CN112848912B - High-speed magnetic levitation control method, controller, unit and system - Google Patents
High-speed magnetic levitation control method, controller, unit and system Download PDFInfo
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- CN112848912B CN112848912B CN202110212263.9A CN202110212263A CN112848912B CN 112848912 B CN112848912 B CN 112848912B CN 202110212263 A CN202110212263 A CN 202110212263A CN 112848912 B CN112848912 B CN 112848912B
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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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Abstract
The application relates to a high-speed magnetic levitation control method, a controller, a unit and a system, wherein the method comprises the steps of acquiring a detection signal of a magnetic levitation control unit and a detection signal acquired by another magnetic levitation control unit in the same lap joint structure; diagnosing the two groups of acquired detection signals; if no serious fault occurs in the two groups of detection signals, outputting a control quantity by adopting a first control algorithm to control the current of the electromagnet coil; if the detection signal of the other magnetic suspension control unit has serious fault, reporting the fault signal and stopping receiving the detection signal of the other magnetic suspension control unit, and outputting a control quantity by adopting a second control algorithm; and if the self detection signal has a serious fault, reporting a guarantee signal and stopping the suspension control work. The method has the advantages that the stable suspension state of the train is continuously achieved, and the reliability of the suspension system is improved.
Description
Technical Field
The present application relates to the field of magnetic levitation control, and in particular, to a high-speed magnetic levitation control method, controller, unit, and system.
Background
Magnetic levitation refers to a technique for levitating an object against gravity by using magnetic force, and magnetic levitation trains are most well known. In order to control the stable suspension of the suspended object, a reliable suspension system is required.
The magnetic suspension train suspension system in the related art adopts a lap joint structure mode, two suspension control units are arranged in each lap joint structure, the coupling relation between the two suspension control units is strong, and each suspension control unit controls the current of an electromagnet coil to jointly control the suspension stability of a train.
With respect to the related art in the above, the inventor believes that when one of two levitation control units fails, the levitation stability of the train is susceptible to be affected and the reliability of the levitation system is low.
Disclosure of Invention
In order to improve the reliability of a suspension system, the application provides a high-speed magnetic levitation control method, a controller, a unit and a system.
In a first aspect, the present application provides a high-speed magnetic levitation control method, which adopts the following technical scheme:
a high-speed magnetic suspension control method is characterized in that two magnetic suspension control units are arranged in the same lap joint structure, each magnetic suspension control unit comprises an acquisition device for acquiring detection signals, the two magnetic suspension control units are in communication connection, and the control method for each magnetic suspension control unit comprises the following steps:
acquiring a detection signal of a magnetic suspension control unit and a detection signal acquired by another magnetic suspension control unit in the same lap joint structure;
diagnosing the two groups of acquired detection signals, and outputting a control quantity by adopting a first control algorithm when no serious fault occurs in the two groups of detection signals so as to control the current of an electromagnet coil in a lap joint structure;
when the detection signal of the other magnetic suspension control unit has a serious fault, reporting the fault signal and stopping receiving the detection signal of the other magnetic suspension control unit, and outputting a control quantity by adopting a second control algorithm so as to control the current of the electromagnet coil in the lap joint structure;
and when the detection signal acquired by the device has a serious fault, reporting the fault signal and stopping the suspension control work.
By adopting the technical scheme, the two magnetic suspension control units in the same lap joint structure are subjected to detection signal acquisition, then whether the magnetic suspension control units break down or not is judged through the acquired detection signals, if the magnetic suspension control units break down, the algorithm of the other magnetic suspension control unit is changed, so that at least one magnetic suspension control unit in each lap joint structure can stably control the current of the electromagnet correspondingly connected with the magnetic suspension control unit, the suspension stability is improved, and the reliability of a suspension system is improved.
Optionally, the detection signal includes a current signal of an electromagnet coil, a levitation gap signal between the electromagnet and the track, and an acceleration signal in a levitation direction of the electromagnet.
By adopting the technical scheme, the current signal, the gap signal and the acceleration signal play a direct and important relation to the stability of the suspension system, and the three signals are acquired and diagnosed, so that the fault condition of each magnetic suspension control unit can be found conveniently and timely, the control quantity output by the two magnetic suspension control units in the same lap joint structure can be adjusted better, the train can be stably suspended, and the reliability of the suspension system can be improved.
Optionally, the step of outputting the control quantity by using the first control algorithm includes:
obtaining a first intermediate quantity according to a current suspension gap signal, a target suspension gap and a proportional control parameter in a self detection signal; the proportional control parameter is an initial set value;
acquiring a second intermediate quantity according to integral and differential control parameters of a current acceleration signal in the self detection signal; the differential control parameter is an initial set value;
obtaining the accumulated variation of the suspension gap difference according to the difference between the current suspension gap signal and the target suspension gap in the self detection signal;
obtaining the accumulated variation of the current difference according to the difference between the current signal in the self detection signal and the current signal in the detection signal of the other magnetic suspension control unit;
obtaining a control quantity output by a first control algorithm according to the first intermediate quantity, the second intermediate quantity, the accumulated variation of the suspension gap difference value and the accumulated variation of the current difference value;
the step of outputting the control quantity by adopting the second control algorithm comprises the following steps:
and obtaining the control quantity output by the second control algorithm according to the accumulated variation of the first intermediate quantity, the second intermediate quantity and the suspension clearance difference.
By adopting the technical scheme, when the detection signals of the two magnetic suspension control units do not have serious faults, the two magnetic suspension control units output control quantities through the first control algorithm, the control quantities output by the two magnetic suspension control units are the same through the first control algorithm, the two control quantities in the same lap joint structure are the same, and the currents of the two electromagnet coils are the same, so that the suspension stability is improved.
Optionally, after obtaining the control quantity output by the first control algorithm and after obtaining the control quantity output by the second control algorithm, the method further includes:
in a suspension stable state, respectively optimizing proportional control parameters and differential control parameters according to detection signals to obtain optimized proportional control parameters and optimized differential control parameters;
respectively replacing the optimized proportional control parameter and the optimized differential control parameter with corresponding initial set values, and obtaining and outputting control quantity through a first control algorithm or a second control algorithm;
and when the suspension is in an unstable state, calculating by using the initial set value of the proportional control parameter and the initial set value of the differential control parameter.
By adopting the technical scheme, the optimal calculation is carried out according to the values of the proportional control parameter and the differential control parameter of the suspension state of the magnetic suspension control unit and the train, the suspension control quantity with better control precision is further obtained, and the train is conveniently kept in the suspension stable state, so that the suspension stability of the train is conveniently improved, and the reliability of a suspension system is favorably improved. In addition, the first control algorithm and the second control algorithm both use the first intermediate quantity and the second intermediate quantity, so that the control quantity output by the first control algorithm and the control quantity output by the second control algorithm can change according to the dynamic change of the suspension, the stability of the suspension is convenient to ensure, and the reliability of the suspension system is improved.
Optionally, the step of optimizing the control parameter of the comparative example includes:
obtaining a first proportional control intermediate quantity according to the first constant, the electromagnet mass, the target suspension gap, the current during stable suspension and the intermediate parameter;
obtaining a second proportional control intermediate quantity according to the target suspension gap and the current during stable suspension;
obtaining an optimized proportional control parameter according to the first proportional control intermediate quantity and the second proportional control intermediate quantity;
the step of optimizing the derivative control parameter comprises:
obtaining an optimized differential control parameter according to the second constant, the electromagnet mass, the target suspension gap, the current during stable suspension and the intermediate parameter;
the step of obtaining the intermediate parameter comprises:
and obtaining an intermediate parameter according to the number of turns of the coil of the electromagnet, the pole area of the electromagnet and the vacuum magnetic conductivity.
By adopting the technical scheme, after the electromagnet is determined, the intermediate parameter is a fixed value, and the proportional control parameter and the differential control parameter are both related to the current during stable suspension, so that when the current during stable suspension changes, the proportional control parameter and the differential control parameter also change adaptively, thereby changing the control quantity output by the first control algorithm or the second control algorithm and improving the suspension stability.
Optionally, the step of obtaining the current during stable suspension includes:
when the difference value between the current suspension gap and the target suspension gap is smaller than a stable threshold value, the suspension is considered to be in a stable suspension state;
in a suspension stable state, taking the average value of a plurality of current signals of the electromagnet coil in the acquired self-detection signal as the current during stable suspension; or when the levitation load is known, obtaining the current in stable levitation through calculation according to the levitation load, the gravity acceleration, the electromagnet mass and the target levitation gap.
By adopting the technical scheme, the current during suspension stability is related to the control quantity output by the first control algorithm or the second control algorithm, so that various acquisition modes are set, the current during suspension stability can be immediately acquired when the train is in a stable suspension state, the control quantity output by the first control algorithm or the second control algorithm is changed, and the suspension stability is improved.
Optionally, in each group of detection signals, the current signal, the suspension gap signal, and the acceleration signal all include two signal values;
the method for judging the serious fault of the current signal comprises the following steps:
if the difference values of the two current values are greater than the current threshold value within the first time threshold value, judging that the current signal of the magnetic suspension control unit is a serious fault;
when a serious fault is judged, the magnetic suspension control unit stops suspension control work and outputs fault information to another magnetic suspension control unit and a monitoring system of the same lap joint structure;
the method for judging the serious fault of the gap signal comprises the following steps:
if one path of clearance value is always the clearance threshold value within the second time threshold value, judging that the path of clearance value has a fault; when two paths of clearance values of the same magnetic suspension control unit simultaneously fail, judging that the clearance signal of the magnetic suspension control unit is a serious fault;
when the fault is judged to be serious, the magnetic suspension control unit stops suspension control work; and outputting fault information to another magnetic suspension control unit and a monitoring system of the same lap joint structure;
the method for judging the serious fault of the acceleration signal comprises the following steps:
when the acceleration value of one road is always within the third time threshold value and is an acceleration threshold value, judging that the acceleration value of the road has a fault; when the two paths of acceleration values of the same magnetic suspension control unit have faults at the same time, judging that the acceleration signal of the magnetic suspension control unit is a serious fault;
and when the magnetic suspension control unit judges that the fault is serious, stopping the suspension control work and outputting fault information to another magnetic suspension control unit and a monitoring system in the same lap joint structure.
By adopting the technical scheme, the current signal, the gap signal and the acceleration signal respectively detect two values, so that the false alarm rate of the system is reduced; on the other hand, the two sensors collect the same detection signal, so that the situation that the detection signal is mistakenly collected due to the fact that the sensors break down is prevented, redundancy is achieved, and the stability and the reliability of the suspension system are guaranteed.
In a second aspect, the present application provides a magnetic levitation controller, which adopts the following technical solutions:
a magnetic levitation controller comprising:
a memory storing a magnetic levitation control program;
and the processor executes the steps of the high-speed magnetic suspension control method when the magnetic suspension control program is run.
By adopting the technical scheme, the suspension control is carried out on the train according to the high-speed magnetic suspension control method, the suspension stability is convenient to improve, and the reliability of a suspension system is improved.
In a third aspect, the present application provides a magnetic levitation control unit, which adopts the following technical scheme:
a magnetic levitation control unit comprising:
the acquisition device is used for acquiring detection signals;
the controller is the magnetic suspension controller, the input end of the controller is connected with the acquisition device, and the output end of the controller is connected with the electromagnet coil; and the control circuit is used for generating a control signal according to the received detection signal and outputting the control signal to the electromagnet coil.
By adopting the technical scheme, each magnetic levitation control unit comprises the acquisition device and independently acquires the detection signal, so that the stability of train levitation is improved, and the reliability of a levitation system is improved.
In a fourth aspect, the present application provides a magnetic levitation control system, which adopts the following technical solutions:
a magnetic suspension control system comprises a plurality of suspension control unit groups, wherein adjacent suspension control unit groups are in communication connection; each suspension control unit group is used for controlling a lapping structure in a magnetic suspension system, each suspension control unit group comprises at least two magnetic suspension control units, and all the magnetic suspension control units in the same group are in communication connection.
By adopting the technical scheme, the stable suspension of the train is facilitated, and the reliability of the suspension system is improved.
In summary, the present application includes at least one of the following beneficial technical effects:
1. if no serious fault occurs in both of the two magnetic suspension control units in the same lap joint structure, the same algorithm is used for outputting control quantity to control the current of the corresponding electromagnet coil; if one magnetic suspension control unit has serious faults, the other magnetic suspension control unit changes the algorithm, and the magnetic suspension control unit with the serious faults stops the suspension control work, so that when the system has faults, the suspension of the train is stably controlled, and the reliability of the suspension system is improved;
2. the first control algorithm and the second control algorithm are related to the current suspension gap, so that when the state of the train is changed, the control quantity output by the first control algorithm and the second control algorithm can be adaptively changed according to the state of the train, the current value in the electromagnet is changed, the stability of the train is improved, and the stability of a suspension system is improved;
3. when no serious fault occurs and the train is in a stable suspension state, the values of the proportional control parameter and the differential control parameter are updated, so that the first control algorithm or the second control algorithm can obtain a control quantity more suitable for the current train state, the electromagnet coil can obtain a current more suitable for the current train state, and the reliability of the suspension system is improved.
Drawings
FIG. 1 is a block diagram of a magnetic levitation control system of an embodiment of the present application;
FIG. 2 is another block diagram of a magnetic levitation control system of an embodiment of the present application;
FIG. 3 is a block diagram of a magnetic levitation control unit according to an embodiment of the present application;
FIG. 4 is a flow chart of a high-speed magnetic levitation control method according to an embodiment of the present application;
fig. 5 is a block diagram of another magnetic levitation control system according to the embodiment of the present application.
Description of reference numerals: 0. a suspension control unit group; 1. a magnetic suspension control unit; 11. a collection device; 12. a controller; 121. a memory; 122. a processor; 2. an electromagnet coil.
Detailed Description
The embodiment of the application discloses a high-speed magnetic suspension control system, and with reference to fig. 1, the system comprises a plurality of suspension control unit groups 0, adjacent suspension control unit groups 0 are in communication connection, and each suspension control unit group 0 is used for controlling a lap joint structure in the magnetic suspension system. Each suspension control unit group 0 comprises at least two magnetic suspension control units 1, and all the magnetic suspension control units 1 in the same group are in communication connection and adopt RS485 interfaces for communication connection.
Referring to fig. 1, in an embodiment of the present application, when a communication interface terminal of a communication device adopts a connection terminal, an RS485 network topology adopts a serial bus type topology, that is, a communication host is located at a bus start end, and each communication device is sequentially connected in series according to an installation position; in the present embodiment, the communication device is referred to as a magnetic levitation control unit 1. The network has simple structure, easy network expansion, convenient installation and use and higher reliability, and the fault of a single unit does not relate to the whole network.
Referring to fig. 2, in another embodiment of the present application, communication interface terminals of the communication devices are not directly connected in series with interfaces of lines, an RS485 network topology adopts a star bus type topology, one or a plurality of adjacent communication devices connect respective communication lines to a common communication node, and a plurality of common communication nodes are connected in series in sequence. In the present embodiment, the communication device is referred to as a magnetic levitation control unit 1, and one common communication node connects two magnetic levitation control units 1. The method has the advantages of easy networking, simple control, simple access protocol, easy network monitoring and management, easy fault diagnosis and isolation, and the fault of a single connection point only affects one device and does not affect the whole network.
Referring to fig. 3, each magnetic levitation control unit 1 includes an acquisition device 11 and a controller 12, and the acquisition device 11 includes three acquisition units for acquiring detection signals. One group of acquisition units comprises a first current sensor and a second current sensor; wherein the other group of acquisition units comprises a first gap sensor and a second gap sensor; the last group of acquisition units comprises a first accelerometer and a second accelerometer.
The controller 12 includes a memory 121 and a processor 122, the memory 121 stores a magnetic levitation control program, and the processor 122 may adopt an MCU, a single chip, or the like; the input end of the controller 12 is connected with the acquisition device 11 in the same magnetic suspension control unit 1, and the output end is used for connecting the corresponding electromagnet coil 2. The controller 12 is configured to generate a control signal according to the received acquisition signal and output the control signal to the corresponding electromagnet coil 2.
The following control method is executed when the above control program is executed, and the implementation of the control method executed inside the controller of each magnetic levitation control unit 1 will be described in detail below in conjunction with the above control system.
The embodiment of the application discloses a high-speed magnetic levitation control method. Referring to fig. 4, the high-speed magnetic levitation control method includes:
s100, acquiring a detection signal of the magnetic suspension control unit 1 and a detection signal acquired by another magnetic suspension control unit 1 in the same lap joint structure.
It should be noted that, with reference to fig. 5, the magnetic levitation system includes a plurality of lapping structures, and two magnetic levitation control units 1 are disposed in the same lapping structure. Two magnetic suspension control units 1 in the same lap joint structure are in communication connection; in the present embodiment, for convenience of understanding, two magnetic levitation control units 1 in the same lapping structure are respectively a magnetic levitation control unit 1A and a magnetic levitation control unit 1B.
Referring to fig. 3, the detection signals include a current signal of the electromagnet coil 2, a gap signal between the electromagnet and the track, and an acceleration signal in a levitation direction of the electromagnet. Each magnetic suspension control unit 1 respectively detects current signals of the electromagnet coils 2 through two current sensors, namely a first current sensor and a second current sensor, and measures two current values; respectively detecting suspension gap signals between the electromagnet and the track through two gap sensors, namely a first gap sensor and a second gap sensor, and measuring two paths of gap values; in the present embodiment, the gap sensor employs an eddy current sensor; and respectively detecting acceleration signals of the electromagnet in the suspension direction through two accelerometers, namely a first accelerometer and a second accelerometer, and measuring two paths of acceleration values. Current, clearance, acceleration all mutually detect the sensor trouble through two way detection signal, improve detection device output signal's accuracy through the redundant setting, reduce because the influence of detection device trouble to control system stability.
Referring to fig. 5, the first processor 122A of the magnetic levitation control unit 1A obtains two sets of detection signals, wherein one set of detection signals is obtained by the first acquisition device 11A of the magnetic levitation control unit 1A, and includes the first current sensor SC _ a1 measuring the current value i-a1, and the second current sensor AC _ a2 measuring the current value i-a 2; the first gap sensor ED _ A1 measures a gap value E-A1, the second gap sensor ED _ A2 measures a gap value E-A2; the first accelerometer S _ A1 measures an acceleration value A-A1, and the second accelerometer S _ A2 measures an acceleration value A-A2;
the other set of detection signals is acquired by the second acquisition device 11B of the magnetic levitation control unit 1B and transmitted to the first processor 122A in communication connection therewith via the second processor 122B. The current sensor SC _ B1 measures the current value i-B1, and the current sensor AC _ B2 measures the current value i-B2; the third gap sensor ED _ B1 measures a gap value E-B1, and the fourth gap sensor ED _ B2 measures a gap value E-B2; the third accelerometer S _ B1 measures acceleration values A-B1 and the fourth accelerometer S _ B2 measures acceleration values A-B2.
Referring to fig. 4, the two sets of acquired detection signals are respectively diagnosed S200.
And one group of detection signals is the detection signal of the magnetic suspension control unit 1, and the other group of detection signals is the detection signal of the other magnetic suspension control unit 1 in the same lap joint structure.
The method for diagnosing the serious fault of the current signal comprises the following steps: if the difference value of the two current values measured by the first current sensor and the second current sensor is greater than the current threshold value within the first time threshold value, determining that a serious fault exists. In this embodiment, the first time threshold is set to 10 milliseconds and the current threshold is set to 2 amps. Taking the magnetic levitation control unit 1A as an example, if the difference between the i-a1 and the i-a2 collected each time is greater than 2 amperes within 10 milliseconds, the first current sensor SC _ a1 and the second current sensor SC _ a2 are determined to be in fault, and at this time, the current signal output by the magnetic levitation control unit 1A is in serious fault. When a serious fault is determined, the magnetic suspension control unit 1A stops the suspension control work and outputs a fault signal to the magnetic suspension control unit 1B and the monitoring system with the same lap joint structure.
The method for diagnosing the serious fault of the gap signal comprises the following steps: if one of the two paths of clearance values measured by the first clearance sensor and the second clearance sensor is always a clearance threshold value within a second time threshold value, judging that the clearance value has a fault; when the two paths of clearance values of the same magnetic suspension control unit 1 have faults at the same time, judging that the clearance signal of the magnetic suspension control unit 1 is a serious fault; and if only one path of clearance value has faults, judging the fault to be a common fault. In the present embodiment, the second time threshold is set to 100 milliseconds, and the gap threshold is set to 0. Taking the magnetic levitation control unit 1A as an example, if both E-A1 and E-A2 are 0 all the time within 100 milliseconds at the same time, it is determined that the gap signal of the magnetic levitation control unit 1A has a serious fault. When the fault is determined to be serious, the magnetic suspension control unit 1A stops the suspension control work and transmits a fault signal to the magnetic suspension control unit 1B and the monitoring system which have the same lap joint structure.
The method for diagnosing the serious fault of the acceleration signal comprises the following steps: if one of the two acceleration values measured by the first accelerometer and the second accelerometer is always an acceleration threshold within a third time threshold, judging that the acceleration value of the road has a fault; when the two paths of acceleration values of the same magnetic suspension control unit 1 have faults at the same time, judging that the magnetic suspension control unit 1 has serious faults; and if only one path of acceleration value has a fault, judging the path as a common fault. In this embodiment, the third time threshold is set to 100 ms, the acceleration threshold includes 0, 5g and-5 g, g is the gravitational acceleration, and 9.8 m/s is taken. Taking the magnetic suspension control unit 1A as an example, if both A-A1 and A-A2 are 0, 5g or-5 g within 100 milliseconds at the same time, the acceleration signal of the magnetic suspension control unit 1A is judged to have serious failure. When the fault is determined to be serious, the magnetic suspension control unit 1A stops the suspension control work and transmits a fault signal to the magnetic suspension control unit 1B and the monitoring system which have the same lap joint structure.
When no serious fault occurs in the two groups of detection signals, S300, outputting a control quantity by adopting a first control algorithm u 1; to control the current of the corresponding electromagnet coil 2 in the lap joint structure.
The step of outputting the control quantity by adopting the first control algorithm u1 comprises the following steps:
s301, obtaining a first intermediate quantity according to the current suspension gap, the target suspension gap and a proportional control parameter of the device, wherein the proportional control parameter is an initial set value;
s302, obtaining a second intermediate quantity according to integral and differential control parameters of the current acceleration signal of the vehicle, wherein the differential control parameters are initial set values;
s303, acquiring the accumulated variation of the difference value of the suspension gap according to the difference between the current suspension gap and the target suspension gap in the self detection signal;
s304, obtaining the accumulated variation of the current difference value according to the difference between the current signal in the self detection signal and the current signal of the other magnetic suspension control unit 1; and obtaining the control quantity output by the first control algorithm according to the first intermediate quantity, the second intermediate quantity, the accumulated variation of the suspension gap difference value and the accumulated variation of the current difference value.
Referring to fig. 5, in the present embodiment, taking the magnetic levitation control unit 1A as an example, when no serious fault occurs in two sets of detection signals obtained by the magnetic levitation control unit 1A, that is, no serious fault occurs in the detection signals of the magnetic levitation control unit 1A and the magnetic levitation control unit 1B; outputting a control quantity by using a first control algorithm u 1; wherein the first control algorithm u1=
+
+
+
；
Is a proportional control parameter;
the current suspension gap signal comes from the magnetic suspension control unit 1A to detect the gap signal in the signals;
a target levitation gap, a known amount;
is a first intermediate quantity;
is a differential control parameter;
is the integral of the current acceleration signal;
is a second intermediate amount;
for cumulative variations in the difference in levitation gap, in particular when
-
Greater than zero, then
The number of the grooves is increased continuously, and the number of the grooves is increased continuously,
-
less than zero, then
Continuously decrease until
=
Stopping integration; in this embodiment, the upper limit of the integral is set to +10000, the lower limit is-10000, the unit is consistent with the suspension gap, and the digital variable storage saturation overflow is reduced.
The current signal is the current signal from the magnetic suspension control unit 1B, namely the current signal of the magnetic suspension control unit 1B;
the current signal is the current signal of the magnetic suspension control unit 1A;
the accumulated variation of the current difference value is obtained, wherein the upper limit and the lower limit of the integral have the same value mode as the upper limit and the lower limit of the integral of the accumulated variation of the suspension gap, when the current difference value is equal to the upper limit and the lower limit of the integral of the accumulated variation of the suspension gap
=
The integration is stopped.
It is to be understood that the first control algorithm u1= of the magnetic levitation control unit 1B
+
+
+
。
Is a proportional control parameter;
the current suspension gap comes from a gap signal in the detection signal of the magnetic suspension control unit 1B;
a target levitation gap, a known amount;
is a first intermediate quantity;
is a differential control parameter;
is the integral of the current acceleration signal;
is a second intermediate amount;
for accumulation of difference in levitation gapProduct of the amount of change, in particular when
-
Greater than zero, then
The number of the grooves is increased continuously, and the number of the grooves is increased continuously,
-
less than zero, then
Continuously decrease until
=
Stopping integration; in this embodiment, the upper limit of the integral is set to +10000, the lower limit is-10000, the unit is consistent with the suspension gap, and the digital variable storage saturation overflow is reduced.
The current signal is the current signal from the magnetic suspension control unit 1A, namely the current signal of the magnetic suspension control unit 1A;
the current signal is the current signal of the magnetic suspension control unit 1B;
is the cumulative amount of change in the current difference.
No serious fault occurs in the magnetic suspension control unit 1A and the magnetic suspension control unit 1B, and the train is in unstable suspensionWhen in a fixed state, the magnetic suspension control unit 1A and the magnetic suspension control unit 1B calculate control quantity through a first control algorithm u1, and change the current of the electromagnet to enable the train to tend to a suspension stable state, wherein the control quantity in u1
And
respective initial set values are used. It should be noted that, because the train is always in a dynamic state during the suspension process, the train is in a dynamic state
And the control quantity of the first control algorithm u1 is changed continuously, so that the train gradually tends to the suspension stable state.
And when the difference value between the current suspension gap and the target suspension gap is smaller than a stable threshold value, the suspension state is considered as a suspension stable state, otherwise, the suspension state is considered as a suspension unstable state. In the present embodiment, the stability threshold is set to 0.1 mm.
In order to better ensure the suspension stability of the train and improve the reliability of the suspension system, the method further comprises the following steps after obtaining the control quantity output by the first control algorithm and after obtaining the control quantity output by the second control algorithm: in a suspension stable state, respectively optimizing proportional control parameters and differential control parameters according to detection signals to obtain optimized proportional control parameters and optimized differential control parameters; respectively replacing the optimized proportional control parameter and the optimized differential control parameter with corresponding initial set values, and obtaining and outputting control quantity through a first control algorithm or a second control algorithm; and when the suspension is in an unstable state, calculating by using the initial set value of the proportional control parameter and the initial set value of the differential control parameter.
The step of optimizing the control parameters of the comparative example comprises the following steps: obtaining a first proportional control intermediate quantity according to the first constant, the electromagnet mass, the target suspension gap, the current during stable suspension and the intermediate parameter; obtaining a second proportional control intermediate quantity according to the target suspension gap and the current during stable suspension; and obtaining an optimized proportional control parameter according to the first proportional control intermediate quantity and the second proportional control intermediate quantity.
The step of optimizing the derivative control parameter comprises: and obtaining an optimized differential control parameter according to the second constant, the electromagnet mass, the target suspension gap, the current during stable suspension and the intermediate parameter. Wherein the step of obtaining the intermediate parameter comprises: and obtaining an intermediate parameter according to the number of turns of the coil of the electromagnet, the pole area of the electromagnet and the vacuum magnetic conductivity.
The first constant is taken 1678; m is the electromagnet mass;
a target levitation gap;
the electromagnet current in the suspension is stabilized; k is an intermediate parameter. Then in this embodiment the first proportional control intermediate quantity is
(ii) a The second proportional control intermediate quantity is
(ii) a The proportional control parameter is
+
(ii) a Intermediate parameter k =
Wherein N is the number of turns of the coil of the electromagnet,
is the area of the pole of the electromagnet,
is a vacuum magnetic conductivity; it will be appreciated that the intermediate parameter k is constant when the electromagnet is determined. To obtainCurrent flow during stable levitation
The step (2) includes, in the levitation stable state, taking an average value of a plurality of current signals of the electromagnet coil 2 in the acquired self-detection signal as a current at the time of stable levitation. In the present embodiment, for example, when the maglev control unit 1A is not severely failed, and the train is in a levitation stable state,
= (i-a1+ i-a 2)/2; if the magnetic suspension control unit 1A has serious faults, calculation is not needed
A value of (d); if the magnetic suspension control unit 1A does not have serious faults but the train is in a suspension unstable state, the calculation is also not needed
The value of (c). The magnetic levitation control unit 1B is the same as the magnetic levitation control unit 1A.
Or when the suspension load is known, according to the suspension load F, the gravity acceleration g, the electromagnet mass M and the target suspension gap
And calculating to obtain the current when the suspension is stable. In the present embodiment by
Obtaining, wherein g =9.8 m/sec. Since the levitation load is liable to change, for example, the change of the levitation load is liable to be caused by the movement of a person on a train or the getting on or off of a person, the calculation is made from the levitation load
It is easier to calculate that the train can be made to suspend stably
And
the value of (c).
Therefore, when no serious fault occurs in the two groups of detection signals and the suspension is stable, the optimized proportional control parameter and the optimized differential control parameter are obtained according to the current and the target suspension clearance during stable suspension, and the control quantity is obtained and output through the first control algorithm according to the optimized proportional control parameter and the optimized differential control parameter. That is, when no serious fault occurs in the detection signals of two magnetic suspension control units 1 in the same lap joint structure and the train is in stable suspension, the current sensor is used for measuring
Will be
And
respectively substitute for
=
And
=
to derive a set of optimizations
And optimizing
Will then optimize
Value and optimization
The values are substituted into the first control algorithm u1 to calculate the levitation control quantities of the two maglev control units 1, so that the train is kept in a levitation stable state. Even if a serious fault occurs in the detection signal of one magnetic suspension control unit 1 in the same lap joint structure, if the train is in stable suspension at the moment, the magnetic suspension control unit 1 without the serious fault can still calculate a group according to a formula
Value and optimization
And calculating the control quantity for facilitating the train to be in the continuous stable suspension state. So-called
Value and optimization
Value, i.e. newly calculated when no serious fault occurs in the detection signals of two maglev control units 1 in the same lap joint structure and the train is in stable levitation
And
the value of (c).
Referring to fig. 3 and 4, when a serious fault occurs in the detection signal of another magnetic levitation control unit 1, S400, reporting the fault signal and stopping receiving the detection signal of another magnetic levitation control unit 1, and outputting a control quantity by using a second control algorithm u 2; to control the current of the electromagnet coil 2 in the lap joint structure.
The step of the second control algorithm u2 outputting the control quantity includes: obtaining a second control algorithm output according to the accumulated variation of the first intermediate quantity, the second intermediate quantity and the suspension clearance differenceThe control quantity is output. Referring to fig. 5, in the present embodiment, taking the magnetic levitation control unit 1A as an example, the second control algorithm u2= is
+
+
(ii) a It is to be understood that the second control algorithm u2= of the magnetic levitation control unit 1B
+
+
。
Referring to fig. 4, when a serious fault exists in the detection signal acquired by the sensor, S500, reports the fault signal and stops the suspension control operation.
The implementation principle of the high-speed magnetic levitation control method in the embodiment of the application is as follows: when no serious fault occurs in two magnetic suspension control units 1 in the same lap joint structure, judging whether the train is in a suspension stable state, if so, passing through
Computing a set of optimizations
Value and optimization
The control quantity of the electromagnet current is calculated by the two magnetic suspension control units 1 through a first control algorithm u1, and the control quantity changes the electromagnet current to enable the train to be in a suspension stable state continuously; if the train is not in the suspension stable state, two magnetic suspensionsAll the control units 1 use
And
the control amount of the electromagnet current is calculated by the first control algorithm u 1.
When one of the two magnetic suspension control units 1 in the same lap joint structure has a serious fault, stopping the suspension control work of the magnetic suspension control unit 1 with the serious fault, and calculating the control quantity of the electromagnet current by the other magnetic suspension control unit 1 through a second control algorithm u 2. During the period, whether the train is in a suspension stable state or not is judged, and if the train is in the suspension stable state, the train still passes through
Computing a set of optimizations
Value and optimization
Value and will optimize
Value and optimization
The value is substituted into the second control algorithm u2, and the control amount is output.
If two magnetic suspension control units 1 in the same lap joint structure have serious faults, the two magnetic suspension control units 1 stop suspension control work.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. A high-speed magnetic levitation control method is characterized in that: two magnetic suspension control units (1) are arranged in the same lap joint structure, each magnetic suspension control unit (1) comprises a collecting device (11) used for collecting detection signals, the two magnetic suspension control units (1) are in communication connection, and the control method for each magnetic suspension control unit (1) comprises the following steps:
acquiring a detection signal of a magnetic suspension control unit (1) and a detection signal acquired by another magnetic suspension control unit (1) in the same lap joint structure;
diagnosing the two groups of acquired detection signals, and outputting a control quantity by adopting a first control algorithm when no serious fault occurs in the two groups of detection signals so as to control the current of the electromagnet coil (2) in the lap joint structure;
when the detection signal of the other magnetic suspension control unit (1) has a serious fault, reporting the fault signal and stopping receiving the detection signal of the other magnetic suspension control unit (1), and outputting a control quantity by adopting a second control algorithm to control the current of the electromagnet coil (2) in the lap joint structure;
when the detection signal acquired by the device has serious faults, reporting the fault signal and stopping the suspension control work;
the step of outputting the control quantity by adopting the first control algorithm comprises the following steps:
obtaining a first intermediate quantity according to a current suspension gap signal, a target suspension gap and a proportional control parameter in a self detection signal; the proportional control parameter is an initial set value;
acquiring a second intermediate quantity according to integral and differential control parameters of a current acceleration signal in the self detection signal; the differential control parameter is an initial set value;
obtaining the accumulated variation of the suspension gap difference according to the difference between the current suspension gap signal and the target suspension gap in the self detection signal;
obtaining the accumulated variation of the current difference value according to the difference between the current signal in the self detection signal and the current signal in the detection signal of the other magnetic suspension control unit (1);
obtaining a control quantity output by a first control algorithm according to the first intermediate quantity, the second intermediate quantity, the accumulated variation of the suspension gap difference value and the accumulated variation of the current difference value;
the step of outputting the control quantity by adopting the second control algorithm comprises the following steps:
and obtaining the control quantity output by the second control algorithm according to the accumulated variation of the first intermediate quantity, the second intermediate quantity and the suspension clearance difference.
2. The high-speed magnetic levitation control method according to claim 1, characterized in that: the detection signals comprise current signals of the electromagnet coil (2), suspension gap signals between the electromagnet and the track and acceleration signals of the electromagnet in the suspension direction.
3. The high-speed magnetic levitation control method according to claim 2, characterized in that: after obtaining the control quantity output by the first control algorithm and after obtaining the control quantity output by the second control algorithm, the method further comprises the following steps:
in a suspension stable state, respectively optimizing proportional control parameters and differential control parameters according to detection signals to obtain optimized proportional control parameters and optimized differential control parameters;
respectively replacing the optimized proportional control parameter and the optimized differential control parameter with corresponding initial set values, and obtaining and outputting control quantity through a first control algorithm or a second control algorithm;
and when the suspension is in an unstable state, calculating by using the initial set value of the proportional control parameter and the initial set value of the differential control parameter.
4. The high-speed magnetic levitation control method according to claim 3, characterized in that: the step of optimizing the control parameters of the comparative example comprises the following steps:
obtaining a first proportional control intermediate quantity according to the first constant, the electromagnet mass, the target suspension gap, the current during stable suspension and the intermediate parameter;
obtaining a second proportional control intermediate quantity according to the target suspension gap and the current during stable suspension;
obtaining an optimized proportional control parameter according to the first proportional control intermediate quantity and the second proportional control intermediate quantity;
the step of optimizing the derivative control parameter comprises:
obtaining an optimized differential control parameter according to the second constant, the electromagnet mass, the target suspension gap, the current during stable suspension and the intermediate parameter;
the step of obtaining the intermediate parameter comprises:
and obtaining an intermediate parameter according to the number of turns of the coil of the electromagnet, the pole area of the electromagnet and the vacuum magnetic conductivity.
5. The high-speed magnetic levitation control method according to claim 4, characterized in that: the step of obtaining the current when the suspension is stable comprises the following steps:
when the difference value between the current suspension gap and the target suspension gap is smaller than a stable threshold value, the suspension is considered to be in a stable suspension state;
in a suspension stable state, taking the average value of a plurality of current signals of the electromagnet coil (2) in the acquired self-detection signal as the current during stable suspension; or when the levitation load is known, obtaining the current in stable levitation through calculation according to the levitation load, the gravity acceleration, the electromagnet mass and the target levitation gap.
6. The high-speed magnetic levitation control method as recited in any one of claims 2-5, wherein in each set of detection signals, the current signal, the levitation gap signal and the acceleration signal comprise two signal values;
the method is characterized in that:
the method for judging the serious fault of the current signal comprises the following steps:
if the difference value of the two current values is greater than the current threshold value within the first time threshold value, judging that the current signal of the magnetic suspension control unit (1) is a serious fault;
when a serious fault is judged, the magnetic suspension control unit (1) stops suspension control work and outputs fault information to another magnetic suspension control unit (1) and a monitoring system with the same lap joint structure;
the method for judging the serious fault of the gap signal comprises the following steps:
if one path of clearance value is always the clearance threshold value within the second time threshold value, judging that the path of clearance value has a fault; when two paths of clearance values of the same magnetic suspension control unit (1) fail simultaneously, judging that the clearance signal of the magnetic suspension control unit (1) is a serious fault;
when the fault is judged to be serious, the magnetic suspension control unit (1) stops suspension control work; and outputting fault information to the other magnetic suspension control unit (1) and the monitoring system of the same lap joint structure;
the method for judging the serious fault of the acceleration signal comprises the following steps:
when the acceleration value of one road is always within the third time threshold value and is an acceleration threshold value, judging that the acceleration value of the road has a fault; when two paths of acceleration values of the same magnetic suspension control unit (1) have faults at the same time, judging that the acceleration signal of the magnetic suspension control unit (1) is a serious fault;
and when the magnetic suspension control unit (1) is judged to be in serious fault, stopping the suspension control work, and outputting fault information to the other magnetic suspension control unit (1) and the monitoring system in the same lap joint structure.
7. A magnetic levitation controller, comprising: the method comprises the following steps:
a memory (121) in which a magnetic levitation control program is stored;
a processor (122) which, when running the magnetic levitation control program, performs the steps of the method as claimed in any one of claims 1 to 6.
8. A magnetic levitation control unit, characterized by: the method comprises the following steps:
the acquisition device (11) is used for acquiring detection signals;
a controller (12) for magnetic suspension as claimed in claim 7, the input end of which is connected to the acquisition device (11) and the output end of which is used for connecting the electromagnet coil (2); and the control circuit is used for generating a control signal according to the received detection signal and outputting the control signal to the electromagnet coil (2).
9. A magnetic levitation control system, comprising: the suspension control system comprises a plurality of suspension control unit groups (0), wherein adjacent suspension control unit groups (0) are in communication connection; each levitation control unit group (0) is used for controlling a lapping structure in a magnetic levitation system, each levitation control unit group (0) comprises at least two magnetic levitation control units (1) as claimed in claim 8, and all the magnetic levitation control units (1) in the same group are in communication connection.
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| CN113759882B (en) * | 2021-10-09 | 2023-04-14 | 中国人民解放军国防科技大学 | Component fault detection method and device of suspension system and suspension system |
| CN114290912B (en) * | 2021-12-30 | 2023-07-04 | 湖南凌翔磁浮科技有限责任公司 | High-speed maglev train guiding control method and system based on multipoint information fusion |
| CN114161940B (en) * | 2021-12-30 | 2023-06-23 | 湖南凌翔磁浮科技有限责任公司 | Gap differential signal extraction method and system of high-speed maglev train |
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Denomination of invention: High speed maglev control method, controller, unit and system Effective date of registration: 20221031 Granted publication date: 20220318 Pledgee: China Construction Bank Co.,Ltd. Changsha Xiangjiang Branch Pledgor: HUNAN LINGXIANG MAGNETIC LEVITATION TECHNOLOGY CO.,LTD. Registration number: Y2022430000094 |