CN113525099B - Suspension electromagnet motion control method, system and storage medium - Google Patents

Suspension electromagnet motion control method, system and storage medium Download PDF

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Publication number
CN113525099B
CN113525099B CN202110783500.7A CN202110783500A CN113525099B CN 113525099 B CN113525099 B CN 113525099B CN 202110783500 A CN202110783500 A CN 202110783500A CN 113525099 B CN113525099 B CN 113525099B
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suspension
electromagnet
transverse
control
acceleration
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CN113525099A (en
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徐俊起
林国斌
宋一锋
荣立军
孙友刚
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Tongji University
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Tongji University
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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
    • 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

Abstract

The invention relates to a method and a system for controlling the motion of a suspension electromagnet and a storage medium, wherein the control method comprises the following steps: step 1: acquiring sampling data of a suspension sensor module at the current moment; step 2: acquiring a change value of the transverse acceleration of the suspension electromagnet; and step 3: judging whether the variation value of the transverse acceleration of the suspension electromagnet is smaller than a preset threshold value, if so, executing a step 4, otherwise, executing a step 5; and 4, step 4: passively controlling the suspension electromagnet, and then returning to the step 1; and 5: and (3) inputting the transverse acceleration change value serving as the transverse movement speed parameter of the electromagnet into a suspension control sub-method, actively controlling the suspension electromagnet, and then returning to the step 1. Compared with the prior art, the invention has the advantages of effectively improving the integral non-contact control performance of the magnetic suspension traffic system and the like.

Description

Suspension electromagnet motion control method, system and storage medium
Technical Field
The invention relates to the technical field of magnetic suspension traffic systems, in particular to a method and a system for controlling the motion of a suspension electromagnet and a storage medium.
Background
The EMS type maglev train is a novel rail transportation tool and has the outstanding characteristics of low running noise, strong climbing capability, small turning radius, high safety and reliability, low operation and maintenance cost, low manufacturing cost and the like. The electromagnetic attraction is utilized to enable the train body to suspend on the track, a non-contact state is kept between the magnetic suspension train and the track, contact abrasion between the magnetic suspension train and the track is overcome, and running resistance is reduced. The suspension control system is an actuating mechanism for realizing vehicle suspension, and changes the magnitude of current inside the suspension electromagnet according to an air gap between the suspension electromagnet and a track transmitted by a suspension sensor arranged on the electromagnet and a vertical motion acceleration signal of the electromagnet, so as to adjust the attraction force between the suspension electromagnet and the steel track and keep a maglev train in a stable suspension state with the size of the air gap of 8-10 mm. After decades of technical development, the technology of magnetic levitation trains is basically mature and is gradually going to commercial production and operation.
At present, as shown in fig. 1 and fig. 2, a running part of a medium-low speed maglev train adopts a suspension frame structure, and a suspension frame is installed at the lower end of a maglev train carriage through a suspension frame bracket 2. The left side and the right side of the suspension frame are respectively provided with an electromagnet 3, two ends of each electromagnet 3 are respectively provided with a suspension sensor module 1, the suspension frame surrounds the F-shaped track 5, and the non-contact motion is realized on a circuit through a suspension system. When a vehicle moves at a high speed, passes through a flat curve bend or is subjected to a large side wind, the electromagnet and the F-shaped track are transversely staggered under the action of transverse force, the component force generated by the suspension force of the electromagnet at the moment can realize the passive transverse guiding action, and the electromagnet can be restored to the position aligned with the F-shaped track within a certain range. However, when the transverse force is larger than the transverse component force generated by the suspension force of the electromagnet, the electromagnet cannot be timely restored to be aligned with the F-shaped track, and the transverse skid on the electromagnet is in contact with the side face of the F-shaped track, so that the integral non-contact running performance of the system is influenced. With the expansion of medium-low speed maglev trains to higher speed fields, the problem becomes a bottleneck that the stability and the speed of the maglev system are seriously influenced.
Disclosure of Invention
The present invention aims at overcoming the defects of the prior art and providing a method, a system and a storage medium for controlling the motion of a suspension electromagnet, which effectively improve the overall contactless control performance of a magnetic suspension traffic system.
The purpose of the invention can be realized by the following technical scheme:
a motion control method for a suspension electromagnet comprises the following steps:
step 1: acquiring sampling data of a suspension sensor module at the current moment;
step 2: acquiring a change value of the transverse acceleration of the suspension electromagnet;
and step 3: judging whether the variation value of the transverse acceleration of the suspension electromagnet is smaller than a preset threshold value, if so, executing a step 4, otherwise, executing a step 5;
and 4, step 4: passively controlling the suspension electromagnet, and then returning to the step 1;
and 5: and (3) inputting the transverse acceleration change value serving as the transverse movement speed parameter of the electromagnet into a suspension control sub-method, actively controlling the suspension electromagnet, and then returning to the step 1.
Preferably, the suspension sensor module comprises a shell, a vertical acceleration sensor, a transverse acceleration sensor and a gap probe; the shell is arranged on the electromagnet; the vertical acceleration sensor, the transverse acceleration sensor and the gap probe are respectively arranged in the shell.
Preferably, the step 2 specifically comprises:
and carrying out high-pass filtering processing on the transverse acceleration data of the suspension electromagnet to obtain transverse acceleration change value data.
Preferably, the preset threshold in step 3 is 0.1 gravity acceleration.
Preferably, the step 4 specifically includes:
the transverse acceleration of the suspension electromagnet is automatically adjusted by the transverse component of the suspension force, so that the passive control of the suspension electromagnet is realized.
Preferably, the suspension control sub-method in the step 5 is a PID control method.
More preferably, the PID control method is:
i＝k 1 *(s-s 0 )+k 2 *∫(s-s 0 )+k 3 *∫Δa+k 4 *∫Δb
wherein i is the output current of the control electromagnet; s-s 0 Is the suspension gap deviation; integral (s-s) 0 ) Is the integral value of the levitation gap deviation; integral value of vertical acceleration variation quantity is ^ Δ a; integral system of the amount of change in lateral acceleration; k is a radical of 1 、k 2 、k 3 And k 4 Respectively, feedback coefficients.
A suspension electromagnet motion control system comprises a suspension sensor module, a controller and an execution module; the suspension sensor module and the execution module are respectively communicated with the controller; the suspension sensor module is arranged on the suspension electromagnet; the output end of the execution module is connected with the control end of the suspension electromagnet;
the suspension sensor module is used for acquiring vertical acceleration data, transverse acceleration data and suspension gap data of the suspension electromagnet;
the controller is embedded with the suspension electromagnet motion control method;
and the execution module receives the control signal output by the controller and realizes active control or passive control on the suspension electromagnet.
Preferably, the suspension sensor module comprises a shell, a vertical acceleration sensor, a transverse acceleration sensor and a gap probe; the shell is arranged on the electromagnet; the vertical acceleration sensor, the transverse acceleration sensor and the gap probe are respectively arranged in the shell.
A storage medium, wherein the suspension electromagnet motion control method is stored in the storage medium.
Compared with the prior art, the invention has the following beneficial effects:
the suspension electromagnet motion control method provided by the invention has the advantages that the transverse motion acceleration information of the suspension electromagnet in the running process of the magnetic-levitation train is obtained, the transverse acceleration change value is integrated to be used as the transverse motion speed parameter of the electromagnet to participate in a suspension control algorithm, the active control of the transverse motion of the suspension electromagnet is realized, the contact between a transverse slide sled of the suspension electromagnet and a track caused by the traditional transverse passive control is reduced, and the integral non-contact control performance of a magnetic-levitation traffic system is improved.
The motion control method of the suspension electromagnet has the advantages that the active guiding function of the EMS type maglev train is enhanced, the speed of the maglev train is increased, the contact between the electromagnet and a guide rail is reduced, and the active promotion effect is achieved.
Drawings
FIG. 1 is a schematic front view of a suspension of the prior art;
FIG. 2 is a schematic diagram of a prior art suspension testing configuration;
FIG. 3 is a schematic structural diagram of a suspension sensor module according to the present invention;
fig. 4 is a schematic flow chart of a method for controlling the movement of a suspension electromagnet according to the present invention.
The reference numbers in the figures indicate:
1. suspension sensor module, 2, suspension bracket trailing arm, 3, electro-magnet, 4, braking clamp, 5, "F" shape track, 11, casing, 12, vertical acceleration sensor, 13, horizontal acceleration sensor, 14, clearance probe.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
A method for controlling the movement of a suspension electromagnet, the flow of which is shown in fig. 4, includes:
step 1: acquiring sampling data of a suspension sensor module at the current moment;
the suspension sensor module structure in this embodiment is shown in fig. 3, and includes a housing 11, a vertical acceleration sensor 12, a lateral acceleration sensor 13, and a gap probe 14, where the housing 11 is installed on the electromagnet 3, and the vertical acceleration sensor 11, the lateral acceleration sensor 12, and the gap probe 13 are respectively installed in the housing 11.
Step 2: carrying out high-pass filtering processing on the transverse acceleration data of the suspension electromagnet to obtain transverse acceleration change value data;
and step 3: judging whether the variation value of the transverse acceleration of the suspension electromagnet is smaller than a preset threshold value, if so, executing a step 4, otherwise, executing a step 5;
and 4, step 4: the transverse acceleration of the suspension electromagnet is automatically adjusted by the transverse component force of the suspension force to realize the passive control of the suspension electromagnet, and then the step 1 is returned;
and 5: inputting the transverse acceleration change value as an electromagnet transverse movement speed parameter into a suspension control sub-method, actively controlling the suspension electromagnet, and then returning to the step 1;
the suspension control sub-method is a PID control method, and specifically comprises the following steps:
i＝k 1 *(s-s 0 )+k 2 *∫(s-s 0 )+k 3 *∫Δa+k 4 *∫Δb
wherein i is the output current of the control electromagnet; s-s 0 Is the suspension gap deviation; integral (s-s) 0 ) Is the integral value of the levitation gap deviation; integral value of vertical acceleration variation quantity is ^ Δ a; integral system of the amount of change in lateral acceleration; k is a radical of 1 、k 2 、k 3 And k 4 Respectively, feedback coefficients.
In the embodiment, the variation of the vertical acceleration is integrated and then used as a motion damping signal of the control system. When the transverse external force applied to the electromagnet is too large to balance with the transverse component of the suspension force, the electromagnet and the F-shaped track can be transversely deviated, on one hand, the transverse skid of the magnetic suspension train is easily contacted with the side surface of the track to influence the integral running performance of the magnetic suspension train, on the other hand, the transverse deviation of the electromagnet and the F-shaped track can enable the direction of the suspension force to be deflected, and then the vertical acting force applied to the electromagnet is weakened and is only the vertical component of the suspension force, so that the vertical force balance of the magnetic suspension train is damaged, and the instability phenomenon of the system is easily caused.
Therefore, in the motion control method of the present embodiment, the integral value of the lateral acceleration variation of the electromagnet is introduced as the lateral motion speed variation parameter, and is compared with the set threshold value to determine whether the levitation controller implements the active lateral motion control. When the change of the transverse acceleration is smaller than a set threshold value, the response to the change of the acceleration is not needed, and the electromagnet can be adjusted to be aligned with the F-shaped track through the passive control of the transverse motion of the suspension system; when the acceleration change is larger than a set threshold value, the suspension system responds to the transverse acceleration change and develops the active control of the transverse movement of the electromagnet.
In the active control subprogram of the transverse motion of the suspension electromagnet, the transverse acceleration is sampled firstly, and then the high-pass filtering processing is carried out on the transverse acceleration sampling signal to obtain a transverse acceleration change value. When the change value of the transverse acceleration is smaller than or equal to the threshold value, the change of the transverse acceleration is considered to be small enough, the transverse component force generated by the suspension force can adjust the transverse offset of the electromagnet in real time, and the transverse motion active control is not required to be implemented; and when the transverse acceleration change value is larger than the threshold value, the transverse acceleration change is integrated and then used as a state variable to participate in the suspension control algorithm. The specific flow chart is shown in fig. 4.
When the transverse external force borne by the suspension electromagnet is too large to be balanced with the transverse component force of the suspension force, larger transverse acceleration impact is generated, the suspension control system introduces the transverse acceleration variation as a control quantity at the moment, the transverse guiding force borne by the electromagnet is actively controlled, and the guiding capacity of the system is improved.
The embodiment also relates to a suspension electromagnet motion control system, which comprises a suspension sensor module 1, a controller and an execution module, wherein the suspension sensor module and the execution module are respectively communicated with the controller;
the suspension sensor module 1 is used for acquiring vertical acceleration data, transverse acceleration data and suspension gap data of the suspension electromagnet;
the controller is embedded with the motion control method of the suspension electromagnet;
and the execution module receives the control signal output by the controller and realizes active control or passive control on the suspension electromagnet.
The suspension sensor module 1 is structurally shown in fig. 3, and comprises a shell 11, a vertical acceleration sensor 12, a lateral acceleration sensor 13 and a gap probe 14, wherein the shell 11 is mounted on the electromagnet 3, and the vertical acceleration sensor 11, the lateral acceleration sensor 12 and the gap probe 13 are respectively mounted in the shell 11. The number of the vertical acceleration sensors 12 is two, the number of the lateral acceleration sensors 13 is 1, and the number of the gap probes 14 is 3.
The embodiment also relates to a storage medium, wherein any one of the suspension electromagnet motion control methods is stored in the storage medium.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (6)

1. A motion control method of a suspension electromagnet is characterized by comprising the following steps:
step 1: acquiring sampling data of a suspension sensor module at the current moment;
step 2: acquiring a change value of the transverse acceleration of the suspension electromagnet;
and step 3: judging whether the variation value of the transverse acceleration of the suspension electromagnet is smaller than a preset threshold value, if so, executing a step 4, otherwise, executing a step 5;
and 4, step 4: passively controlling the suspension electromagnet, and then returning to the step 1;
and 5: inputting the transverse acceleration change value as an electromagnet transverse movement speed parameter into a suspension control sub-method, actively controlling the suspension electromagnet, and then returning to the step 1;
the preset threshold value in the step 3 is 0.1 gravity acceleration;
the step 4 is specifically as follows:
the transverse acceleration of the suspension electromagnet is automatically adjusted by the transverse component of the suspension force, so that the passive control of the suspension electromagnet is realized;
the suspension control sub-method in the step 5 is a PID control method;
the PID control method comprises the following steps:
i＝k 1 *(s-s 0 )+k 2 *∫(s-s 0 )+k 3 *∫Δa+k 4 *∫Δb
wherein i is the output current of the control electromagnet; s-s 0 Is the suspension gap deviation; integral factor (s-s) 0 ) Is the integral value of the levitation gap deviation; integral value of vertical acceleration variation quantity is ^ Δ a; integral multiple ofΔ b is an integral of the lateral acceleration variation; k is a radical of 1 、k 2 、k 3 And k 4 Respectively, feedback coefficients.
2. The method for controlling the motion of the suspension electromagnet according to claim 1, wherein the suspension sensor module comprises a shell, a vertical acceleration sensor, a transverse acceleration sensor and a gap probe; the shell is arranged on the electromagnet; the vertical acceleration sensor, the transverse acceleration sensor and the gap probe are respectively arranged in the shell.
3. The method for controlling the motion of the levitation electromagnet according to claim 1, wherein the step 2 specifically comprises:
and carrying out high-pass filtering processing on the transverse acceleration data of the suspension electromagnet to obtain transverse acceleration change value data.
4. The suspension electromagnet motion control system is characterized by comprising a suspension sensor module, a controller and an execution module; the suspension sensor module and the execution module are respectively communicated with the controller; the suspension sensor module is arranged on the suspension electromagnet; the output end of the execution module is connected with the control end of the suspension electromagnet;
the suspension sensor module is used for acquiring vertical acceleration data, transverse acceleration data and suspension gap data of the suspension electromagnet;
a controller embedded with the suspension electromagnet motion control method according to any one of claims 1 to 3;
and the execution module receives the control signal output by the controller and realizes active control or passive control on the suspension electromagnet.
5. The system of claim 4, wherein the levitation sensor module comprises a housing, a vertical acceleration sensor, a lateral acceleration sensor, and a gap probe; the shell is arranged on the electromagnet; the vertical acceleration sensor, the transverse acceleration sensor and the gap probe are respectively arranged in the shell.
6. A storage medium, wherein the method for controlling the movement of the levitation electromagnet according to any one of claims 1 to 3 is stored in the storage medium.
CN202110783500.7A 2021-07-12 2021-07-12 Suspension electromagnet motion control method, system and storage medium Active CN113525099B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5116078A (en) * 1989-11-06 1992-05-26 Mazda Motor Corporation Suspension control system cooperated with steering control system for vehicle
WO2007119315A1 (en) * 2006-03-20 2007-10-25 Toshiba Elevator Kabushiki Kaisha Magnetic suspension device
CN109131370A (en) * 2018-08-06 2019-01-04 江西理工大学 Suspension type magnetic-levitation traffic system
CN110315991A (en) * 2018-03-30 2019-10-11 比亚迪股份有限公司 A kind of progress control method of rail vehicle, device and Rail Transit System
CN112078375A (en) * 2020-09-18 2020-12-15 同济大学 Control method and system for inhibiting transverse impact interference of suspension system of magnetic-levitation train

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5116078A (en) * 1989-11-06 1992-05-26 Mazda Motor Corporation Suspension control system cooperated with steering control system for vehicle
WO2007119315A1 (en) * 2006-03-20 2007-10-25 Toshiba Elevator Kabushiki Kaisha Magnetic suspension device
CN110315991A (en) * 2018-03-30 2019-10-11 比亚迪股份有限公司 A kind of progress control method of rail vehicle, device and Rail Transit System
CN109131370A (en) * 2018-08-06 2019-01-04 江西理工大学 Suspension type magnetic-levitation traffic system
CN112078375A (en) * 2020-09-18 2020-12-15 同济大学 Control method and system for inhibiting transverse impact interference of suspension system of magnetic-levitation train

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