitude of vertical acceleration and direction of vertical acceleration.
The gap sensor may be provided in a bogie of a magnetic levitation vehicle.
The gap sensor may be any distance sensor capable of measuring the distance between the magnetic levitation train and the track in the prior art, and details are not repeated here.
The running speed can be obtained by a speed sensor arranged on the magnetic suspension train and is transmitted to the controller.
The input current of the ground long stator can be measured by a current measuring device.
The rotor current is the current of the rotor of the linear generator and can be measured by a current measuring device.
Referring to the schematic diagram of the linear generator shown in fig. 2, the output voltage of the capacitor, that is, the output voltage of the capacitor in fig. 2, can be measured by a voltage measuring device.
The output current value of the linear generator can be obtained through measurement.
And 102, calculating a predicted value of the suspension clearance after a preset time according to the suspension clearance value and the vertical acceleration of the suspended object.
In order to obtain the predicted value of the levitation gap after the preset time period, in step 102, the following steps (1) to (2) may be performed:
(1) calculating the vertical speed of the suspended object after the preset time;
(2) and calculating a suspension clearance predicted value according to the suspension clearance value, the vertical acceleration, the vertical speed and the preset time length.
In the step (1), the vertical speed of the suspended object after the preset time period can be calculated by the following formula:
or
The vertical speed after the suspension gap object is preset for a preset time is equal to the current vertical speed + vertical acceleration T of the suspension gap object1
Wherein, T1Indicating a preset duration.
In the step (2), the predicted value of the levitation gap after the preset time period can be calculated by the following formula:
suspension clearance predicted value is suspension clearance value + vertical speed preset duration +0.5 vertical acceleration preset duration2。
And 104, inputting the predicted value of the suspension clearance value, the running speed, the input current of the ground long stator and the rotor current into a fuzzy controller, and calculating the predicted value of the output voltage of the linear generator after the preset time length through the fuzzy controller.
Specifically, in order to calculate the predicted value of the output voltage of the linear generator after a preset time period by the fuzzy controller, the step 104 may perform the following steps (1) to (5):
(1) fuzzy processing is carried out on the suspension clearance value predicted value, the running speed, the ground long stator input current and the rotor current through the fuzzy controller, and a fuzzy language value of the suspension clearance value, a fuzzy language value of the running speed, a fuzzy language value of the ground long stator input current and a fuzzy language value of the rotor current are obtained respectively;
(2) acquiring a fuzzy rule table, wherein the fuzzy rule table records a corresponding relation among a fuzzy language value of a suspension clearance value, a fuzzy language value of a driving speed, a fuzzy language value of an input current value of a ground long stator, a fuzzy language value of a rotor current and a fuzzy language value of a voltage variation of an output voltage of the linear generator after a preset time;
(3) determining a fuzzy language value of the voltage variation of the output voltage of the linear generator after a preset time length, which corresponds to the fuzzy language value of the suspension clearance value, the fuzzy language value of the running speed, the fuzzy language value of the input current of the ground long stator and the fuzzy language value of the rotor current, from the fuzzy rule table;
(4) carrying out sharpening processing on the determined fuzzy language value of the voltage variation of the output voltage of the linear generator after the preset time length to obtain the voltage variation of the output voltage of the linear generator after the preset time length;
(5) and calculating an output voltage predicted value of the linear generator after the preset time according to the obtained voltage variation of the output voltage of the linear generator after the preset time.
In the step (1), the fuzzy controller may be stored in the controller in advance in the form of an application program.
Wherein, the fuzzy logic of the fuzzy controller is as follows: the larger the suspension gap is, the smaller the variation delta U of the output voltage of the linear generator is; the larger the running speed is, the larger the obtained variation delta U of the output voltage of the linear generator is; the larger the ground long stator input current and the rotor current are, the larger the obtained variation delta U of the output voltage of the linear generator is.
The fuzzy controller can respectively transform the suspension clearance, the running speed, the ground long stator input current and the rotor current to corresponding universe ranges according to the acquired suspension clearance, the running speed and the ground long stator input current, and perform fuzzy processing to change the accurate input quantity into a fuzzy value and represent the fuzzy value by using corresponding fuzzy language values, and meanwhile, the universe range and the fuzzy language value of the variable quantity delta of the output voltage of the self inductance of the linear generator output by the fuzzy controller are set.
The fuzzy controller is provided with a fuzzy rule table, and the fuzzy rule table is used for respectively carrying out fuzzy reasoning calculation on the suspension clearance, the running speed, the ground long stator input current and the rotor current which are input into the fuzzy controller to obtain a fuzzy value of the variable quantity delta U of the output voltage of the self inductance of the linear generator output by the fuzzy controller.
In one embodiment, the discourse field of the suspension gap is [7,13], the discourse field of the driving speed is [60,600], and the discourse field of the ground long stator input current and the rotor current is [1000,2500 ]. After the fuzzy controller uses the preset inference rule in the fuzzy logic to process, the following results can be obtained: the fuzzy language value of the suspension clearance, the fuzzy language value of the driving speed, the fuzzy language value of the ground long stator input current and the rotor current can be { NS, Z, PS }, the domain of the variation delta U of the output voltage of the inductance of the linear generator is [0,30], and after being processed by the fuzzy controller, the fuzzy language value of the variation delta U of the output voltage is taken as { R1, R2, R3 }.
The fuzzy rule table may record a correspondence relationship between a fuzzy language value of the levitation gap value, a fuzzy language value of the driving speed, a fuzzy language value of the input current value of the ground long stator, a fuzzy language value of the rotor current, and a fuzzy language value of a voltage variation of the output voltage of the linear generator after a preset time period, and specifically, the fuzzy record table may record the following contents:
if the suspension gap is PS, the running speed is NS, the current of the long stator is NS and the rotor current is Z, the variation delta U of the output voltage of the self inductance of the linear generator is R1;
if the suspension gap is Z, the driving speed is Z, the current of the long stator is Z and the current of the rotor is Z, the variation delta U of the output voltage of the inductance of the linear generator is R2;
if the suspension gap is NS, the running speed is PS, the current of the long stator is PS and the rotor current is NS, the variation delta U of the output voltage of the inductance of the linear generator is R3;
if the suspension gap is PS, the running speed is Z, the current of the long stator is NS and the current of the rotor is Z, the variation delta U of the output voltage of the inductance of the linear generator is R2;
if the suspension gap is PS, the running speed is NS, the current of the long stator is Z and the current of the rotor is Z, the variation delta U of the output voltage of the inductance of the linear generator is R2;
if the suspension gap is Z, the running speed is NS, the current of the long stator is NS and the rotor current is Z, the variation delta U of the output voltage of the self inductance of the linear generator is R2;
if the suspension gap is PS, the running speed is PS, the current of the long stator is NS and the rotor current is PS, the variation delta U of the output voltage of the inductance of the linear generator is R2;
if the suspension gap is PS, the running speed is NS, the current of the long stator is PS and the rotor current is PS, the variation delta U of the output voltage of the inductance of the linear generator is R2;
if the suspension gap is NS, the running speed is PS, the current of the long stator is Z and the rotor current is NS, the variation delta U of the output voltage of the self inductance of the linear generator is R3;
when the levitation gap is NS, the traveling speed is Z, the current of the long stator is PS, and the rotor current is NS, the amount of change Δ U in the output voltage of the inductance of the linear generator itself is R3.
The fuzzy speech value of the levitation gap value, the fuzzy speech value of the running speed, the fuzzy speech value of the ground long stator input current, and the fuzzy speech value of the rotor current, which are obtained after the fuzzy processing, may be any value in a set { NS, Z, PS }.
In the step (4), the fuzzy language value of the voltage variation of the output voltage of the linear generator after the preset time duration can be subjected to sharpening processing by using an area barycenter method, so as to obtain the voltage variation of the output voltage of the linear generator after the preset time duration.
In order to calculate the predicted value of the output voltage of the linear generator after a preset time period, the step (5) may perform the following steps (51) to (52):
(51) acquiring the current output voltage of the linear generator;
(52) and calculating the sum of the output voltage and the voltage variation to obtain the predicted value of the output voltage of the linear generator after the preset time.
In the step (51), the controller may obtain the output voltage of the linear generator through a voltage sensor connected to the controller.
And 106, calculating the predicted value of the output current of the linear generator after the preset time according to the predicted value of the output voltage of the linear generator, the output current value of the linear generator, the output voltage of the capacitor and the current state of the thyristor of the boost chopper.
When the current state of a thyristor of the boost chopper device is closed, calculating the predicted value of the output current of the linear generator after the preset time length by the following formula:
or
I1Second adjustment factor T (predicted value/inductance value of output voltage of linear generator)1) + linear generator output current value, wherein1The method comprises the steps that when the current state of a thyristor of a boost chopper device is closed, the predicted value of output current of a linear generator after a preset time length is shown; t is1Indicating a preset duration.
When the boost chopper thyristor is currently turned on, the step 104 may perform the following steps (1) to (2):
(1) determining the voltage value of the inductor according to the predicted value of the output voltage of the linear generator and the output voltage of the capacitor;
(2) and calculating the predicted value of the output current of the linear generator after the preset time according to the voltage value of the inductor, the output current value of the linear generator and the inductance value.
In the step (1), when the linear generator output current value > is 0, the voltage value of the inductor is equal to the linear generator output voltage predicted value — the capacitor output voltage;
when the output current value of the linear generator is less than 0, the voltage value of the inductor is equal to the predicted value of the output voltage of the linear generator plus the output voltage of the capacitor.
The inductor, which is connected to the linear generator in fig. 2, may be preset in the controller.
In the step (2), the predicted value of the output current of the linear generator after the preset time period may be calculated by the following formula:
or
I2Second adjustment factor T ((voltage value of inductor)/inductance value)1) + linear generator output current value
Wherein, I2The method comprises the steps that when the current state of a thyristor of a boost chopper device is open, the predicted value of the output current of a linear generator after a preset time length is shown; t is1Indicating a preset duration.
The second adjustment coefficient is a value obtained by statistics through experiments or finite element simulation, and is stored in the controller in advance.
And 108, comparing the predicted value of the output current of the linear generator after the preset time with the thyristor turn-on and turn-off threshold values of the boost chopper device, and calculating the actual control moment for turning on and turning off the thyristor.
The maximum threshold value for opening and the minimum threshold value for closing the thyristor of the boost chopper are stored in the controller in advance.
When the current state of the thyristor of the boost chopper device is closed, and the predicted value of the output current of the linear generator after the preset time length is greater than the maximum threshold value for opening the thyristor of the boost chopper device, the actual time for opening the thyristor is calculated by the following formula:
the actual time for turning on the thyristor is (the maximum threshold value for turning on the thyristor of the boost chopper device-the output current of the linear generator) × (the predicted value of the output current of the linear generator after the preset time length-the output current value of the linear generator)/the preset time length.
When the current state of the thyristor of the boost chopper device is open and the predicted value of the output current of the linear generator after the preset time is less than the minimum threshold value for closing the thyristor of the boost chopper device, calculating the actual control time for closing the thyristor by the following formula:
the actual time for turning off the thyristor is (the output current value of the linear generator-the minimum threshold for turning off the thyristor of the boost chopper device) × (the output current value of the linear generator-the predicted value of the output current of the linear generator after the preset time length)/the preset time length.
In summary, according to the linear generator control method provided in this embodiment, the predicted value of the output current of the linear generator after the preset time duration is calculated by obtaining the levitation gap value, the vertical acceleration, the driving speed, the ground long stator input current, the rotor current, the capacitor output voltage, and the output current value of the linear generator of the levitated object, and the actual control time for turning on and off the thyristor is calculated by comparing the predicted value of the output current of the linear generator after the preset time duration with the thyristor turn-on and turn-off threshold of the boost chopper device. Compared with the prior art that the linear generator is controlled through the output current of the linear generator, the method and the device have the advantage that the chopping operation is timely performed on the linear generator at the actual control moment of opening and closing the thyristor calculated through the predicted value of the output current of the linear generator after the preset time length. The invention belongs to feed-forward control, and reduces the fluctuation range of the output voltage of a linear generator. The invention meets the power supply performance requirement of the magnetic suspension train and greatly improves the stability of the output voltage of the linear generator.
Example 2
Referring to a schematic structural diagram of a linear generator control device shown in fig. 3, the present embodiment proposes a linear generator control device, including:
the acquisition module 300 is configured to acquire a suspension gap value, a vertical acceleration, a driving speed, a ground long stator input current, a rotor current, a capacitor output voltage, and a linear generator output current value of a suspended object;
the first calculation module 302 is configured to calculate a predicted value of the suspension gap after a preset time period according to the suspension gap value and the vertical acceleration of the suspended object;
the second calculation module 304 is configured to input the predicted value of the levitation gap value after the preset time period, the driving speed, the ground long stator input current, and the rotor current into the fuzzy controller, and calculate the predicted value of the output voltage of the linear generator after the preset time period through the fuzzy controller;
the third calculating module 306 is configured to calculate a predicted value of the output current of the linear generator after a preset time period according to the predicted value of the output voltage of the linear generator, the output current value of the linear generator, the output voltage of the capacitor, and the current state of the thyristor of the boost chopper;
the fourth calculating module 308 is configured to calculate an actual control time for turning on and turning off the thyristor by comparing a predicted value of the output current of the linear generator after a preset time period with a thyristor turn-on and turn-off threshold of the boost chopper device.
In summary, the linear generator control device provided in this embodiment calculates the predicted value of the output current of the linear generator after the preset time duration by obtaining the levitation gap value, the vertical acceleration, the driving speed, the ground long stator input current, the rotor current, the capacitor output voltage, and the output current value of the linear generator of the levitated object, and calculates the actual control time for turning on and off the thyristor by comparing the predicted value of the output current of the linear generator after the preset time duration with the thyristor turn-on and turn-off threshold of the boost chopper device. Compared with the prior art that the linear generator is controlled by the output current of the linear generator, the actual control moment of turning on and off the thyristor can be obtained, so that the output voltage of the linear generator can be controlled in time, the fluctuation range of the output voltage is prevented from being large, the power generation efficiency of the linear generator is ensured, and the power supply performance requirement of a magnetic suspension train is met; in addition, the system can respond to the impending change before the input voltage changes, thereby greatly improving the real-time performance of the control of the linear generator, the stability of the voltage and the efficiency of power supply.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (13)
1. A linear generator control method, comprising:
acquiring a suspension gap value, vertical acceleration, running speed, ground long stator input current, rotor current, capacitor output voltage and a linear generator output current value of a suspended object;
calculating a predicted value of the suspension clearance after a preset time according to the suspension clearance value and the vertical acceleration of the suspended object;
fuzzy processing is carried out on the suspension clearance predicted value, the running speed, the ground long stator input current and the rotor current through a fuzzy controller, and a fuzzy language value of the suspension clearance value, a fuzzy language value of the running speed, a fuzzy language value of the ground long stator input current and a fuzzy language value of the rotor current are obtained respectively;
acquiring a fuzzy rule table, wherein the fuzzy rule table records a corresponding relation among a fuzzy language value of a suspension clearance value, a fuzzy language value of a driving speed, a fuzzy language value of an input current value of a ground long stator, a fuzzy language value of a rotor current and a fuzzy language value of a voltage variation of an output voltage of the linear generator after a preset time;
determining a fuzzy language value of the voltage variation of the output voltage of the linear generator after a preset time length, which corresponds to the fuzzy language value of the suspension clearance value, the fuzzy language value of the running speed, the fuzzy language value of the input current of the ground long stator and the fuzzy language value of the rotor current, from the fuzzy rule table;
carrying out sharpening processing on the determined fuzzy language value of the voltage variation of the output voltage of the linear generator after the preset time length to obtain the voltage variation of the output voltage of the linear generator after the preset time length;
calculating an output voltage predicted value of the linear generator after a preset time according to the obtained voltage variation of the output voltage of the linear generator after the preset time;
calculating a predicted value of output current of the linear generator after a preset time length according to the predicted value of the output voltage of the linear generator, the output current value of the linear generator, the output voltage of the capacitor and the current state of a thyristor of the boost chopper device;
the actual control moment for turning on and turning off the thyristor is calculated by comparing the predicted value of the output current of the linear generator after the preset time with the thyristor turning on and turning off threshold values of the boost chopper device.
2. The method of claim 1, wherein calculating the predicted value of the levitation gap after a preset time period according to the value of the levitation gap and the vertical acceleration of the levitated object comprises:
calculating the vertical speed of the suspended object after the preset time;
and calculating a suspension clearance predicted value according to the suspension clearance value, the vertical acceleration, the vertical speed and the preset time length.
3. The method of claim 2, wherein calculating the vertical velocity of the levitated object after a preset time period comprises:
calculating the vertical speed of the suspended object after the preset time by the following formula:
or
The vertical speed after the suspension gap object is preset for a preset time is equal to the current vertical speed + vertical acceleration T of the suspension gap object1
Wherein, T1Indicating a preset duration.
4. The method of claim 2, wherein calculating the predicted levitation gap value based on the levitation gap value, the vertical acceleration, the vertical velocity, and the predetermined time period comprises:
calculating the predicted value of the suspension clearance after the preset time by the following formula:
suspension clearance predicted value is suspension clearance value + vertical speed preset duration +0.5 vertical acceleration preset duration2。
5. The method according to claim 1, wherein the sharpening the determined fuzzy language value of the voltage variation of the output voltage of the linear generator after a preset time period to obtain the voltage variation of the output voltage of the linear generator after the preset time period comprises:
and performing clearness processing on the determined fuzzy language value of the voltage variation of the output voltage of the linear generator after the preset time length by adopting an area gravity center method to obtain the voltage variation of the output voltage of the linear generator after the preset time length.
6. The method according to claim 1, wherein calculating the predicted value of the output voltage of the linear generator after a preset time period according to the obtained voltage change quantity of the output voltage of the linear generator after the preset time period comprises:
acquiring the current output voltage of the linear generator;
and calculating the sum of the output voltage and the voltage variation to obtain the predicted value of the output voltage of the linear generator after the preset time.
7. The method of claim 1, wherein calculating the predicted value of the output current of the linear generator after a preset time period according to the predicted value of the output voltage of the linear generator, the output current value of the linear generator, the output voltage of the capacitor and the current state of the thyristor of the boost chopper device comprises:
when the current state of a thyristor of the boost chopper device is closed, calculating the predicted value of the output current of the linear generator after the preset time length by the following formula:
or
I1Second adjustment factor T (predicted value/inductance value of output voltage of linear generator)1) + the output current value of the linear generator,
wherein, I1The method comprises the steps that when the current state of a thyristor of a boost chopper device is closed, the predicted value of output current of a linear generator after a preset time length is shown; t is1Indicating a preset duration.
8. The method of claim 1, wherein calculating the predicted value of the output current of the linear generator after a preset time period according to the predicted value of the output voltage of the linear generator, the output current value of the linear generator, the output voltage of the capacitor and the current state of the thyristor of the boost chopper device comprises:
when the current state of a thyristor of the boost chopper is open, determining the voltage value of an inductor according to the predicted value of the output voltage of the linear generator and the output voltage of the capacitor;
and calculating the predicted value of the output current of the linear generator after the preset time according to the voltage value of the inductor, the output current value of the linear generator and the inductance value.
9. The method according to claim 8, wherein calculating the predicted value of the output current of the linear generator after a preset time period according to the voltage value of the inductor, the output current value of the linear generator and the inductance value comprises:
calculating the predicted value of the output current of the linear generator after a preset time period by the following formula:
or
I2Second adjustment factor T (voltage value/inductance value of inductor)1) + linear generator output currentValue of
Wherein, I2The method comprises the steps that when the current state of a thyristor of a boost chopper device is open, the predicted value of the output current of a linear generator after a preset time length is shown; t is1Indicating a preset duration.
10. The method of claim 8, wherein determining the voltage value of the inductor from the predicted linear generator output voltage and the capacitor output voltage comprises:
when the output current value > of the linear generator is equal to 0, the voltage value of the inductor is equal to the predicted value of the output voltage of the linear generator, namely the capacitor output voltage;
when the output current value of the linear generator is less than 0, the voltage value of the inductor is equal to the predicted value of the output voltage of the linear generator plus the output voltage of the capacitor.
11. The method according to claim 1, wherein calculating the actual control time for switching on and off the thyristor by comparing the predicted value of the output current of the linear generator after a preset time period with the thyristor switching on and off threshold of the boost chopper device comprises:
when the current state of the thyristor of the boost chopper device is closed, and the predicted value of the output current of the linear generator after the preset time length is greater than the maximum threshold value for opening the thyristor of the boost chopper device, the actual time for opening the thyristor is calculated by the following formula:
the actual time for turning on the thyristor is (the maximum threshold value for turning on the thyristor of the boost chopper device-the output current of the linear generator) × (the predicted value of the output current of the linear generator after the preset time length-the output current value of the linear generator)/the preset time length.
12. The method of claim 1, wherein the actual control time for turning on and off the thyristor is calculated by comparing a predicted value of the output current of the linear generator after a preset time period with a thyristor turn-on and turn-off threshold of the boost chopper device, and further comprising:
when the current state of the thyristor of the boost chopper device is open and the predicted value of the output current of the linear generator after the preset time is less than the minimum threshold value for closing the thyristor of the boost chopper device, calculating the actual control time for closing the thyristor by the following formula:
the actual time for turning off the thyristor is (the output current value of the linear generator-the minimum threshold for turning off the thyristor of the boost chopper device) × (the output current value of the linear generator-the predicted value of the output current of the linear generator after the preset time length)/the preset time length.
13. A linear generator control device, characterized by comprising:
the acquisition module is used for acquiring a suspension gap value, vertical acceleration, running speed, ground long stator input current, rotor current, capacitor output voltage and a linear generator output current value of a suspended object;
the first calculation module is used for calculating a predicted value of the suspension gap after a preset time length according to the suspension gap value and the vertical acceleration of the suspended object;
the second calculation module is used for carrying out fuzzy processing on the suspension clearance predicted value, the running speed, the ground long stator input current and the rotor current through a fuzzy controller to respectively obtain a fuzzy language value of the suspension clearance value, a fuzzy language value of the running speed, a fuzzy language value of the ground long stator input current and a fuzzy language value of the rotor current;
acquiring a fuzzy rule table, wherein the fuzzy rule table records a corresponding relation among a fuzzy language value of a suspension clearance value, a fuzzy language value of a driving speed, a fuzzy language value of an input current value of a ground long stator, a fuzzy language value of a rotor current and a fuzzy language value of a voltage variation of an output voltage of the linear generator after a preset time;
determining a fuzzy language value of the voltage variation of the output voltage of the linear generator after a preset time length, which corresponds to the fuzzy language value of the suspension clearance value, the fuzzy language value of the running speed, the fuzzy language value of the input current of the ground long stator and the fuzzy language value of the rotor current, from the fuzzy rule table;
carrying out sharpening processing on the determined fuzzy language value of the voltage variation of the output voltage of the linear generator after the preset time length to obtain the voltage variation of the output voltage of the linear generator after the preset time length;
calculating an output voltage predicted value of the linear generator after a preset time according to the obtained voltage variation of the output voltage of the linear generator after the preset time;
the third calculation module is used for calculating the predicted value of the output current of the linear generator after the preset time length according to the predicted value of the output voltage of the linear generator, the output current value of the linear generator, the output voltage of the capacitor and the current state of a thyristor of the boost chopper;
and the fourth calculation module is used for comparing the predicted value of the output current of the linear generator after the preset time with the thyristor turn-on and turn-off threshold values of the boost chopper device, and calculating the actual control moment for turning on and turning off the thyristor.
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