CN112078376A - Permanent magnetic-levitation train bending-passing guide control method and system - Google Patents
Permanent magnetic-levitation train bending-passing guide control method and system Download PDFInfo
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- CN112078376A CN112078376A CN202010797435.9A CN202010797435A CN112078376A CN 112078376 A CN112078376 A CN 112078376A CN 202010797435 A CN202010797435 A CN 202010797435A CN 112078376 A CN112078376 A CN 112078376A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/04—Magnetic suspension or levitation for vehicles
- B60L13/06—Means to sense or control vehicle position or attitude with respect to railway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B60L2200/26—Rail vehicles
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Abstract
The invention provides a permanent magnetic-levitation train bending-passing guide control method and system. The position sensor is utilized to obtain the position of the permanent magnetic suspension train on the track, so that the guiding electromagnetic coil is triggered at the position of the curve to provide electromagnetic guiding suction force FElectromagnetic fieldAnd the permanent magnetic-levitation train is driven to incline towards the inner side of the curve by utilizing the electromagnetic guiding suction force. Therefore, the invention can utilize the electromagnetic conductance to guide the suction force F in the curveElectromagnetic fieldAnd the lateral force F of the magnetic track when the permanent magnetic suspension train is laterally deviatedSide wallCentrifugal force F borne by balanced permanent magnet maglev train during turningSeparation deviceThe invention can adjust the current I of the guiding electromagnetic coil in real time by calculating the lateral offset displacement required by stable steering between the vehicle-mounted magnet and the magnetic track magnet, so as to offset partial centrifugal force when the train is bent by utilizing the lateral force existing in the permanent magnetic levitation and reduce the pressure of electromagnetic guiding, thereby achieving the purposes of reducing the design capacity of the electromagnetic guiding system, improving the redundancy of the electromagnetic guiding system and reducing the electromagnetic guiding cost.
Description
Technical Field
The invention relates to the technical field of magnetic suspension, in particular to a method and a system for controlling the bending guide of a permanent magnetic suspension train.
Background
The maglev train is a novel energy-saving rail vehicle which utilizes magnetic interaction to enable no mechanical contact between the train and a rail, mainly comprises three systems of suspension, guiding and traction, has the advantages of high speed, energy conservation, safety, comfort, strong terrain adaptability and the like, greatly enriches the existing traffic system due to the appearance and development of the maglev train, and provides a new idea for solving the problem of urban traffic congestion.
The suspension permanent magnetic-levitation train not only integrates all the advantages of the magnetic-levitation train, but also has unique properties, the schematic diagram of the train structure is shown in fig. 1, the train provides main levitation force of the train by utilizing mutual repulsive force between a vehicle-mounted permanent magnet B and a track magnet C (B1 is repelled with C1, B2 is repelled with C2), a carriage is connected with a bogie 1 by utilizing a suspension system 4, is suspended below the track, is supported by a steel beam or a concrete upright post and is suspended in the air, a motor 2 provides driving force, and electromagnets A1 on the left and the right of the bogie provide electromagnetic guiding force. The suspended permanent magnetic levitation train moves ground traffic to the air and can be built above a landscape zone of a city, so that the problem of urban traffic jam can be effectively relieved on the basis of not expanding the existing urban highway facilities, the defects of other rail traffic systems are overcome, the construction cost is lower than that of subways, electromagnetic levitation trains, light rails and the like, the construction technology is relatively simple, the suspended permanent magnetic levitation train has a plurality of outstanding characteristics in the aspects of construction and operation, and the application range is wider. The permanent magnetic suspension train utilizes the repulsive force of the permanent magnet to provide main suspension force, compared with an electromagnetic suspension type and a high-temperature superconducting type magnetic suspension train, the suspension power consumption is greatly reduced, the maintenance cost is low, but the permanent magnetic suspension has natural instability and small suspension damping, and great trouble is brought to the control of a suspension system and the control of a driving system. In addition, the suspension force is exponentially reduced when the vehicle-mounted magnet and the magnetic track are subjected to lateral offset displacement, and meanwhile, a large lateral force exists between the magnets, so that great challenges are brought to the research of the permanent magnet maglev train guiding technology, particularly, the situation is more complicated when a vehicle passes through a curve, and three types of common guiding technologies at present are provided, namely mechanical guiding, electromagnetic guiding and hybrid maglev guiding. The permanent magnetic-levitation train is acted by a larger lateral force, and in the current engineering practice, a wheel-rail contact form is mostly adopted for a permanent magnetic-levitation train guiding system. In the running mode of wheel-rail contact, the abrasion of the wheel-rail is serious in the actual running process, which brings certain difficulty to maintenance, affects the service life of the system and further causes the increase of the system operation cost. Meanwhile, the wheel rails are in direct mechanical contact with each other, the wheel rails are abraded greatly in long-term operation, the irregularity of the rails is worsened, vibration and noise are easy to generate, the operation quality of a vehicle is reduced, and therefore contactless electromagnetic guiding is an ideal choice. However, the repulsion permanent magnetic-levitation train has huge lateral force, and the dynamic model at the vehicle passing through the curve is more complex, which affects the engineering application practice of electromagnetic guidance in the permanent magnetic-levitation train system to a certain extent.
Disclosure of Invention
The invention provides a method and a system for controlling the over-bending guiding of a permanent magnetic-levitation train, aiming at the defects of the prior art. The invention specifically adopts the following technical scheme.
A permanent magnetic-levitation train bending-passing guide control method is characterized in that when a permanent magnetic-levitation train is about to enter a bend, the following steps are executed:
the method comprises the following steps that firstly, the magnitude of current I flowing through a guiding electromagnetic coil is adjusted to drive the guiding electromagnetic coil to generate electromagnetic guiding suction force F electromagnetic, and the electromagnetic guiding suction force is utilized to drive a permanent magnetic-levitation train to incline towards the inner side of a curve when entering the curve, so that a vehicle-mounted magnet on the permanent magnetic-levitation train inclines towards the inner side of the curve relative to a magnetic track magnet on a track;
secondly, calculating the lateral force F side of the magnetic track when the permanent magnetic-levitation train is subjected to lateral deviation, and calculating the centrifugal force F distance suffered by the permanent magnetic-levitation train;
thirdly, adjusting the current I of the guiding electromagnetic coil in real time, and controlling the electromagnetic guiding attraction by using the currentThereby adjusting the relative position of the vehicle-mounted magnet on the permanent magnetic-levitation train relative to the magnetic track magnet on the track in real time and ensuring that the electromagnetic guiding attraction force F electromagnetic and the lateral force F side borne by the permanent magnetic-levitation train both meet FElectromagnetic field+FSide wall＝FSeparation device；
And fourthly, repeating the first step to the third step until the permanent magnetic-levitation train is about to leave the bend, adjusting the current of the guiding electromagnetic coil, and driving the vehicle-mounted magnet on the permanent magnetic-levitation train to restore to be right above the magnetic track magnet on the track.
Preferably, the permanent magnetic-levitation train is subjected to centrifugal force
Wherein v represents the running speed of the permanent magnet maglev train, m represents the mass of the permanent magnet maglev train, and r represents the turning radius of a curve into which the permanent magnet maglev train enters.
Preferably, the magnetic track lateral force to which the permanent magnetic-levitation train is subjected is
Wherein the coefficients
Br1Residual magnetic induction intensity of vehicle-mounted magnet, Br2The residual magnetic induction intensity and air permeability mu of the magnetic track permanent magnet0＝4π×10-7H/m, L is the length of the vehicle-mounted magnet, beta1Is the angle between the vehicle-mounted magnet and the horizontal plane, beta2Is the included angle between the magnetic track magnet and the horizontal plane, and in the calculation process, omega (c) is a lateral force influence factor,
as a factor that affects the suspension force,
h is a suspension gap between the vehicle-mounted magnet and the magnetic track magnet, d is the thickness of the vehicle-mounted magnet, c is the lateral displacement between the vehicle-mounted magnet and the magnetic track magnet, e is the width of the vehicle-mounted magnet, a is the width of the magnetic track magnet, and b is the thickness of the magnetic track magnet.
Preferably, the permanent magnetic-levitation train is subjected to electromagnetic guiding suction force
Wherein, mu0The magnetic field is air permeability, S is the total area of a magnetic pole, N is the number of turns of the guiding electromagnetic coil, I is the current flowing through the guiding electromagnetic coil, and h is a suspension gap.
Preferably, the magnetic track lateral force borne by the permanent magnetic-levitation train is obtained by measuring and calculating through magnetic simulation software according to the levitation gap h between the vehicle-mounted magnet and the magnetic track magnet and the lateral offset c between the vehicle-mounted magnet and the magnetic track magnet.
A permanent magnet maglev train bending guide control system comprises:
the position sensor is used for acquiring the position of the permanent magnetic-levitation train on the track in real time and detecting whether the permanent magnetic-levitation train is about to enter a curve or is about to drive out of the curve;
the guiding electromagnetic coil is used for receiving current I, outputting electromagnetic guiding suction force F electromagnetism to the permanent magnetic-levitation train according to the current I, and driving the permanent magnetic-levitation train to incline towards the inner side of the curve when entering the curve by utilizing the electromagnetic guiding suction force so as to enable the vehicle-mounted magnets on the permanent magnetic-levitation train to incline towards the inner side of the curve relative to the magnetic track magnets on the track;
a calculating unit for calculating the lateral force F side of the magnetic track when the permanent magnetic-levitation train is laterally deviated, calculating the centrifugal force F distance of the permanent magnetic-levitation train, and calculating the magnetic-levitation train according to the force FElectromagnetic field+FSide wall＝FSeparation deviceCalculating the lateral offset required by stable steering between the vehicle-mounted magnet and the magnetic track magnet;
current regulation unitThe electromagnetic guiding attraction force control device is used for adjusting the magnitude of current I of the guiding electromagnetic coil in real time according to the lateral offset displacement amount required by stable steering between the vehicle-mounted magnet and the magnetic track magnet, and controlling the electromagnetic guiding attraction force by utilizing the current so as to adjust the relative position of the vehicle-mounted magnet on the permanent magnetic suspension train relative to the magnetic track magnet on the track in real time, so that the electromagnetic guiding attraction force Felectromagnetic and the lateral force F side borne by the permanent magnetic suspension train meet the condition that the F side meets the requirement of the F side forceElectromagnetic field+FSide wall＝FSeparation device。
Preferably, the current adjusting unit is further configured to adjust the current of the guiding electromagnetic coil when the permanent magnet maglev train is about to leave the curve, so as to drive the vehicle-mounted magnet on the permanent magnet maglev train to return to a position right above the magnetic track magnet on the track.
Preferably, the calculation unit includes: a centrifugal force calculation module for calculating the centrifugal force applied to the magnetic-levitation train
Wherein v represents the running speed of the permanent magnet maglev train, m represents the mass of the permanent magnet maglev train, and r represents the turning radius of a curve into which the permanent magnet maglev train enters.
Preferably, the calculation unit further includes: a lateral force calculation module for calculating the lateral force of the magnetic-levitation train
Wherein the coefficients
Br1Residual magnetic induction intensity of vehicle-mounted magnet, Br2The residual magnetic induction intensity and air permeability mu of the magnetic track permanent magnet0＝4π×10-7H/m, L is the length of the vehicle-mounted magnet, beta1Is the angle between the vehicle-mounted magnet and the horizontal plane, beta2Is the included angle between the magnetic track magnet and the horizontal plane, and in the calculation process, omega (c) is a lateral force structure influence factor,
is a suspension force structure influence factor,
h is the suspension clearance between on-vehicle magnet and the magnetic track magnet, d is the thickness of on-vehicle magnet, c is the lateral offset volume between on-vehicle magnet and the magnetic track magnet, e is the width of on-vehicle magnet, and a is the width of magnetic track magnet, and b is the thickness of magnetic track magnet, on-vehicle magnet is 5 groups 30halbach permanent magnetism arrays with magnetic track magnet.
Preferably, the current adjusting unit is used for calculating the electromagnetic guiding attraction force required by the permanent magnetic-levitation train according to the lateral offset displacement required by stable steering between the vehicle-mounted magnet and the magnetic track magnet and according to the lateral offset displacement
Calculating the current I flowing through the guide electromagnetic coil; wherein, mu0Air permeability, S total area of magnetic pole, N number of turns of guiding electromagnetic coil, and h suspension gap.
Firstly, in order to achieve the purpose, a bending guiding method is provided, and the principle is that the lateral force existing in the permanent magnetic levitation per se is utilized to offset the centrifugal force when the train passes through the bending, so that the pressure of electromagnetic guiding is reduced, non-contact guiding can be achieved, and the cost of the electromagnetic guiding is reduced.
Optionally, in the above-mentioned side force counteracting centrifugal force, due to the principle that like poles of the permanent magnets repel each other, the side force generates a repulsive force when the permanent magnets of the vehicle-mounted permanent magnet and the permanent magnet of the track are offset.
Meanwhile, in order to achieve the purpose, the invention also provides a permanent magnet maglev train bending processing method, which comprises the following steps: the train is deflected inwards by the action of the electromagnet before entering the curve, the lateral deflection force counteracts the centrifugal force, and the train gradually returns to be positive before exiting the curve, so that the lateral deflection force is reduced as much as possible when the train runs on a straight road, and the electromagnetic guiding energy consumption is reduced.
Advantageous effects
The invention provides a method and a system for controlling the permanent magnetic-levitation train to pass the curve, which utilize a position sensor to obtain the position of the permanent magnetic-levitation train on a track, thereby triggering a guiding electromagnetic coil at the position of the curve to provide electromagnetic guiding suction force FElectromagnetic fieldAnd the permanent magnetic-levitation train is driven to incline towards the inner side of the curve by utilizing the electromagnetic guiding suction force. Therefore, the invention can utilize the electromagnetic conductance to guide the suction force F in the curveElectromagnetic fieldAnd the lateral force F of the magnetic track when the permanent magnetic suspension train is laterally deviatedSide wallCentrifugal force F borne by balanced permanent magnet maglev train during turningSeparation deviceThe invention can adjust the current I of the guiding electromagnetic coil in real time by calculating the lateral offset displacement required by stable steering between the vehicle-mounted magnet and the magnetic track magnet, so as to offset partial centrifugal force when the train is bent by utilizing the lateral force existing in the permanent magnetic levitation and reduce the pressure of electromagnetic guiding, thereby achieving the purposes of reducing the design capacity of the electromagnetic guiding system, improving the redundancy of the electromagnetic guiding system and reducing the electromagnetic guiding cost.
Further, the invention also sets the guiding control system to enter the bending exit mode when the train is about to reach the bending exit point. In this mode, the train is subjected to only a lateral force F in the horizontal directionSide wallAnd electromagnetic guiding attraction force FElectromagnetic fieldThe guiding system controls the current magnitude and current direction flowing through the guiding electromagnetic coil, thereby adjusting the electromagnetic guiding attraction force FElectromagnetic field. At this time, the electromagnetic guiding attraction force FElectromagnetic fieldOnly the side force F has to be overcomeSide wallThe vehicle-mounted magnet can be aligned. Therefore, when the train bending mode is finished, the permanent magnetic suspension train can directly enter a straight running mode.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a structural diagram of a permanent magnetic-levitation train provided by the invention;
FIG. 2 is a cross-sectional view of a magnetic track employed in the present invention;
FIG. 3 is a schematic illustration of the on-board magnet offset of the present invention;
FIG. 4 is a diagram illustrating track forces in the case of magnet misalignment in the vehicle of the present invention
FIG. 5 is a graph showing a simulation of lateral force variation;
FIG. 6 is a flow chart of the permanent magnet maglev train bending-passing guiding control method of the invention
FIG. 7 is a schematic view of the permanent magnet maglev train of the present invention running along a permanent magnet track;
in fig. 1, 1 denotes a bogie; 2 denotes a linear motor; 3 denotes an inverted U-shaped steel beam; 4 denotes a suspension system; a1 and A2 are left and right electromagnets mounted on the bogie respectively; b1 and B2 are left and right permanent magnet arrays fixed on the bogie respectively, namely vehicle-mounted magnets; c1 and C2 are left and right permanent magnet arrays on the track, respectively.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" in the present invention means that the respective single or both of them exist individually or in combination.
The meaning of "inside and outside" in the present invention means that the direction pointing to the inside of the track system is inside, and vice versa, with respect to the track system itself; and not as a specific limitation on the mechanism of the device of the present invention.
The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.
The meaning of up and down in the invention refers to that when a user faces the advancing direction of the permanent magnetic-levitation train, the direction of the magnetic track magnet of the track system pointing to the vehicle-mounted magnet is up, and vice versa is down, and the device mechanism is not specially limited.
The invention aims at the problem of insufficient electromagnetic suction at the electromagnetic guide passing bend in the prior art, and provides a permanent magnet maglev train passing bend guide control method and system which can reduce electromagnetic guide cost and improve the running quality of the permanent magnet maglev train passing bend aiming at the permanent magnet maglev train track system shown in figure 1. The invention drives the permanent magnetic-levitation train to deflect towards the inner side of the bend when entering the bend, and utilizes the lateral force F of the magnetic track obtained by the lateral deflectionSide wallIs electromagnetically guided to the suction force FElectromagnetic fieldProviding a supplement such that the lateral force FSide wallAnd electromagnetic guiding attraction force FElectromagnetic fieldThe combined action can just offset the centrifugal force F suffered by the turning of the permanent magnetic suspension trainSeparation deviceAnd non-contact guiding is realized at the passing bend of the repulsion type permanent magnetic suspension train.
Referring to fig. 2, the following description will use magnetic track magnets formed by 5 groups of 30 × 30halbach permanent magnet arrays and vehicle-mounted magnets formed by 5 groups of 150 × 30halbach permanent magnet arrays as an example to illustrate how the present invention can be applied to a suspended double-track permanent magnet maglev train to achieve curve steering control:
when the permanent magnetic suspension train is about to enter a curve, the invention executes the following steps in order to counteract the centrifugal force when the train passes the curve:
firstly, adjusting the current I flowing through the guiding electromagnetic coil to drive the guiding electromagnetic coil to generate electromagnetic guiding suction force FElectromagnetic fieldWhen the permanent magnetic-levitation train enters the curve, the electromagnetic guiding attraction force is utilized to drive the permanent magnetic-levitation train to laterally deflect towards the inner side of the curve, and the magnetic track magnet is oppositely positioned at the outer side of the curve path relative to the vehicle-mounted magnet, as shown in fig. 3, at the moment, the vehicle-mounted magnet on the permanent magnetic-levitation train laterally deflects towards the inner side of the curve relative to the magnetic track magnet on the track;
the second step, at this time, the vehicle-mounted magnet and the magnetic track are mutually acted by magnetic force, and the train is in the horizontal direction and is not only subjected to centrifugal force FSeparation deviceAnd electromagnetic guiding attraction force FElectromagnetic fieldIs also subjected to the lateral force F of the magnetic trackSide wallAction, force analysis As shown in FIG. 4, according to the mechanical equilibrium relationship
FElectromagnetic field+FSide wall＝FSeparation device (1)
Namely, when the vehicle is bent, the centrifugal force, the electromagnetic guiding suction force and the lateral force provided by the permanent magnet act together in the horizontal direction,
at the moment, the lateral force F of the magnetic track received by the permanent magnetic-levitation train during lateral deviation is calculatedSide wallAnd calculating the centrifugal force F suffered by the permanent magnetic-levitation trainSeparation deviceAccordingly, the electromagnetic guiding suction force F required for keeping the stress balance can be obtainedElectromagnetic field；
Thirdly, adjusting the current I of the guiding electromagnetic coil in real time, and controlling the electromagnetic guiding attraction by using the current to adjust the relative position of the vehicle-mounted magnet on the permanent magnetic-levitation train relative to the magnetic track magnet on the track in real time so as to ensure the electromagnetic guiding attraction FElectromagnetic fieldAnd the lateral force F borne by the permanent magnetic-levitation trainSide wallAll satisfy FElectromagnetic field+FSide wall＝FSeparation device；
And fourthly, repeating the first step to the third step until the permanent magnetic-levitation train is about to leave the bend, adjusting the current of the guiding electromagnetic coil, and driving the vehicle-mounted magnet on the permanent magnetic-levitation train to restore to be right above the magnetic track magnet on the track. At this moment, after the train is bent, the centrifugal force is zero, the electromagnetic guiding suction force does not need to overcome the action of the centrifugal force, the vehicle-mounted magnet can be restored to be right above the magnetic track only by overcoming the lateral force, the train returns to run along the straight track direction, and the guiding system restores to the straight track control state at the moment. The specific control basic flow chart is shown in fig. 6.
Thus, the force analysis for the single suspension point vehicle magnet in the lateral direction is shown in fig. 4. When the train is horizontally stressed in balance, the train realizes stable guiding and has FSide wall+FElectromagnetic field＝FSeparation device. When a maglev train with known weight m drives into a bend with known turning radius r, in order to ensure safe over-bending, the train usually carries out speed-limiting over-bending, a guide system obtains the running speed of the train by reading a train speed sensor, and a formula is calculated according to the centrifugal force
Mathematical operations are performed to obtain the centrifugal force when the train passes a curve. In order to reduce the electromagnetic guiding attraction used for guiding during bending and reduce the cost of electromagnetic guiding, the invention is provided with the guiding system which controls the change of the electromagnetic guiding attraction by controlling the current of the guiding electromagnetic coil before bending, ensures that the train is suspended in the range of the safe suspension gap, and simultaneously leads the vehicle-mounted magnet to deviate towards the inner side of the bend relative to the magnetic track magnet, so that the vehicle-mounted magnet is acted by the lateral force of the magnetic track magnet. The guide system of the invention controls the lateral force F by controlling the offsetSide wallIn the train centrifugal force FSeparation deviceUnder the determined condition, the suction force of the electromagnetic guide can be reduced by increasing the lateral offset displacement of the vehicle-mounted magnet and the magnetic track, the capacity of the guide electromagnetic coil can be reduced, and the energy consumption of the electromagnetic guide can also be reduced.
In the control process, the following mechanical balance relationship needs to be realized:
Felectromagnetic field+FSide wall＝FSeparation device (1)
The specific calculation steps of each stress parameter are as follows:
centrifugal force FSeparation deviceRelated to centripetal acceleration, mass of the object.
FSeparation device＝am (2)
In the formula (2), the reaction mixture is,
the speed is centripetal acceleration, r refers to the turning radius of a curve where the permanent magnet magnetic suspension train enters, and v is the running speed of the permanent magnet magnetic suspension train; and m is the mass of the permanent magnetic-levitation train.
Handle type
Carry-over into (2) and obtain centrifugal force FSeparation deviceThe relationship between the train running speed v, the train mass m and the turning radius r is
Electromagnetic guiding suction force FElectromagnetic fieldThe size is influenced by the suspension gap, the inductance of the coil and the current of the coil
In the formula (4), mu0Is air permeability (4 pi 10)-7H/m), S is the total area of the magnetic pole, N is the number of turns of the guiding electromagnetic coil, I is the current flowing through the guiding electromagnetic coil, and H is the suspension gap.
Lateral force F from the magnetic track experienced by the permanent magnetSide wallThe specific calculation formula is given in formula (5) under the influence of factors such as magnet material, magnet structure, magnet size, levitation height, lateral offset displacement and the like, but the calculation formula is more complex, and the relationship between the lateral force size and offset of different levitation heights can be calculated by combining magnetic simulation software in actual control as shown in fig. 5.
In the formula (5)
Wherein B isr1And Br2Residual magnetic induction intensity of the vehicle-mounted magnet and the magnetic track permanent magnet respectively0＝4π×10-7H/m is air permeability, and L is the length of the vehicle-mounted magnet; beta is a1And beta2The included angles between the vehicle-mounted magnet and the magnetic track and the horizontal plane are respectively; in the calculation process, omega (c) is a lateral structural force influence factor,
is a suspension force structure influence factor,
in the above calculation process, h is a levitation gap between the vehicle-mounted magnet and the magnetic track magnet, d is a thickness of the vehicle-mounted magnet, c is a lateral offset between the vehicle-mounted magnet and the magnetic track magnet, e is a width of the vehicle-mounted magnet, a is a width of the magnetic track magnet, and b is a thickness of the magnetic track magnet.
Thus, the lateral force F of the magnetic track obtained by the lateral deviation of the inventionSide wallFor electromagnetically guiding the suction force FElectromagnetic fieldThe supplement is provided for offsetting the centrifugal force generated when the permanent magnetic suspension train passes a bend, and the problem that the electromagnetic guiding suction force is not enough to offset the centrifugal force at the bend can be solved. The invention can reduce the pressure of electromagnetic guidance when the permanent magnetic-levitation train passes a bend, reduce the cost of electromagnetic guidance and improve the running quality of the permanent magnetic-levitation train passing the bend.
Under other implementation modes, when the permanent magnetic-levitation train runs on a normal straight track, the vehicle-mounted magnet is right above the magnetic track due to the electromagnetic guiding effect. As shown in fig. 2, the lateral force experienced by the train on the track is almost zero.
However, due to the influence of various factors such as the existing building condition, the terrain and the features, the engineering construction and the like, the train track is inevitably provided with a curve road section, and when a train enters the curve, the train not only receives the action of electromagnetic guiding suction force, but also receives the action of centrifugal force in the horizontal direction. The magnitude of the centrifugal force is related to the train mass m, the running speed v and the turning radius r. The operation control system of the train can read the displacement data through the position sensor, determine the specific position of the train, obtain the train position schematic diagram shown in fig. 7, and when the train is about to enter a curve from a straight road, namely the train reaches the point C in fig. 7 (the point C position can be set according to the system requirement), the train system enters a low-speed bending mode.
In a low-speed bending mode, the system adjusts the electromagnetic guiding suction F through an algorithmElectromagnetic fieldSo that the vehicle-mounted magnet B and the magnetic track magnet C deviate according to the control algorithm rule, the vehicle-mounted magnet is controlled to deviate towards the inner side of the curve, and the curve with the known turning radius r is kept at a certain deviation angle. When the train enters a bend, the train is not only subjected to a lateral force FSide wallAnd electromagnetic guiding attraction force FElectromagnetic fieldIs also acted by centrifugal force. The force analysis is shown in figure 4, according to the force balance relationship, the horizontal and horizontal needs are kept FSide wall+FElectromagnetic field＝FSeparation deviceTo achieve stable steering. Under the condition that the suspension force meets the requirement, the size of the lateral force can be changed by adjusting the deviation of the vehicle-mounted magnet towards the inner side of the curve. Therefore, the system can calculate the lateral force F according to the formula (5) by collecting data of a speed sensor, a mass sensor, a horizontal displacement sensor, a suspension gap sensor and the likeSide wallCalculating the centrifugal force F according to the formula (3)Separation deviceDue to lateral forces FSide wallIn the direction opposite to the centrifugal force, the side force FSide wallCapable of at least partially countering the centrifugal force F during train overbendingSeparation deviceCancellation is performed. Therefore, the invention can control the vehicle-mounted magnet to deviate towards the inside of the curve, and the lateral force F generated by the interaction of the vehicle-mounted magnet and the magnetic track magnetSide wallTo counteract the centrifugal force when the train passes a bend, thereby reducingLess electromagnetic guiding suction force FElectromagnetic fieldThe design capacity of the electromagnetic guiding system is reduced, and the electromagnetic guiding cost is reduced.
When the train passes through the bend, the guiding system reads the information of the position sensor to determine that the train passes through the bend completely and reaches the bend point, namely the point O shown in figure 6, and the centrifugal force F of the train is generatedSeparation deviceAt 0, the guidance system enters the out-bend mode. In this case, the train is subjected to only a lateral force F in the horizontal directionSide wallAnd electromagnetic guiding attraction force FElectromagnetic fieldThe guiding system controls the guiding electromagnetic current and adjusts the electromagnetic guiding attraction force FElectromagnetic fieldAt this time, the electromagnetic guiding attraction force FElectromagnetic fieldOnly the side force F has to be overcomeSide wallThe vehicle-mounted magnet can be aligned. When the train passing mode is finished, the train can return to the straight running mode.
In summary, the method and the system for controlling the bending-passing guidance of the permanent magnet maglev train provided by the invention can be used for realizing non-contact stable guidance when the permanent magnet maglev train passes a bend. The electromagnetic guiding system reads a train position signal through the positioning sensor, and when a train is about to enter a curve, the guiding system controls electromagnetic guiding current to enable the vehicle-mounted permanent magnet and the magnetic track to deviate inwards, so that the vehicle-mounted permanent magnet bears lateral force of the magnetic track towards the inside of the curve. Because the direction of the lateral force applied to the magnetic track is opposite to the direction of the centrifugal force, the lateral force can offset partial centrifugal force when the train passes a bend, and therefore the electromagnetic guiding attraction can be reduced. According to the method, partial centrifugal force generated when the train passes a bend is counteracted by using the lateral force of the permanent magnetic levitation, and the pressure of electromagnetic guidance is reduced, so that the aims of reducing the designed capacity of an electromagnetic guidance system, improving the redundancy of the electromagnetic guidance system and reducing the cost of the electromagnetic guidance can be achieved.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (10)
1. A permanent magnetic-levitation train bending guide control method is characterized in that when a permanent magnetic-levitation train is about to enter a bend, the following steps are executed:
firstly, adjusting the current I flowing through the guiding electromagnetic coil to drive the guiding electromagnetic coil to generate electromagnetic guiding suction force FElectromagnetic fieldWhen the permanent magnetic-levitation train enters the curve, the electromagnetic guiding suction force is utilized to drive the permanent magnetic-levitation train to incline towards the inner side of the curve, so that the vehicle-mounted magnets on the permanent magnetic-levitation train incline towards the inner side of the curve relative to the magnetic track magnets on the track;
secondly, calculating the lateral force F of the magnetic track when the permanent magnetic-levitation train is laterally deviatedSide wallAnd calculating the centrifugal force F suffered by the permanent magnetic-levitation trainSeparation device；
Thirdly, adjusting the current I of the guiding electromagnetic coil in real time, and controlling the electromagnetic guiding attraction by using the current to adjust the relative position of the vehicle-mounted magnet on the permanent magnetic-levitation train relative to the magnetic track magnet on the track in real time so as to ensure the electromagnetic guiding attraction FElectromagnetic fieldAnd the lateral force F borne by the permanent magnetic-levitation trainSide wallAll satisfy FElectromagnetic field+FSide wall＝FSeparation device；
And fourthly, repeating the first step to the third step until the permanent magnetic-levitation train is about to leave the bend, adjusting the current of the guiding electromagnetic coil, and driving the vehicle-mounted magnet on the permanent magnetic-levitation train to restore to be right above the magnetic track magnet on the track.
2. The method for controlling the bending guidance of a maglev permanent magnet train according to claim 1, wherein the maglev permanent magnet train is subjected to centrifugal force
Wherein v represents the running speed of the permanent magnet maglev train, m represents the mass of the permanent magnet maglev train, and r represents the turning radius of a curve into which the permanent magnet maglev train enters.
3. The method for controlling the bending guidance of a maglev permanent magnet train according to claim 1, wherein the lateral force of the magnetic track on the maglev permanent magnet train is
Wherein the coefficients
Br1Residual magnetic induction intensity of vehicle-mounted magnet, Br2The residual magnetic induction intensity and air permeability mu of the magnetic track permanent magnet0＝4π×10-7H/m, L is the length of the vehicle-mounted magnet, beta1Is the angle between the vehicle-mounted magnet and the horizontal plane, beta2Is the included angle between the magnetic track magnet and the horizontal plane, and in the calculation process, omega (c) is a lateral force influence factor,
as a factor that affects the suspension force,
h is a suspension gap between the vehicle-mounted magnet and the magnetic track magnet, d is the thickness of the vehicle-mounted magnet, c is the lateral displacement between the vehicle-mounted magnet and the magnetic track magnet, e is the width of the vehicle-mounted magnet, a is the width of the magnetic track magnet, and b is the thickness of the magnetic track magnet.
4. The method for controlling the bending guidance of a maglev permanent magnet train according to claim 1, wherein the maglev permanent magnet train is subjected to electromagnetic guidance attraction force
Wherein the content of the first and second substances,μ0the magnetic field is air permeability, S is the total area of a magnetic pole, N is the number of turns of the guiding electromagnetic coil, I is the current flowing through the guiding electromagnetic coil, and h is a suspension gap.
5. The method for controlling the bending guidance of a permanent-magnet maglev train according to claim 1, wherein the lateral force of the magnetic track on the permanent-magnet maglev train is obtained by measuring and calculating through magnetic simulation software according to the levitation gap h between the vehicle-mounted magnet and the magnetic track magnet and the lateral displacement c between the vehicle-mounted magnet and the magnetic track magnet.
6. The utility model provides a permanent magnetism maglev train crosses curved direction control system which characterized in that includes:
the position sensor is used for acquiring the position of the permanent magnetic-levitation train on the track in real time and detecting whether the permanent magnetic-levitation train is about to enter a curve or is about to drive out of the curve;
a guiding electromagnetic coil for receiving the current I and outputting an electromagnetic guiding suction force F to the permanent magnetic suspension train according to the current IElectromagnetic fieldWhen the permanent magnetic-levitation train enters the curve, the electromagnetic guiding suction force is utilized to drive the permanent magnetic-levitation train to incline towards the inner side of the curve, so that the vehicle-mounted magnets on the permanent magnetic-levitation train incline towards the inner side of the curve relative to the magnetic track magnets on the track;
a calculation unit for calculating the lateral force F of the magnetic track when the permanent magnetic-levitation train is laterally deviatedSide wallCalculating the centrifugal force F of the permanent magnetic-levitation trainSeparation deviceAnd according to FElectromagnetic field+FSide wall＝FSeparation deviceCalculating the lateral offset required by stable steering between the vehicle-mounted magnet and the magnetic track magnet;
the current adjusting unit is used for adjusting the magnitude of the current I of the guiding electromagnetic coil in real time according to the lateral deviation displacement required by the stable steering between the vehicle-mounted magnet and the magnetic track magnet, and controlling the electromagnetic guiding attraction by utilizing the current so as to adjust the relative position of the vehicle-mounted magnet on the permanent magnetic suspension train relative to the magnetic track magnet on the track in real time, so that the electromagnetic guiding attraction FElectromagnetic fieldAnd the lateral force F borne by the permanent magnetic-levitation trainSide wallAll satisfy FElectromagnetic field+FSide wall＝FSeparation device。
7. The system for controlling the passing curve guidance of a permanent magnet magnetic-levitation train as claimed in claim 6, wherein the current regulating unit is further configured to adjust the magnitude of the current of the guidance electromagnetic coil to drive the vehicle-mounted magnet on the permanent magnet magnetic-levitation train to return to the position right above the track magnet on the track when the permanent magnet magnetic-levitation train is about to leave the curve.
8. The permanent magnet maglev train bending guidance control system of claim 6, wherein the computing unit comprises: a centrifugal force calculation module for calculating the centrifugal force applied to the magnetic-levitation train
Wherein v represents the running speed of the permanent magnet maglev train, m represents the mass of the permanent magnet maglev train, and r represents the turning radius of a curve into which the permanent magnet maglev train enters.
9. The permanent magnet maglev train bending guidance control system of claim 8, wherein the computing unit further comprises: a lateral force calculation module for calculating the lateral force of the magnetic-levitation train
Wherein the coefficients
Br1Residual magnetic induction intensity of vehicle-mounted magnet, Br2The residual magnetic induction intensity and air permeability mu of the magnetic track permanent magnet0＝4π×10-7H/m, L is the length of the vehicle-mounted magnet, beta1Is the angle between the vehicle-mounted magnet and the horizontal plane, beta2Is the included angle between the magnetic track magnet and the horizontal plane, and in the calculation process, omega (c) is a lateral force structure influence factor,
is a suspension force structure influence factor,
h is the suspension clearance between on-vehicle magnet and the magnetic track magnet, d is the thickness of on-vehicle magnet, c is the lateral offset volume between on-vehicle magnet and the magnetic track magnet, e is the width of on-vehicle magnet, and a is the width of magnetic track magnet, and b is the thickness of magnetic track magnet, on-vehicle magnet is 5 groups 30halbach permanent magnetism arrays with magnetic track magnet.
10. The system for controlling the bending guidance of a maglev permanent magnet train according to claims 1-10, wherein the current regulating unit is configured to calculate the electromagnetic guiding attraction force required by the maglev permanent magnet train according to the amount of lateral displacement required for stable steering between the vehicle-mounted magnet and the magnetic track magnet, and to calculate the electromagnetic guiding attraction force according to the amount of lateral displacement required by the maglev permanent magnet train
Calculating the current I flowing through the guide electromagnetic coil; wherein, mu0Air permeability, S total area of magnetic pole, N number of turns of guiding electromagnetic coil, and h suspension gap.
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Effective date of registration: 20211025 Address after: 341000 No. 156, Hakka Road, Ganzhou, Jiangxi Patentee after: Jiangxi science and Technology Industry Co.,Ltd. Address before: 86 No. 341000 Jiangxi city of Ganzhou province Zhanggong District Hongqi Avenue Patentee before: Jiangxi University of Science and Technology |
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Effective date of registration: 20220824 Address after: 331400 third floor, electronic science and technology park complex building, Xingguo County Economic Development Zone, Ganzhou City, Jiangxi Province Patentee after: Jiangxi permanent magnet Maglev Technology Co.,Ltd. Address before: 341000 No. 156, Hakka Road, Ganzhou, Jiangxi Patentee before: Jiangxi science and Technology Industry Co.,Ltd. |