CN110412896A - Magnetic suspension electromagnetic propulsion control system based on real-time ethernet - Google Patents
Magnetic suspension electromagnetic propulsion control system based on real-time ethernet Download PDFInfo
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- CN110412896A CN110412896A CN201810383803.8A CN201810383803A CN110412896A CN 110412896 A CN110412896 A CN 110412896A CN 201810383803 A CN201810383803 A CN 201810383803A CN 110412896 A CN110412896 A CN 110412896A
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- 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
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
Abstract
The magnetic suspension electromagnetic propulsion control system based on real-time ethernet that the present invention provides a kind of, the industrial personal computer of the system, energy management module, unsteady flow and switching control module, refrigeration subsystem and superconduction excitation subsystem are arranged in series to constitute EtherCAT network segment, energy management module is connect to constitute the first subnet section with energy storage subsystem, unsteady flow and switching control module are arranged in series respectively with unsteady flow subsystem and switching switch subsystem to constitute the second subnet section, industrial personal computer controls energy management module by EtherCAT network respectively, unsteady flow and switching control module, refrigeration subsystem and superconduction excitation subsystem, energy management module controls energy storage subsystem by EtherCAT network, unsteady flow controls unsteady flow subsystem by EtherCAT network with switching control module respectively and cuts Change switch subsystem.It applies the technical scheme of the present invention, the technical problem that the real-time to solve control system in the prior art is poor, complexity and overall cost are high.
Description
Technical field
The present invention relates to aircraft, superhigh-speed magnetic hovertrain magnetic suspension electromagnetic propulsion control technology field, more particularly to
A kind of magnetic suspension electromagnetic propulsion control system based on real-time ethernet.
Background technique
Aircraft, superhigh-speed magnetic hovertrain magnetic suspension electromagnetic propulsion transmitting have launch mass and emission rate height, hair
It penetrates distance, the features such as required instantaneous power and high energy, needs point system cascade such as more energy storage devices, current transformers, straight
Line motor subsystem is using forms such as sectional power supplies.Therefore, multiple and different subsystems how are controlled under the conditions of long range by hair
Jet stream journey co-ordination, it is ensured that emission process full safety is controllably magnetic suspension electromagnetic propulsion launch control system pass to be solved
Key problem, therefore the requirement of the highly reliable real-time control of high-performance is proposed to magnetic suspension electromagnetic propulsion launch control system.
Magnetic suspension electromagnetic propulsion transmitting is a kind of novel lift-off technology, belongs to new concept technology, referring to current traditional industry
Control system has the communication technology of the forms such as Fieldbus Control, Industrial Ethernet transmission concurrently.Wherein, Industrial Ethernet exists
There are some superiority, but Shortcomings in terms of real-time and valid data on network bandwidth, transmission rate, thus it is general
The mode of fieldbus is used to carry out implementation mechanism control to meet requirement of real-time, and fieldbus is limited by transmission range, In
It is had some limitations in transmission rate, and the specificity of fieldbus is strong, the protocol conversion between different bus is complicated, together
When the harness that needs it is more, cause to significantly improve using the complexity and overall cost of the control system of fieldbus.
Summary of the invention
The magnetic suspension electromagnetic propulsion control system based on real-time ethernet that the present invention provides a kind of, is able to solve existing skill
The technical problem that the real-time of control system is poor in art, complexity and overall cost are high.
The present invention provides a kind of the magnetic suspension electromagnetic propulsion control system based on real-time ethernet, magnetic suspension electromagnetic propulsion
Control system includes supporting industrial personal computer, energy management module, unsteady flow and the switching control module of EtherCAT agreement, refrigeration point
System, superconduction excitation subsystem, energy storage subsystem, unsteady flow subsystem and switching switch subsystem, industrial personal computer, energy management mould
Block, unsteady flow and switching control module, refrigeration subsystem and superconduction excitation subsystem are arranged in series to constitute EtherCAT network segment, energy
Amount management module is connect to constitute the first subnet section with energy storage subsystem, unsteady flow and switching control module respectively with unsteady flow subsystem
And switching switch subsystem is arranged in series to constitute the second subnet section, industrial personal computer controls energy by EtherCAT network respectively
Management module, unsteady flow and switching control module, refrigeration subsystem and superconduction excitation subsystem, energy management module pass through
EtherCAT network controls energy storage subsystem, and unsteady flow controls unsteady flow point by EtherCAT network with switching control module respectively and is
System and switching switch subsystem.
Further, industrial personal computer includes the first main website Ethernet card and the second main website Ethernet card, the first main website Ethernet
Card, energy management module, unsteady flow and switching control module, refrigeration subsystem, superconduction excitation subsystem and the second main website ether
Network interface card, which is sequentially connected in series, to be arranged to constitute ring topology.
Further, refrigeration subsystem includes refrigeration control module and refrigeration machine, and refrigeration control module supports EtherCAT
Agreement, refrigeration control module pass through Fieldbus Control refrigeration machine.
Further, superconduction excitation subsystem includes superconduction excitation con-trol module and superconduction field power supply, superconduction excitation control
Molding block supports EtherCAT agreement, superconduction excitation con-trol module to pass through Fieldbus Control superconduction field power supply；Industrial personal computer, energy
Management module, unsteady flow and switching control module, refrigeration control module and superconduction excitation con-trol block coupled in series is measured to be arranged to constitute
EtherCAT network segment.
Further, energy storage subsystem includes multiple energy storage controllers and multiple energy storage devices, multiple energy storage controllers
Support EtherCAT agreement, multiple energy storage controllers are arranged in a one-to-one correspondence with multiple energy storage devices, and energy storage controller passes through existing
Field bus controls energy storage device.
Further, unsteady flow subsystem includes multiple current-variable controllers and multiple converter plants, multiple current-variable controllers
Support EtherCAT agreement, multiple current-variable controllers are arranged in a one-to-one correspondence with multiple converter plants, and current-variable controller passes through existing
Field bus controls converter plant.
Further, switching switch subsystem includes multiple switching drivers and multiple switch ontology, and multiple switchings are driven
Dynamic device supports EtherCAT agreement, and multiple switching drivers are arranged in a one-to-one correspondence with multiple switch ontology, and switching driver is straight
Connect drive control Switch main body.
Further, energy management module, unsteady flow and switching control module, refrigeration control module and superconduction excitation con-trol mould
Block includes the first communication unit for supporting EtherCAT agreement, and the first communication unit controls chip ET1100, energy using ESC
Management module, unsteady flow and switching control module, refrigeration control module and superconduction excitation con-trol module by its corresponding the
One communication unit is sequentially connected in series via EtherCAT network, and the first of the first main website Ethernet card and energy management module is logical
Letter unit is connected via EtherCAT network, and the first communication unit of the second main website Ethernet card and superconduction excitation con-trol module passes through
It is connected by EtherCAT network.
Further, energy management module further includes the first slave station Ethernet card for supporting EtherCAT agreement, energy pipe
Reason module is connect by the first slave station Ethernet card with energy storage subsystem；Unsteady flow and switching control module further include supporting
Second slave station Ethernet card of EtherCAT agreement, unsteady flow and switching control module by the second slave station Ethernet card respectively with change
Flow point system and switching switch subsystem connection.
Further, each energy storage controller, each current-variable controller and each switching driver include supporting
Second communication unit of EtherCAT agreement, the second communication unit control chip ET1100 using ESC, and each energy storage controller is equal
It is connected in series by the second communication unit corresponding thereto via EtherCAT network and energy management module, each unsteady flow control
Device processed and each switching driver pass through the second communication unit corresponding thereto via EtherCAT network and unsteady flow with
The connection of switching control block coupled in series.
It applies the technical scheme of the present invention, provides a kind of magnetic suspension electromagnetic propulsion control system based on real-time ethernet
System, real-time industrial ethernet technology EtherCAT are a high-performance, low cost, using simple, topological flexible industrial ether
Network technology, by distributed clock simultaneous techniques, high bandwidth utilization technology etc., the needs that can solve industrial automation are true
The hard real-time demand and system of fixed response time is made of multiple nodes, and each node has periodic process data
Interactive demand.Magnetic suspension electromagnetic propulsion control system of the invention realizes institute in system using real-time ethernet EtherCAT
There is the real-time reliable communication between component, while reducing network complexity, also flexible, system is matched with network topology structure
Set that simple, at low cost, traffic rate is high, real-time is good, high reliablity, the advantages that haveing excellent performance.
Detailed description of the invention
Included attached drawing is used to provide to be further understood from the embodiment of the present invention, and which constitute one of specification
Point, for illustrating the embodiment of the present invention, and come together to illustrate the principle of the present invention with verbal description.It should be evident that below
Attached drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art, is not paying creation
Property labour under the premise of, be also possible to obtain other drawings based on these drawings.
Fig. 1 shows the magnetic suspension electromagnetic propulsion control based on real-time ethernet provided according to a particular embodiment of the invention
The structural schematic diagram of system processed；
Fig. 2 shows the energy management module provided according to a particular embodiment of the invention and unsteady flow and switching control moulds
The structural schematic diagram of block；
Fig. 3 shows the energy storage controller provided according to a particular embodiment of the invention, current-variable controller and switching and drives
The structural schematic diagram of dynamic device.
Wherein, the above drawings include the following reference numerals:
10, industrial personal computer；11, the first main website Ethernet card；12, the second main website Ethernet card；20, energy management module；30,
Unsteady flow and switching control module；40, refrigeration subsystem；41, refrigeration control module；42, refrigeration machine；50, superconduction excitation subsystem；
51, superconduction excitation con-trol module；52, superconduction field power supply；60, energy storage subsystem；70, unsteady flow subsystem；80, switching switch point
System.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is right below
The description only actually of at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or use
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, shall fall within the protection scope of the present invention.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, any occurrence should be construed as merely illustratively, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
As shown in Figure 1 to Figure 3, a kind of magnetic suspension based on real-time ethernet is provided according to a particular embodiment of the invention
Electromagnetic propulsion control system, the magnetic suspension electromagnetic propulsion control system include supporting industrial personal computer 10, the energy of EtherCAT agreement
Measure management module 20, unsteady flow and switching control module 30, refrigeration subsystem 40, superconduction excitation subsystem 50, energy storage subsystem 60,
Unsteady flow subsystem 70 and switching switch subsystem 80, industrial personal computer 10, energy management module 20, unsteady flow and switching control module 30,
Refrigeration subsystem 40 and superconduction excitation subsystem 50 are arranged in series to constitute EtherCAT network segment, energy management module 20 and energy storage
The connection of subsystem 60 to constitute the first subnet section, open with unsteady flow subsystem 70 and switching respectively with switching control module 30 by unsteady flow
It closes subsystem 80 to be arranged in series to constitute the second subnet section, industrial personal computer 10 controls energy management mould by EtherCAT network respectively
Block 20, unsteady flow and switching control module 30, refrigeration subsystem 40 and superconduction excitation subsystem 50, energy management module 20 passes through
EtherCAT network controls energy storage subsystem 60, unsteady flow and switching control module 30 and controls unsteady flow respectively by EtherCAT network
Subsystem 70 and switching switch subsystem 80.
Using such configuration mode, a kind of magnetic suspension electromagnetic propulsion control system based on real-time ethernet is provided, it is real
When industrial Ethernet technology EtherCAT be a high-performance, low cost, using simple, topological flexible Industrial Ethernet skill
Art, by distributed clock simultaneous techniques, high bandwidth utilization technology etc., can solve industrial automation it needs to be determined that
The hard real-time demand and system of response time is made of multiple nodes, and each node has periodic process data interaction
Demand.Magnetic suspension electromagnetic propulsion control system of the invention realizes all portions in system using real-time ethernet EtherCAT
Real-time reliable communication between part while reducing network complexity, also has that network topology structure is flexible, system configuration is simple
It is single, at low cost, traffic rate is high, real-time is good, high reliablity, the advantages that haveing excellent performance.
In addition, in the network architecture of the control system, industrial personal computer 10 is used as main website, energy management module 20, unsteady flow with
Switching control module 30, refrigeration subsystem 40 and superconduction excitation subsystem 50 are used as four slave stations, main website and four slave station strings
Connection one EtherCAT network segment of composition, in the EtherCAT network segment, energy management module 20 and unsteady flow and switching control mould
Block 30 is with " slave station mode " operation；Energy management module 20 is connect to constitute the first subnet section, first with energy storage subsystem 60
In subnet section, energy management module 20 is with " master station mode " operation；Unsteady flow and switching control module 30 respectively with unsteady flow subsystem
70 and switching switch subsystem 80 be arranged in series to constitute the second subnet section, in the second subnet section, unsteady flow and switching control
Module 30 is run with " master station mode ", network structure clear layer, flexible, suitable system extension under such mode.
Further, in the present invention, real-time ethernet EtherCAT is based on standard ethernet, use standard with
The too physical layer of net data frame and the IEEE 802.3 for meeting ethernet standard.It is carrying out between each subsystem of magnetic suspension system
Control when, its message is embedded into the ethernet data frame of standard by EtherCAT, formed EtherCAT data frame, each point is
System can identify EtherCAT data frame by frame type 0x88A4.It can make control command, status information etc. in this way
Data are write direct in EtherCAT data frame, and can be parallel in the same network with the ethernet frame in accordance with other agreements.
It may include the sub- message of several EtherCAT in one EtherCAT data frame, EtherCAT main website sends a message, report
Text passes through all slave nodes, and EtherCAT slave station equipment high speed dynamically (on the fly) reads the number for being addressed to the node
According to, and data are inserted into while data frame continues transmission.Therefore, the transmission delay of data frame is solely dependent upon hardware transport and prolongs
When.When the last one nodal test on a certain network segment or branch to open port (without next slave station), Ethernet is utilized
Message is returned to main website by the duplex nature of technology.
EtherCAT main website is the node for uniquely capableing of active transmission EtherCAT data frame in network segment, other nodes only pass
Data frame is sent, to guarantee the real-time performance of EtherCAT.EtherCAT main website uses the ethernet medium access control of standard
Device (MAC), without additional communication processor, EtherCAT master is can be achieved in any hardware platform for being integrated with Ethernet interface
It stands, and it is unrelated with used real time operating system or application software.The EtherCAT slave station of EtherCAT slave station equipment controls
Device (ESC) is responsible for high speed within hardware and dynamically handles EtherCAT data frame, not only makes network performance predictable, but also its property
Can be independently of specific slave station equipment embodiment, therefore ensure that the high performance control characteristic of system.
Further, in the present invention, in order to guarantee the high reliability of system, industrial personal computer 10 can be configured to include first
Main website Ethernet card 11 and the second main website Ethernet card 12, the first main website Ethernet card 11, energy management module 20, unsteady flow and cut
Change control module 30, refrigeration subsystem 40, superconduction excitation subsystem 50 and the second main website Ethernet card be sequentially connected in series setting with
Constitute ring topology.
Using such configuration mode, by 10 control flow of industrial personal computer as main website by the first main website Ethernet card 11 with
Too network interface active transmission EtherCAT data frame, when EtherCAT data frame successively passes through energy management module 20 (slave station 1), change
When stream is with switching control module 30 (slave station 2), refrigeration subsystem 40 (slave station 3), superconduction excitation subsystem 50 (slave station 4), respectively from
It stands and reads data corresponding with the equipment, and the intron message when EtherCAT data frame passes through, reading relevant number
It will recognise that corresponding order according to rear each slave station, and handled.The last one slave station, that is, superconduction excitation subsystem in network segment
50 (slave stations 4) will return to the Ethernet interface of the second main website Ethernet card 12 of industrial personal computer 10 by the message sufficiently handled.It is such
Linear topology structure extension is the form of ring topology by mode, can be realized with a low cost the redundancy of the communications cable, be worked as appearance
It when some cable damage or some node failure, is detected by the Add-ons in industrial personal computer main website storehouse, other each sections
Without changing thus, the link detecting in slave station equipment can automatically detect failure and quickly solve redundancy issue point,
Recovery time is no more than 15 μ s, at most postpones a communication cycle, does not influence the access to some network segment and the mistake of whole network
Effect, ensure that the high reliability of system.
Further, in the present invention, refrigeration subsystem 40 includes refrigeration control module 41 and refrigeration machine 42, refrigeration control
Module 41 supports EtherCAT agreement, refrigeration control module 41 to pass through Fieldbus Control refrigeration machine 42.Superconduction excitation subsystem
50 include superconduction excitation con-trol module 51 and superconduction field power supply 52, and superconduction excitation con-trol module 51 supports EtherCAT agreement,
Superconduction excitation con-trol module 51 passes through Fieldbus Control superconduction field power supply 52；Industrial personal computer 10, energy management module 20, unsteady flow
It is arranged in series with switching control module 30, refrigeration control module 41 and superconduction excitation con-trol module 51 to constitute EtherCAT net
Section.
In the present invention, energy storage subsystem 60 includes multiple energy storage controllers and multiple energy storage devices, multiple energy storage controls
Device processed supports EtherCAT agreement, and multiple energy storage controllers are arranged in a one-to-one correspondence with multiple energy storage devices, and energy storage controller is logical
Fieldbus Control energy storage device is crossed, specifically, energy storage controller can control charge and discharge time and the energy storage dress of energy storage device
The voltage and current etc. set.As a specific embodiment of the invention, as shown in Figure 1, magnetic suspension electromagnetic propulsion control system packet
Include n energy storage controller and n energy storage device, wherein n >=3.
Further, in the present invention, unsteady flow subsystem 70 includes multiple current-variable controllers and multiple converter plants, more
A current-variable controller supports EtherCAT agreement, and multiple current-variable controllers are arranged in a one-to-one correspondence with multiple converter plants, unsteady flow
Controller passes through Fieldbus Control converter plant.Switching switch subsystem 80 includes multiple switching drivers and multiple switch
Ontology, multiple switching drivers support EtherCAT agreement, and multiple switching drivers are set with multiple switch ontology one-to-one correspondence
It sets, switching driver directly drives control switch ontology.As a specific embodiment of the invention, as shown in Figure 1, magnetic suspension
Electromagnetic propulsion control system includes m current-variable controller, m converter plant, k switching driver and k Switch main body,
In, m >=3, k >=9.Each Switch main body corresponds to a segmentation motor, unsteady flow and switching control module 30 and passes through control switching
Switch subsystem 80 is to realize multiple segmentation switchings for being segmented motors, and unsteady flow subsystem is used to power for segmentation motor, according to negative
Electric flux needed for carrying and electrical power size are worked by switching switch subsystem 80 movement with the segmentation motor for realizing setting quantity
To drive load movement.
Further, in the present invention, energy management module 20, unsteady flow and switching control module 30, refrigeration control module
41 and superconduction excitation con-trol module 51 include support EtherCAT agreement the first communication unit, the first communication unit use
ESC controls chip ET1100, and energy management module 20, unsteady flow and switching control module 30, refrigeration control module 41 and superconduction are encouraged
Magnetic control module 51 is sequentially connected in series by its corresponding first communication unit via EtherCAT network, the first main website
Ethernet card 11 is connect with the first communication unit of energy management module 20 via EtherCAT network, the second main website Ethernet card
12 connect with the first communication unit of superconduction excitation con-trol module 51 via EtherCAT network.
Using such configuration mode, the first communication unit controls chip ET1100 using ESC, so that energy management module
20, unsteady flow and switching control module 30, refrigeration control module 41 and superconduction excitation con-trol module 51 with " slave station mode " with work
It is run in the network segment that control owner station is connected in series, so that directly high speed dynamically handles EtherCAT data frame within hardware, it is this
Hardware fast-response time reduces the state switching latency in processing step, significantly improves application efficiency.In addition, being
The EtherCAT structure that system uses can usually reduce the cpu load of a quarter or more, obtain more while improving control precision
High handling capacity ensure that system controls the real time coordination of each slave station, each subsystem from hardware, greatly improve magnetic suspension
The real-time and control performance of electromagnetic propulsion control system.
Further, in the present invention, energy management module 20 further include support EtherCAT agreement the first slave station with
Too network interface card 21, energy management module 20 are connect by the first slave station Ethernet card 21 with energy storage subsystem 60；Unsteady flow and switching are controlled
Molding block 30 further includes the second slave station Ethernet card 22 for supporting EtherCAT agreement, and unsteady flow and switching control module 30 pass through the
Two slave station Ethernet cards 22 are connect with unsteady flow subsystem 70 and switching switch subsystem 80 respectively.Using such configuration mode,
Energy management module 20 controls energy storage subsystem 60 by EtherCAT network, and unsteady flow passes through with switching control module 30
EtherCAT network controls unsteady flow subsystem 70 and switching switch subsystem 80 respectively.
In addition, in the present invention, each energy storage controller, each current-variable controller and each switching driver include
The second communication unit of EtherCAT agreement, the second communication unit is supported to control chip ET1100, each energy storage control using ESC
Device passes through the second communication unit corresponding thereto and is connected in series via EtherCAT network and energy management module 20, each
Current-variable controller and each switching driver pass through the second communication unit corresponding thereto via EtherCAT network with
Unsteady flow and switching control module 30 are connected in series.Using such configuration mode, the second communication unit controls chip using ESC
ET1100, to directly handle EtherCAT agreement within hardware, according to control instruction, energy storage controller, current-variable controller are equal
Energy storage device, converter plant work can be controlled respectively by fieldbus, and switching driver directly drives control switch ontology work
Make.
Further understand to have to the present invention, below with reference to Fig. 1 to Fig. 3 to of the invention based on real-time ethernet
Magnetic suspension electromagnetic propulsion control system is described in detail.
As depicted in figs. 1 and 2, energy management module 20 (slave station 1) and unsteady flow are wrapped with switching control module 30 (slave station 2)
It includes: control panel, the microprocessor being respectively arranged on control panel and peripheral circuit and being connected with the microprocessor and prop up respectively
Hold the slave station Ethernet card and the first communication unit of EtherCAT agreement.Refrigeration control module 41 (slave station 3) and superconduction excitation control
Molding block 51 (slave station 4) includes: control panel, the microprocessor being respectively arranged on control panel and peripheral circuit and difference
It is connected with the microprocessor and supports the first communication unit of EtherCAT agreement.Energy management module 20 (slave station 1), unsteady flow with
Switching control module 30 (slave station 2), refrigeration control module 41 (slave station 3) and superconduction excitation con-trol module 51 (slave station 4) pass through
First communication unit is connected via EtherCAT network with industrial personal computer main website or a upper slave station upwards.Energy management module 20
(slave station 1) is made up of via the energy storage subsystem 60 of EtherCAT network corresponding thereto downwards the first slave station Ethernet card 21
Subnet section；Unsteady flow and switching control module 30 (slave station 2) pass through the second slave station Ethernet card 22 downwards via EtherCAT network
Corresponding current transformer subsystem 70 and switching switch subsystem 80 collectively constitutes subnet section.
Energy management module 20 (slave station 1) and unsteady flow and switching control module 30 (slave station 2) are all made of ARM Cortex system
Column chip is as core processor, and the Peripheral Interface of ARM Cortex family chip is more, for DSP and single-chip microcontroller more
It is suitable for network communication.Energy management module 20 (slave station 1), unsteady flow and switching control module 30 (slave station 2), refrigeration control module
41 (slave stations 3) and the first communication unit of superconduction excitation con-trol module 51 (slave station 4) use ESC to control chip ET1100, make
Equipment is run in the network segment being connected in series with industrial personal computer main website with " slave station mode ", to directly handle EtherCAT within hardware
Agreement.According to control instruction, refrigeration control module 41, superconduction excitation con-trol module 51 control refrigeration by fieldbus respectively
Machine 42, superconduction field power supply 52 work.First slave station Ethernet card 21 of energy management module 20 (slave station 1) and unsteady flow with cut
The the second slave station Ethernet card 22 for changing control module 30 (slave station 2) controls chip Realtek using standard ethernet
RTL8103E, to make energy management module 20 (slave station 1) and unsteady flow and switching control module 30 (slave station 2) with " master station mode "
It is run in the subnet section being connected in series with energy storage controller, current-variable controller, switching driver.
As shown in figure 3, the energy storage controller in energy storage subsystem 60 or the current-variable controller in unsteady flow subsystem 70 or cutting
The second communication unit for supporting EtherCAT agreement, the second communication are provided on the switching driver changed in switch subsystem 80
Unit may be coupled directly in EtherCAT network segment.Energy storage controller, current-variable controller, switching driver are all made of dsp chip
TMS320F28335 is as core processor, and the second communication unit part controls chip ET1100 using ESC, thus directly hard
EtherCAT agreement is handled in part, according to control instruction, energy storage controller, current-variable controller pass through fieldbus and control respectively
Energy storage device, converter plant work, switching driver directly drive this body running of control switch.
In magnetic suspension electromagnetic propulsion control system in the present embodiment, main website uses and is integrated with Liang Kuai main website Ethernet card
Industrial personal computer 10, by industrial personal computer main website according to control flow by the Ethernet interface active transmission of the first main website Ethernet card 11
EtherCAT data frame, when EtherCAT data frame successively passes through energy management module 20 (slave station 1), unsteady flow and switching control mould
When block 30 (slave station 2), refrigeration control module 41 (slave station 3) and superconduction excitation con-trol module 51 (slave station 4), each slave station reads and should
The corresponding data of equipment, and the intron message when EtherCAT data frame passes through, each slave station after reading relevant data
It will recognise that corresponding order, and handled.The last one slave station, that is, superconduction excitation con-trol module 51 (slave station 4) in network segment
The second main website Ethernet interface 12 of industrial personal computer main website will be returned by the message sufficiently handled.It is this by linear topology structure extension
For the form of ring topology, it can be realized with a low cost the redundancy of the communications cable, when there is cable damage or node failure,
It is detected by the Add-ons in industrial personal computer main website storehouse, each node without changing thus, the chain in slave station equipment
Road detection can automatically detect failure and quickly solve redundancy issue, and recovery time is no more than 15 μ s, at most one communication of delay
Period does not influence the access to some network segment and the failure of whole network, ensure that the high reliability of system.
Energy storage controller or change when EtherCAT data frame equipment sub- by each bottom, in energy storage subsystem 60
The switching driver in current-variable controller or switching switch subsystem 80 in flow point system 70 reads the number for corresponding to the equipment
According to or insertion need the sub- message that transmits.Energy storage controller or current-variable controller or switching driver are reading relevant data
After will recognise that corresponding order, and handled.The last one energy storage controller or switching driver in subnet section will be through
The message that sufficiently handles is crossed to return, the message as a response message by the first sub- equipment of bottom back to it is corresponding from
It stands.
It is (several that EtherCAT data frame by the entire transmission process that industrial personal computer main website is issued to return only postpones the extremely short time
A bit time), and each slave station of the transmission process, energy storage controller, current-variable controller, switching driver etc. are all to pass through hardware
It realizes, i.e., high speed dynamically handles EtherCAT data frame, Real-time running system or place with protocol stack software within hardware
Reason device performance is unrelated, and this hardware fast-response time reduces the state switching latency in processing step, significantly improves
Application efficiency.In addition, other buses of corresponding setting same loop time, EtherCAT structure can usually reduce four/
One or more cpu load obtains higher handling capacity while improving control precision, to ensure that system to each from hardware
The real time coordination control of slave station, each subsystem, greatly improves the real-time and controlling of magnetic suspension electromagnetic propulsion control system
Energy.
In conclusion the magnetic suspension electromagnetic propulsion control system of the invention based on real-time ethernet and prior art phase
Than being realized using same communication medium real-time ethernet EtherCAT real-time reliable logical between all components in system
Letter, while reducing network complexity, also with network topology structure is flexible, system configuration is simple, at low cost, traffic rate
It is high, real-time is good, high reliablity, the advantages that haveing excellent performance, be suitable for number of nodes is more, the signal transmission under remote operating condition with far
The tasks such as process control operation can be applied to aircraft/weapon Electromagnetic Launching, superhigh-speed magnetic hovertrain controls, automobile adds
The fields such as fast impact test, high-rise building elevator controlling.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of invention protection scope.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of magnetic suspension electromagnetic propulsion control system based on real-time ethernet, which is characterized in that the magnetic suspension electromagnetism pushes away
It include supporting industrial personal computer (10), energy management module (20), unsteady flow and the switching control of EtherCAT agreement into control system
It module (30), refrigeration subsystem (40), superconduction excitation subsystem (50), energy storage subsystem (60), unsteady flow subsystem (70) and cuts
Change switch subsystem (80), the industrial personal computer (10), the energy management module (20), the unsteady flow and switching control module
(30), the refrigeration subsystem (40) and superconduction excitation subsystem (50) are arranged in series to constitute EtherCAT network segment, the energy
Amount management module (20) is connect to constitute the first subnet section, the unsteady flow and switching control module with the energy storage subsystem (60)
(30) it is arranged in series respectively with the unsteady flow subsystem (70) and switching switch subsystem (80) to constitute the second subnet
Section, the industrial personal computer (10) control the energy management module (20), the unsteady flow and switching by EtherCAT network respectively
Control module (30), the refrigeration subsystem (40) and the superconduction excitation subsystem (50), the energy management module
(20) the energy storage subsystem (60) is controlled by EtherCAT network, the unsteady flow passes through with switching control module (30)
EtherCAT network controls the unsteady flow subsystem (70) and switching switch subsystem (80) respectively.
2. the magnetic suspension electromagnetic propulsion control system according to claim 1 based on real-time ethernet, which is characterized in that institute
Stating industrial personal computer (10) includes the first main website Ethernet card (11) and the second main website Ethernet card (12), first main website Ethernet
Block (11), the energy management module (20), the unsteady flow and switching control module (30), the refrigeration subsystem (40), institute
It states superconduction excitation subsystem (50) and second main website Ethernet card (12) is sequentially connected in series and is arranged to constitute ring topology knot
Structure.
3. the magnetic suspension electromagnetic propulsion control system according to claim 2 based on real-time ethernet, which is characterized in that institute
Stating refrigeration subsystem (40) includes refrigeration control module (41) and refrigeration machine (42), and the refrigeration control module (41) is supported
EtherCAT agreement, the refrigeration control module (41) pass through refrigeration machine (42) described in Fieldbus Control.
4. the magnetic suspension electromagnetic propulsion control system according to claim 3 based on real-time ethernet, which is characterized in that institute
Stating superconduction excitation subsystem (50) includes superconduction excitation con-trol module (51) and superconduction field power supply (52), the superconduction excitation control
Molding block (51) supports EtherCAT agreement, and the superconduction excitation con-trol module (51) is encouraged by superconduction described in Fieldbus Control
Magnetoelectricity source (52)；The industrial personal computer (10), the energy management module (20), the unsteady flow and switching control module (30), institute
It states refrigeration control module (41) and the superconduction excitation con-trol module (51) is arranged in series to constitute EtherCAT network segment.
5. the magnetic suspension electromagnetic propulsion control system according to claim 1 based on real-time ethernet, which is characterized in that institute
Stating energy storage subsystem (60) includes multiple energy storage controllers and multiple energy storage devices, and multiple energy storage controllers are supported
EtherCAT agreement, multiple energy storage controllers are arranged in a one-to-one correspondence with multiple energy storage devices, the energy storage controller
Pass through energy storage device described in Fieldbus Control.
6. the magnetic suspension electromagnetic propulsion control system according to claim 5 based on real-time ethernet, which is characterized in that institute
Stating unsteady flow subsystem (70) includes multiple current-variable controllers and multiple converter plants, and multiple current-variable controllers are supported
EtherCAT agreement, multiple current-variable controllers are arranged in a one-to-one correspondence with multiple converter plants, the current-variable controller
Pass through converter plant described in Fieldbus Control.
7. the magnetic suspension electromagnetic propulsion control system according to claim 6 based on real-time ethernet, which is characterized in that institute
Stating switching switch subsystem (80) includes multiple switching drivers and multiple switch ontology, and multiple switching drivers prop up
EtherCAT agreement is held, multiple switching drivers are arranged in a one-to-one correspondence with multiple Switch main bodies, the switching driving
Device directly drives the control Switch main body.
8. the magnetic suspension electromagnetic propulsion control system according to claim 4 based on real-time ethernet, which is characterized in that institute
State energy management module (20), the unsteady flow and switching control module (30), the refrigeration control module (41) and the superconduction
Excitation con-trol module (51) includes the first communication unit for supporting EtherCAT agreement, and first communication unit uses ESC
Control chip ET1100, the energy management module (20), the unsteady flow and switching control module (30), the refrigeration control mould
Block (41) and the superconduction excitation con-trol module (51) pass through its corresponding first communication unit via EtherCAT network
Be sequentially connected in series, the first communication unit of first main website Ethernet card (11) and the energy management module (20) via
EtherCAT network connection, second main website Ethernet card (12) are communicated with the first of the superconduction excitation con-trol module (51)
Unit is connected via EtherCAT network.
9. the magnetic suspension electromagnetic propulsion control system according to claim 8 based on real-time ethernet, which is characterized in that institute
Stating energy management module (20) further includes the first slave station Ethernet card (21) for supporting EtherCAT agreement, the energy management mould
Block (20) is connect by the first slave station Ethernet card (21) with the energy storage subsystem (60)；The unsteady flow and switching control
Module (30) further includes supporting the second slave station Ethernet card (22) of EtherCAT agreement, the unsteady flow and switching control module
(30) it is with the unsteady flow subsystem (70) and switching switch point respectively by the second slave station Ethernet card (22)
System (80) connection.
10. the magnetic suspension electromagnetic propulsion control system according to claim 7 based on real-time ethernet, which is characterized in that
Each energy storage controller, each current-variable controller and each switching driver include supporting EtherCAT
Second communication unit of agreement, second communication unit control chip ET1100 using ESC, and each energy storage controller is equal
It is connected in series by the second communication unit corresponding thereto via EtherCAT network and the energy management module (20), respectively
A current-variable controller and each switching driver pass through the second communication unit corresponding thereto via
EtherCAT network and the unsteady flow and switching control module (30) are connected in series.
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| CN110412896B (en) | 2021-03-16 |
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