CN114371685B - High-speed Maglev Magnetic Coupled Test System for Suspension Analysis of Levitation and Guidance - Google Patents

Abstract

The invention relates to a high-speed maglev magnetic force coupling test system for suspension and guidance adaptability analysis, including a high-speed maglev magnetic force coupling vibration test bench, a suspension controller, a guidance controller and a host computer, and the suspension controller and the guidance controller pass CAN The bus is connected to the upper computer, and the high-speed maglev magnetic coupling vibration test bench includes a vertical hydraulic excitation device, a horizontal hydraulic excitation device and a track module. /Guide electromagnet, vertical hydraulic excitation device is used to simulate the vertical irregularity and vibration state of the track, and the lateral hydraulic excitation device is used to simulate the lateral vibration of the track, and the track module realizes the curve state simulation of the eased curve track. Compared with the prior art, the present invention has the advantages of more comprehensive testing and higher accuracy, making the suspension/guidance control algorithm researched and designed based on the platform more accurate.

Description

High-speed magnetic levitation magnetic force coupling test system for levitation and guidance adaptability analysis

technical field

The invention relates to the field of maglev trains, in particular to a high-speed maglev magnetic force coupling test system for suspension and guidance adaptability analysis.

Background technique

As a means of rail transportation, maglev trains can achieve non-contact operation on the premise of effectively meeting the similar passenger demand of high-speed rail, subway and other large-capacity transportation vehicles, thus avoiding the wheel-rail wear and noise problems faced by rail transit in the past , thus effectively reducing operation and maintenance costs and increasing the upper limit of operating speed. In addition, since the maglev trains currently developed and operated all adopt the form of "rail-holding", the possibility of major accidents such as derailment is effectively avoided, thereby improving safety and reliability. The electromagnet is the actuator to ensure the stable suspension of the maglev train, and the suspension control system combines the output signals of the suspension sensor and the acceleration sensor to change the internal current of the electromagnet, so that the maglev train can be stably suspended at the desired suspension gap (8mm ~ 10mm) . In the process of development and research in the past few decades, the technology of maglev trains has basically matured and is gradually moving towards commercial production and operation.

At present, all commercially operated maglev trains are electromagnetic levitation trains (EMS maglev trains). The suspension system is mainly composed of three major components: the suspension control box, the suspension sensor, and the suspension electromagnet, and the failure rate of the suspension control board accounts for more than 80% of the failures of the entire suspension system. However, based on the current technical means, redundant control is generally adopted for the suspension control box as a whole, that is, two suspension controller boxes are arranged at each suspension point, which greatly improves the possibility of suspension control.

For high-speed maglev trains, in addition to the suspension electromagnet, it is also necessary to set the guidance electromagnet for the guidance control of the train to improve the operation stability. This requires the suspension control algorithm and the guidance control algorithm to be run simultaneously in the suspension control box. The suspension gap and guide gap and related acceleration data can adjust the output control current, so as to achieve the stable operation of the train. On the one hand, the development of the control algorithm requires numerical simulation for theoretical analysis, and on the other hand, when verifying the feasibility, it needs to conduct experimental verification of the algorithm based on the suspension test bench. In the prior art, the suspension control simulation platform used for testing generally only conducts a separate simulation test of the single suspension control box and the suspension control algorithm, without considering the guidance performance and redundancy performance, so that the test results cannot truly reflect the operation effect of the train , leading to deviations in the research and design of the control algorithm, resulting in adverse effects.

Contents of the invention

The object of the present invention is to provide a high-speed maglev magnetic force coupling test system for levitation and guidance adaptability analysis in order to overcome the above-mentioned defects in the prior art.

The purpose of the present invention can be achieved through the following technical solutions:

A high-speed maglev magnetic force coupling test system for suspension and guidance adaptability analysis, including a high-speed maglev magnetic force coupling vibration test bench, a first suspension controller, a second suspension controller, a first guidance controller, and a second guidance controller And the host computer, the first suspension controller, the second suspension controller, the first guide controller, and the second guide controller are connected to the host computer through the CAN bus, wherein:

The high-speed maglev magnetic coupling vibration test bench includes a vertical hydraulic excitation device, a lateral hydraulic excitation device, a track module, a track support, a first levitation sensor, a second levitation sensor, a first guide sensor, a second guide sensor, and a first levitation electromagnet , the second suspension electromagnet, the first guide electromagnet and the second guide electromagnet, the track module is suspended and fixed by the track bracket, and the track module includes a first track beam and a second track beam with a gap between them, so The vertical hydraulic excitation device is installed above the joint of two sections of track beams to simulate the vertical irregularity and vibration state of the track, and the horizontal hydraulic excitation device is installed on the side of the joint of two sections of track beams to simulate track lateral vibration, and make the track module realize the simulation of the curve state of the gentle curve track; the first suspension electromagnet and the second suspension electromagnet are mechanically coupled to each other;

The first suspension electromagnet is installed below the first track beam, the first suspension sensor is used to detect the gap between the first track beam and the first suspension electromagnet, and the second suspension electromagnet is installed at the Below the two track beams, the second suspension sensor is used to detect the gap between the second track beam and the second suspension electromagnet, and the first suspension controller is connected to the first suspension sensor and the first suspension electromagnet, so The second suspension controller is connected with the second suspension sensor and the second suspension electromagnet;

The first guide electromagnet is installed on one side of the first track beam, the first guide sensor is used to detect the gap between the first track beam and the first guide electromagnet, and the second guide electromagnet is installed on the One side of the second track beam, the second guide sensor is used to detect the gap between the second track beam and the second guide electromagnet, and the first guide controller connects the first guide sensor and the first guide electromagnet , the second guidance controller is connected to the second guidance sensor and the second guidance electromagnet.

Further, the vertical hydraulic excitation device performs excitation generation according to the track spectrum of the real high-speed maglev track.

Further, the host computer is used to correct the suspension control parameters and guidance control parameters in the suspension controller and guidance controller in real time.

Further, damping brackets are provided under the first suspension electromagnet and the second suspension electromagnet.

Further, an air spring is provided below the gap of the track module.

Further, the test methods include:

Vertical disturbance suspension test: In the state where only the vertical hydraulic excitation device is activated, two suspension controllers are activated or only one suspension controller is activated for suspension control;

Lateral disturbance guidance test: In the state of only activating the lateral hydraulic excitation device, activate two suspension controllers or only activate one guidance controller for suspension control;

Comprehensive disturbance test: In the state where the vertical hydraulic excitation device and the lateral hydraulic excitation device are activated at the same time, two suspension controllers and two guidance controllers are traversed in a permutation and combination form for suspension control.

Compared with the prior art, the present invention has the following beneficial effects:

1. In the present invention, a vertical hydraulic vibration excitation device and a lateral hydraulic vibration excitation device are simultaneously designed to simulate track irregularities and vertical vibrations (the vibration waveform can also be combined with real high-speed maglev rails in addition to adjusting the amplitude and frequency) Excitation generation of track spectrum) and lateral curvature and lateral vibration, so as to simulate the influence of the vertical and lateral state of the track on the suspension/guidance control during on-site operation of the train, including the synthesis of the geometric deviation between the tracks (vertical and lateral) interference. At the same time, both the vertical hydraulic excitation device and the lateral hydraulic excitation device can separately excite the first/second track module, that is, one track module is placed in a disturbed state, and the other track module is placed in an undisturbed state, thereby realizing a comparative test.

2. The present invention designs two sets of suspension control systems and two guide control systems corresponding to two sections of track beams respectively, which can realize mechanical redundancy, that is, in the case of a certain sensor/controller failure, a set of control systems alone The normal levitation of the levitation/guidance electromagnet module is realized under the condition of functioning. At the same time, the suspension electromagnets in the two suspension control systems are mechanically coupled to each other, and the simulation restores the suspension frame structure of the actual high-speed maglev train, making the suspension/guidance control algorithm researched and designed based on this platform more accurate.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of installation of the lateral hydraulic excitation device of the present invention.

Fig. 3 is a schematic flow chart of the normal test without considering the disturbance in the present invention.

Reference signs: 1-high-speed maglev magnetic coupling vibration test bench; 11-vertical hydraulic excitation device; 12-horizontal hydraulic excitation device; 13-track module; 13a-first track beam; 13b-second track beam; 14- Track bracket; 15a-first suspension sensor; 15b-second suspension sensor; 16a-first suspension electromagnet; 16b-second suspension electromagnet; 17-first guidance sensor; 18-first guidance electromagnet; 2a- 1st suspension controller; 2b-second suspension controller; 3a-first guidance controller; 3b-second guidance controller; 4-host computer.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

As shown in Fig. 1 and Fig. 2, the present embodiment provides a kind of high-speed maglev magnetic force coupling test system for levitation and guidance adaptability analysis, including high-speed maglev magnetic force coupling vibration test bench 1, the first levitation controller 2a, the second Two suspension controllers 2b, the first guidance controller 3a, the second guidance controller 3b and the host computer 4, wherein the first suspension controller 2a, the second suspension controller 2b, the first guidance controller 3a, the second guidance control The device 3b is connected to the host computer 4 through the CAN bus. The high-speed maglev magnetic coupling vibration test bench 1 includes a vertical hydraulic excitation device 11, a lateral hydraulic excitation device 12, a track module 13, a track support 14, a first levitation sensor 15a, a second levitation sensor 15b, a first guide sensor 17, a second A guide sensor (not shown in the figure), a first levitation electromagnet 16a, a second levitation electromagnet 16b, a first guide electromagnet 18 and a second guide electromagnet (not shown in the figure).

The track module 13 is suspended and fixed by the track bracket 14, and the track module 13 includes a first track beam 13a and a second track beam 13b with a gap between them, and an air spring is provided below the gap for support; the vertical hydraulic drive device 11 is installed on the Above the junction of the two sections of track beams; the transverse hydraulic excitation device 12 is installed on the side of the junction of the two sections of track beams; the first suspension electromagnet 16a and the second suspension electromagnet 16b are mechanically coupled to each other.

The first suspension electromagnet 16a is installed below the first track beam 13a, and the first suspension sensor 15a is used to detect the gap between the first track beam 13a and the first suspension electromagnet 16a; Below the second track beam 13b, the second suspension sensor 15b is used to detect the gap between the second track beam 13b and the second suspension electromagnet 16b; the first suspension controller 2a connects the first suspension sensor 15a and the first suspension electromagnet 16a, the second levitation controller 2b is connected to the second levitation sensor 15b and the second levitation electromagnet 16b; damping brackets are provided under the first levitation electromagnet 16a and the second levitation electromagnet 16b.

The first guide electromagnet 18 is installed on one side of the first track beam 13a, and the first guide sensor 17 is used to detect the gap between the first track beam 13a and the first guide electromagnet 18; One side of the two track beams 13b, the second guiding sensor is used to detect the gap between the second track beam 13b and the second guiding electromagnet; the first guiding controller 3a connects the first guiding sensor 17 and the first guiding electromagnet 18 , the second guide controller 3b is connected to the second guide sensor and the second guide electromagnet.

In this embodiment, the vertical hydraulic excitation device 11 applies vertical excitation to the track, which is used to simulate the vertical deflection deformation and vertical vibration of the track deflection (the vibration waveform can also be combined with the real high-speed maglev track in addition to adjusting the amplitude and frequency) The track spectrum is excited and generated); the lateral hydraulic excitation device 12 applies lateral excitation to the guide rail, which is used to simulate the lateral curvature and lateral vibration of the rail; the first/second suspension sensor and the first/second guide electromagnet are used to detect their respective Corresponding to the gap between the electromagnet and the track beam and the vibration of the electromagnet module, the signals of each suspension sensor and guidance sensor are respectively sent to the suspension controller and the guidance controller, and then transmitted to the upper computer 4 through the CAN bus.

The concrete test process of this embodiment is as follows:

During the normal test without considering the disturbance, as shown in Figure 3, the main circuit is powered on at 440V, and the 110V DC power supply supplies power to the suspension/guidance control signal and switching power supply. The first/second suspension sensor and the first/second guidance sensor respectively collect the corresponding gap signal and acceleration signal, and the respective FPGA circuits in the first/second suspension controller and the first/second guidance controller receive it and calculate and control it in the DSP Quantity, generate PWM wave, drive IGBT to send control current, and transmit it to the host computer through CAN bus at the same time. On the upper computer, realize parameter correction and return to the controller to ensure suspension/guidance stability.

Vertical disturbance levitation test: The signal transmission and control quantity calculation methods are basically the same as those when the disturbance is not considered. The difference from the normal test is that in the vertical disturbance levitation test, the vertical hydraulic excitation device is required to excite the track with a certain frequency/amplitude (the vibration waveform can be combined with the track spectrum of the real high-speed maglev track in addition to adjusting the amplitude and frequency) Excitation generation) to make it produce a certain deformation and vibration to test the suspension control performance. If a comparative test is required, the first track beam can be excited, and the other first track beam remains in a normal state, thereby forming a comparative test.

Lateral disturbance-guided test: basically the same as the above-mentioned test method. The difference from the normal test is that at this time, the horizontal hydraulic excitation device is used to excite the guide rail to cause a certain deformation or vibrate at a certain frequency/amplitude, thereby verifying the guidance control performance.

Comprehensive disturbance test: Similar to the above test method, it can combine different combinations of lateral excitation and vertical excitation to carry out multi-condition tests to comprehensively verify the suspension/guidance performance of the train.

In addition, mechanical redundancy is realized between the electromagnets of the embodiment. When a sensor/controller fails, the air spring is deflated (about 1/2), and the failed system stops working, a single closed loop The control system also enables the two electromagnets to be suspended stably.

In summary, the present invention integrates the functions of lateral excitation generation, vertical excitation generation, signal detection and communication, real-time correction of control parameters and calculation functions. The suspension/guidance control performance of parameters under various working conditions, and the reliability of the system can be further improved based on mechanical redundancy.

The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make many modifications and changes according to the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art shall be within the scope of protection defined by the claims.

Claims (6)

1. A high-speed maglev magnetic force coupling test system for levitation and guidance adaptability analysis, characterized in that it comprises a high-speed maglev magnetic force coupling vibration test bench, a first levitation controller, a second levitation controller, and a first guide controller , the second guidance controller and the upper computer, the first suspension controller, the second suspension controller, the first guidance controller, and the second guidance controller are connected to the upper computer through the CAN bus, wherein: The high-speed maglev magnetic coupling vibration test bench includes a vertical hydraulic excitation device, a lateral hydraulic excitation device, a track module, a track support, a first levitation sensor, a second levitation sensor, a first guide sensor, a second guide sensor, and a first levitation electromagnet , the second suspension electromagnet, the first guide electromagnet and the second guide electromagnet, the track module is suspended and fixed by the track bracket, and the track module includes a first track beam and a second track beam with a gap between them, so The vertical hydraulic excitation device is installed above the joint of two sections of track beams to simulate the vertical irregularity and vibration state of the track, and the horizontal hydraulic excitation device is installed on the side of the joint of two sections of track beams to simulate track lateral vibration, and make the track module realize the simulation of the curve state of the gentle curve track; the first suspension electromagnet and the second suspension electromagnet are mechanically coupled to each other; The first suspension electromagnet is installed below the first track beam, the first suspension sensor is used to detect the gap between the first track beam and the first suspension electromagnet, and the second suspension electromagnet is installed at the Below the two track beams, the second suspension sensor is used to detect the gap between the second track beam and the second suspension electromagnet, and the first suspension controller is connected to the first suspension sensor and the first suspension electromagnet, so The second suspension controller is connected with the second suspension sensor and the second suspension electromagnet; The first guide electromagnet is installed on one side of the first track beam, the first guide sensor is used to detect the gap between the first track beam and the first guide electromagnet, and the second guide electromagnet is installed on the One side of the second track beam, the second guide sensor is used to detect the gap between the second track beam and the second guide electromagnet, and the first guide controller connects the first guide sensor and the first guide electromagnet , the second guidance controller is connected to the second guidance sensor and the second guidance electromagnet. 2. A kind of high-speed maglev magnetic force coupling test system for levitation and guidance adaptability analysis according to claim 1, characterized in that, the vertical hydraulic excitation device performs excitation generation according to the track spectrum of the real high-speed maglev track. 3. A kind of high-speed maglev magnetic force coupling test system that is used for levitation and guidance adaptability analysis according to claim 1, is characterized in that, described host computer is used for levitation control parameter in levitation controller and guidance controller and guidance control control parameters for real-time correction. 4. A kind of high-speed maglev magnetic force coupling test system for levitation and guidance adaptability analysis according to claim 1, characterized in that, damping brackets are arranged under the first levitation electromagnet and the second levitation electromagnet shelf. 5. A high-speed maglev magnetic force coupling test system for levitation and guidance adaptability analysis according to claim 1, characterized in that an air spring is provided below the gap of the track module. 6. A kind of high-speed maglev magnetic force coupling test system for levitation and guidance adaptability analysis according to claim 1, is characterized in that, test method comprises: Vertical disturbance suspension test: In the state where only the vertical hydraulic excitation device is activated, two suspension controllers are activated or only one suspension controller is activated for suspension control; Lateral disturbance guidance test: In the state of only activating the lateral hydraulic excitation device, activate two suspension controllers or only activate one guidance controller for suspension control; Comprehensive disturbance test: In the state where the vertical hydraulic excitation device and the lateral hydraulic excitation device are activated at the same time, two suspension controllers and two guidance controllers are traversed in a permutation and combination form for suspension control.

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