CN112356681A - Power system of hydrogen energy powered magnetic levitation trolley and control method thereof - Google Patents

Power system of hydrogen energy powered magnetic levitation trolley and control method thereof Download PDF

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Publication number
CN112356681A
CN112356681A CN202011401878.8A CN202011401878A CN112356681A CN 112356681 A CN112356681 A CN 112356681A CN 202011401878 A CN202011401878 A CN 202011401878A CN 112356681 A CN112356681 A CN 112356681A
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China
Prior art keywords
trolley
coil
main body
track
driving
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Pending
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CN202011401878.8A
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Chinese (zh)
Inventor
黄鹏儒
孙志海
孙立贤
徐芬
陈创涛
黄宝权
邹勇进
李彬
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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Priority to CN202011401878.8A priority Critical patent/CN112356681A/en
Publication of CN112356681A publication Critical patent/CN112356681A/en
Pending legal-status Critical Current

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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
    • B60L13/10—Combination of electric propulsion and magnetic suspension or levitation
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/70—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by fuel cells
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells

Abstract

The invention discloses a power system of a hydrogen energy powered magnetic suspension trolley and a control method thereof, wherein the power system comprises a track and a trolley main body, the trolley main body is positioned at the upper end of the track, protective side plates are respectively arranged on the outer annular wall and the inner annular wall of the track, the trolley main body is positioned between two groups of protective side plates, guide wheels are respectively arranged on two sides of the trolley main body and are in contact with the protective side plates, a driving permanent magnet is arranged in the middle of the upper surface of the track, a suspension magnet is respectively arranged on one side opposite to the two groups of protective side plates, and neodymium iron boron magnets with the polarity opposite to that of the suspension magnets are arranged. The hydrogen energy fuel cell is arranged on the trolley main body to supply power to the trolley. According to the invention, the excitation coil is arranged on the trolley, the driving permanent magnets with certain intervals and magnetic polarities staggered with each other are arranged in the middle of the track, and the programmable STM32 processor is used for controlling the interaction between the excitation coil and the track driving permanent magnets to generate a driving force of 'front suction and back repulsion', so that the demonstration effects of advancing, retreating, braking, accelerating, decelerating, obstacle avoidance and the like are realized.

Description

Power system of hydrogen energy powered magnetic levitation trolley and control method thereof
Technical Field
The invention relates to the relevant technical field of electromagnetism, in particular to a power system of a hydrogen energy powered magnetic suspension trolley and a control method thereof.
Background
Magnetic levitation is a contactless technology, and has the advantages of no friction, no abrasion, low vibration noise, long service life, etc., and has become a key topic of worldwide research in recent years. The magnetic suspension train is a non-contact electromagnetic suspension magnetic suspension train, overcomes the main obstacle of improving the speed due to the friction effect of the traditional wheel-rail railway, and has the characteristics of high speed and low noise, wherein the normal magnetic suspension train can reach 500 kilometers per hour, and the superconductive magnetic suspension train can reach 600 kilometers per hour. It also has the advantages of safety, comfort, no fuel oil, less pollution, etc. As the fastest ground transportation means at present, the magnetic suspension train technology has incomparable advantages compared with other ground transportation technologies; under the large background of global energy crisis, hydrogen energy attracts much attention as a new renewable clean energy source and gains people's favor with the advantages of cleanness, high efficiency, wide sources, recyclability, no pollution and the like. The hydrogen energy fuel cell directly converts the chemical energy of hydrogen into electric energy under the condition of non-combustion through electrochemical reaction, has the advantages of high energy density and high energy utilization rate, and can ensure the sufficient driving mileage of vehicles.
In the existing magnetic suspension power system, most of the driving force provided by the fan cannot show the real principle that the magnetic suspension train provides the driving force by utilizing the electromagnetic principle; magnetic suspension based on the common repulsion type cannot brake and effectively decelerate due to the repulsion force in the whole process, and the power supply of the traditional magnetic suspension power system mainly depends on laying a power supply line or a vehicle-mounted load battery along a line track, so that the problems of cost increase, low operation efficiency, environmental pollution and the like are caused, and improvement is needed.
Disclosure of Invention
The invention aims to provide a power system of a hydrogen energy power supply magnetic suspension trolley and a control method thereof, aiming at solving the problem that in the existing magnetic suspension power system mentioned in the background art, most of the existing magnetic suspension power system utilizes a fan to provide driving force and cannot show the real principle that the magnetic suspension train utilizes the electromagnetic principle to provide the driving force; and magnetic suspension based on the common repulsion type cannot brake and effectively decelerate due to the whole course of repulsion force, and the power supply of the traditional magnetic suspension power system mainly depends on laying a power supply line or a vehicle-mounted load battery along a linear track, so that the problems of cost increase, low operation efficiency, environmental pollution and the like are caused.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a driving system of hydrogen energy power supply magnetic levitation trolley, includes track and dolly main part, the dolly main part is located the track upper end, all be equipped with the protection curb plate on orbital outer rampart and the interior rampart, the dolly main part is located two sets ofly between the protection curb plate, dolly main part both sides all are equipped with the leading wheel, leading wheel and protection curb plate contact, track upper surface mid-mounting has the drive permanent magnet, and is two sets of one side that the protection curb plate is relative all is equipped with suspension magnet, suspension magnet and track upper surface fixed connection, install the neodymium iron boron magnet opposite with suspension magnet polarity in the dolly main part, install two sets of excitation coil in the dolly main part, two sets of excitation coil is located dolly main part middle part.
Preferably, the driving permanent magnets are provided with a plurality of groups, the plurality of groups of driving permanent magnets are arranged on the track, a certain distance is arranged between every two adjacent groups of driving permanent magnets, and the distance between every two adjacent groups of driving permanent magnets and the relative positions between every two adjacent groups of excitation coils and the relative positions between every two adjacent groups of driving permanent magnets meet a certain relationship.
Preferably, the magnetic polarities of two adjacent groups of the driving permanent magnets are opposite.
Preferably, the inside STM treater, drive module, HC-bluetooth module, the infrared ray induction module of being equipped with of dolly main part, drive module, HC-bluetooth module, infrared ray induction module and STM32 treater electric connection.
Preferably, a hydrogen energy fuel cell and a voltage-reducing and voltage-stabilizing power module are arranged in the trolley main body, and the hydrogen energy fuel cell is electrically connected with the power module. The power module is electrically connected with the STM32 processor.
Preferably, the inside hall sensor that still is equipped with of dolly main part, hall sensor is equipped with two sets ofly, two sets ofly hall sensor is located two sets ofly respectively excitation coil one side, hall sensor's signal output part is connected with the signal input part of STM treater.
The invention discloses a control method of a power system of a hydrogen energy powered magnetic levitation trolley, which comprises the following steps:
(1) and (3) driving control: when the trolley normally runs, the Hall sensor reads the change of the magnetic field below the trolley and feeds the change back to the STM32 processor, the processor sends an instruction to the driving circuit, and the driving circuit outputs current with the correct direction to flow through the coil, so that the corresponding magnetic field is generated below the coil. The magnetic field of the coil interacts with the magnetic field of the driving permanent magnet below to generate a driving force of 'front suction and back repulsion', and the trolley is pushed to move forward. The coil A can receive the upward repulsive force of the magnet C and the downward attractive force of the magnet B, and the trolley can have forward driving force due to the same stress of the coil B. Similarly, when the bicycle moves backwards, the current direction of the excitation coil is adjusted, and the driving force of front repulsion and back attraction can be generated to move backwards;
(2) and (3) suction prevention control: if the magnetic field polarity of the magnet exciting coil is not adjusted in time, the magnet exciting coil is easy to attract the driving permanent magnet below, so that the advancing driving force becomes resistance and can attract the driving permanent magnet below in severe cases. Therefore, the relative positions of the Hall sensor, the coil A and the coil B and the relative position of the driving permanent magnet should satisfy a certain relationship, so that the moment when the Hall element overturns the output signal is also exactly the moment when the coil A/B needs to overturn the polarity;
(3) and (3) brake control: when the trolley runs normally, after the mobile phone control end sends an emergency braking instruction, the STM32 processor reads the output information of the Hall sensor at the moment, and keeps the current direction of the magnet exciting coil unchanged unless a new instruction is received, namely the direction of a magnetic field generated by the coil is unchanged, so that the magnet exciting coil can attract the permanent magnet to achieve the purpose of braking in time;
(4) slow parking and acceleration and deceleration control: unlike emergency brake control, slow stopping results in the car losing power and slowly reducing speed to zero under the action of forward resistance. In acceleration and deceleration control, an EN control end of an L298P chip of a driving module is connected to an IO port of an STM32 processor, and the IO port is set to be in a PWM working mode, so that the proportion of the starting time of an excitation coil can be effectively controlled, and the purpose of acceleration and deceleration is achieved.
(5) Obstacle avoidance control: when the infrared obstacle avoidance module judges that the front obstacle enters the safe area in normal operation, information is fed back to the processor, and the processor performs brake operation. When the obstacle leaves the safe area, the information is fed back to the processor, and the processor performs the operation of continuing driving.
The invention provides a power system of a hydrogen energy powered magnetic suspension trolley and a control method thereof, and the power system has the following beneficial effects:
(1) the invention realizes the demonstration effects of advancing, retreating, braking, accelerating and decelerating, preventing absorption, avoiding barriers and the like by arranging the magnet exciting coil on the trolley, arranging the driving permanent magnets which are arranged in a staggered mode at a certain interval and magnetic polarities in the middle of the track, supplying power to the trolley by the hydrogen fuel cell through the voltage reduction and voltage stabilization power supply module, and controlling the interaction between the magnet exciting coil and the track driving permanent magnets by utilizing the programmable STM32 processor to generate the driving force of 'absorbing and repelling front' so as to realize the demonstration effects of advancing, retreating, braking, accelerating and decelerating.
(2) The invention constructs the magnetic suspension power system and the control method thereof based on the principle of 'homopolar repulsion and heteropolar attraction' and the programmable singlechip, wherein the energy-saving and environment-friendly hydrogen energy is converted into electric energy, and then the electric energy is converted into electromagnetic driving force, so that the magnetic suspension power system can generate intuitive and clear suspension height, realize non-contact driving control by using electromagnetic force, realize real zero emission, energy conservation and environment protection, and realize the purposes of driving and controlling by using the electromagnetic force.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of part A of FIG. 1 according to the present invention;
FIG. 3 is a schematic structural diagram of the internal module of the trolley main body of the invention;
FIG. 4 is a schematic diagram of the carriage drive of the present invention;
FIG. 5 is a schematic view of the anti-suction of the cart of the present invention;
FIG. 6 is a flowchart of a cart drive routine of the present invention;
FIG. 7 is a flow chart of the emergency braking of the cart according to the present invention;
FIG. 8 is a flow chart of the slow stopping of the cart according to the present invention;
fig. 9 is a flowchart of the infrared obstacle avoidance procedure of the trolley of the invention.
In the figure: 1. a track; 2. protecting the side plate; 3. a levitating magnet; 4. a drive permanent magnet; 5. a trolley main body; 6. a guide wheel; 7. an STM32 processor; 8. a power supply module; 9. a drive module; 10. a Hall sensor; 11. HC-05 Bluetooth module; 12. an infrared sensing module; 13. a neodymium iron boron magnet; 14. a field coil; 15. a hydrogen energy fuel cell.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-3, the present invention provides a technical solution: a power system of a hydrogen energy powered magnetic suspension trolley and a control method thereof comprise a track 1 and a trolley main body 5, the trolley main body 5 is positioned at the upper end of the track 1, the outer ring wall and the inner ring wall of the track 1 are both provided with a protective side plate 2, the trolley main body 5 is positioned between the two groups of the protection side plates 2, guide wheels 6 are arranged on both sides of the trolley main body 5, the guide wheels 6 are contacted with the protection side plates 2, the middle part of the upper surface of the track 1 is provided with a driving permanent magnet 4, one side of each of the two groups of protection side plates 2 which is opposite to each other is provided with a suspension magnet 3, the suspension magnet 3 is fixedly connected with the upper surface of the track 1, the neodymium iron boron magnet 13 with the polarity opposite to that of the suspension magnet 3 is arranged on the trolley main body 5, two groups of magnet exciting coils 14 are arranged on the trolley main body 5, and the two groups of magnet exciting coils 14 are positioned in the middle of the inside of the trolley main body 5.
Drive permanent magnet 4 is equipped with the multiunit, the multiunit 4 magnetic polarity staggered arrangement of drive permanent magnet sets up on track 1, and is adjacent two sets of be equipped with certain interval between the drive permanent magnet 4, and adjacent two sets of interval between drive permanent magnet (4) and two sets of relative position between excitation coil (14) and hall sensor (10) must satisfy certain relation, through set up excitation coil 14 on the dolly to install certain interval and the mutual staggered arrangement's of adjacent magnetic polarity drive permanent magnet in the middle of the track, utilize the drive permanent magnet of STM32 treater control excitation coil 14 and track drive permanent magnet 4 between interact produce "inhale the drive power that the back is repelled before" and, realize advancing, retreat, brake, accelerate and slow down, keep away the demonstration effect of barrier etc. the operation of being convenient for.
The inside STM32 treater 7, drive module 9, HC-05 bluetooth module 11, the infrared ray induction module 12 of being equipped with of dolly main part 5, drive module 9, HC-05 bluetooth module 11, the infrared ray induction module 12 all with STM32 treater 7 electric connection, can let autonomic programming control dolly motion state based on cell-phone end control interface and the singlechip that can programme of bluetooth communication.
The magnetic polarities between two adjacent groups of driving permanent magnets 4 are opposite, and the trolley main body 5 can move on the track 1 conveniently by arranging the magnetic polarities between the two adjacent groups of driving permanent magnets 4 in an opposite mode.
Inside hydrogen energy fuel cell 15, the power module 8 of being equipped with of dolly main part 5, hydrogen energy fuel cell 15 and power module 8 electric connection, power module 8 and STM32 treater 7 electric connection can provide electric power support for the driving system of dolly behind the power module 8 of step-down steady voltage through hydrogen energy fuel cell 15's electric energy again.
The inside hall sensor 10 that still is equipped with of dolly main part 5, hall sensor 10 is equipped with two sets ofly, and is two sets of hall sensor 10 is located two sets of respectively excitation coil 14 one side, hall sensor 10's signal output part is connected with the signal input part of STM32 treater 7, through setting up hall sensor 10, can utilize hall sensor 10 to detect the magnetic field condition when dolly main part 5 moves on track 1 to in time send the testing result to STM32 treater 7.
It should be noted that, a power system of a hydrogen energy powered magnetic suspension trolley and a control method thereof, when in work, a trolley main body 5 can be placed on a track 1, so that a guide wheel 6 on the trolley main body 5 is in contact with a protection side plate 2 on the track 1, stable suspension and turning can be realized, by arranging an excitation coil 14 on the trolley, and arranging a driving permanent magnet 4 with a certain distance and magnetic polarity in the middle of the track in a staggered arrangement, a programmable STM32 processor is utilized to control the interaction between the excitation coil 14 and the driving permanent magnet 4 to generate a driving force of 'front suction and back repulsion', the demonstration effects of advancing, backing, braking, accelerating, decelerating and the like are realized, the operation is convenient, and by arranging an HC-05 Bluetooth module 11 and a programmable STM32 processor 7, the movement state of the trolley can be automatically programmed and controlled, and the intuitive and clear suspension height can be generated, the electromagnetic force is used for realizing non-contact drive control, the purposes of real zero emission, energy conservation and environmental protection and driving and controlling by using the electromagnetic force are realized, and the flow of a drive program is shown in figure 6.
As shown in fig. 4, when the trolley normally runs, the hall sensor reads the change of the magnetic field below the trolley and feeds the change back to the STM32 processor, the processor sends an instruction to the driving circuit, and the driving circuit outputs current with the correct direction to flow through the coil, so that the corresponding magnetic field is generated below the coil. The coil interacts with the lower driving permanent magnet to generate a driving force of 'front suction and back repulsion', and the trolley is pushed to move forward. The coil A is subjected to the upward repulsive force of the magnet C and simultaneously subjected to the downward attractive force of the magnet B, and the coil B is subjected to the same stress, so that the trolley has forward driving force. Similarly, when the bicycle moves backwards, the current direction of the excitation coil is adjusted, and the driving force of front repulsion and back attraction can be generated to move backwards; as shown in fig. 5, if the magnetic field polarity of the exciting coil is not adjusted in time, the exciting coil is easily attracted to the lower driving permanent magnet, so that the forward driving force becomes a resistance, and in a serious case, the exciting coil is attracted to the lower driving permanent magnet. Therefore, the relative positions of the Hall sensor, the coil A and the coil B and the relative position of the driving permanent magnet should satisfy a certain relationship, so that the moment when the Hall element overturns the output signal is also exactly the moment when the coil A/B needs to overturn the polarity; as shown in fig. 7, after the control end of the mobile phone sends a sudden braking instruction, the STM32 processor reads the output information of the hall sensor at that moment, and keeps the current direction of the excitation coil unchanged unless a new instruction is received, that is, the direction of the magnetic field generated by the coil is unchanged, so that the magnetic field can attract the permanent magnet to achieve the purpose of braking in time; the slow stop flow chart is shown in fig. 8, and is different from the emergency brake control, and the slow stop is realized by cutting off the current of the magnet exciting coil, so that the trolley loses power, and the speed is slowly reduced to zero under the action of the advancing resistance. In acceleration and deceleration control, an EN control end of an L298P chip of a driving module is connected to an IO port of an STM32 processor, and the IO port is set to be in a PWM working mode, so that the proportion of the starting time of an excitation coil can be effectively controlled, and the purpose of acceleration and deceleration is achieved. The infrared obstacle avoidance module plays a role in enabling the trolley to run more safely. When the infrared obstacle avoidance module judges that the front obstacle enters the safe area in normal operation, information is fed back to the processor, and the processor performs brake operation. When the obstacle leaves the safe area, the information is fed back to the processor, and the processor performs the operation of continuing to drive, wherein a program flow chart of the infrared obstacle avoidance is shown in fig. 9.
In the description of the present invention, it is to be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings and are only for convenience in describing the present invention and simplifying the description, but are not intended to indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.
In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly attached, detachably attached, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (7)

1. A power system of a hydrogen energy powered magnetic suspension trolley is characterized by comprising a track (1) and a trolley main body (5), wherein the trolley main body (5) is located at the upper end of the track (1), protective side plates (2) are arranged on the outer annular wall and the inner annular wall of the track (1), the trolley main body (5) is located between two groups of protective side plates (2), guide wheels (6) are arranged on two sides of the trolley main body (5), the guide wheels (6) are in contact with the protective side plates (2), a driving permanent magnet (4) is arranged in the middle of the upper surface of the track (1), suspension magnets (3) are arranged on one opposite sides of the two groups of protective side plates (2), the suspension magnets (3) are fixedly connected with the upper surface of the track (1), neodymium iron boron magnets (13) with opposite polarities to the suspension magnets (3) are arranged on the trolley main body (5), two groups of magnet exciting coils (14) are arranged on the trolley main body (5), and the two groups of magnet exciting coils (14) are positioned in the middle of the inside of the trolley main body (5); two groups of Hall sensors (10) are installed on the trolley main body (5), and the two groups of Hall sensors (10) are respectively located on one side of the magnet exciting coils (14).
2. The power system of the hydrogen energy powered magnetic levitation vehicle as recited in claim 1, wherein: the drive permanent magnet (4) are provided with a plurality of groups, the magnetic polarities of the drive permanent magnets (4) are arranged on the track (1) in a staggered mode, a certain distance is arranged between every two adjacent groups of the drive permanent magnets (4), and the distance between every two adjacent groups of the drive permanent magnets (4) and the relative positions between every two adjacent groups of the magnet exciting coils (14) and the Hall sensor (10) need to meet a certain relation.
3. The power system of the hydrogen energy powered magnetic levitation vehicle as recited in claim 1, wherein: and the magnetic polarities of the two adjacent groups of driving permanent magnets (4) are opposite.
4. The power system of the hydrogen energy powered magnetic levitation vehicle as recited in claim 1, wherein: the utility model discloses a dolly is characterized in that dolly main part (5) is inside to be equipped with STM32 treater (7), drive module (9), HC-05 bluetooth module (11), infrared ray induction module (12) all with STM32 treater (7) electric connection.
5. The power system of the hydrogen energy powered magnetic levitation vehicle as recited in claim 1, wherein: the hydrogen energy fuel cell (15) is arranged inside the trolley main body (5) and is electrically connected with the voltage-reducing and voltage-stabilizing power module (8), and the power module (8) is electrically connected with the STM32 processor (7).
6. The power system of the hydrogen energy powered magnetic levitation vehicle as recited in claim 1, wherein: dolly main part (5) inside still is equipped with hall sensor (10), hall sensor (10) are equipped with two sets ofly, and are two sets of hall sensor (10) are located two sets ofly respectively excitation coil (14) one side, the signal output part of hall sensor (10) is connected with the signal input part of STM32 treater (7).
7. The method for controlling the power system of the hydrogen-powered magnetic levitation vehicle as recited in any one of claims 1 to 6, wherein the method comprises the following steps:
(1) and (3) driving control: when the trolley normally runs, the Hall sensor reads the change of the magnetic field below the trolley and feeds the change back to the STM32 processor, the processor sends an instruction to the driving circuit, and the driving circuit outputs current with the correct direction to flow through the coil, so that the corresponding magnetic field is generated below the coil; the magnetic field of the coil interacts with the magnetic field of the lower driving permanent magnet to generate a driving force of 'front suction and back repulsion', and the trolley is pushed to move forwards; the coil A receives the upward repulsive force of the magnet C and the downward attractive force of the magnet B, and the force applied to the coil B is the same, so that the trolley has forward driving force; similarly, when the bicycle moves backwards, the current direction of the excitation coil is adjusted, and the driving force of front repulsion and back attraction can be generated to move backwards;
(2) and (3) suction prevention control: when the magnetic field polarity of the magnet exciting coil is not adjusted in time, the magnet exciting coil is easy to attract the driving permanent magnet below, so that the advancing driving force becomes resistance and can attract the driving permanent magnet below in severe cases; therefore, the relative positions of the Hall sensor, the coil A and the coil B and the relative position of the driving permanent magnet should satisfy a certain relationship, so that the moment when the Hall element overturns the output signal is also exactly the moment when the coil A/B needs to overturn the polarity;
(3) and (3) brake control: when the trolley runs normally, after the mobile phone control end sends an emergency braking instruction, the STM32 processor reads the output information of the Hall sensor at the moment, and keeps the current direction of the magnet exciting coil unchanged unless a new instruction is received, namely the direction of a magnetic field generated by the coil is unchanged, so that the magnet exciting coil can attract the permanent magnet to achieve the purpose of braking in time;
(4) slow parking and acceleration and deceleration control: the control method is different from emergency brake control, the vehicle is slowly stopped by cutting off the current of the magnet exciting coil, so that the power of the vehicle is lost, and the speed is slowly reduced to zero under the action of forward resistance; in acceleration and deceleration control, an EN control end of an L298P chip of a driving module is connected to an IO port of an STM32 processor, the IO port is set to be in a PWM working mode, and the proportion of the starting time of an excitation coil is controlled, so that the purpose of acceleration and deceleration is achieved;
(5) obstacle avoidance control: when the infrared obstacle avoidance module judges that a front obstacle enters a safe area in normal operation, information is fed back to the processor, and the processor performs braking operation; when the obstacle leaves the safe area, the information is fed back to the processor, and the processor performs the operation of continuing driving.
CN202011401878.8A 2020-12-04 2020-12-04 Power system of hydrogen energy powered magnetic levitation trolley and control method thereof Pending CN112356681A (en)

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Publication number Priority date Publication date Assignee Title
CN113715851A (en) * 2021-07-28 2021-11-30 西安交通大学 Dark track electric rail car drive and control system based on linear electric motor
CN114655023A (en) * 2022-04-11 2022-06-24 西安交通大学 Dark track electric rail transit system based on linear motor
CN115009857A (en) * 2022-04-22 2022-09-06 江苏匠准数控机床有限公司 Workpiece carrying and conveying method and device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113715851A (en) * 2021-07-28 2021-11-30 西安交通大学 Dark track electric rail car drive and control system based on linear electric motor
CN114655023A (en) * 2022-04-11 2022-06-24 西安交通大学 Dark track electric rail transit system based on linear motor
CN115009857A (en) * 2022-04-22 2022-09-06 江苏匠准数控机床有限公司 Workpiece carrying and conveying method and device

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