CN114371685B - High-speed magnetic levitation magnetic coupling test system for levitation and guiding adaptability analysis - Google Patents
High-speed magnetic levitation magnetic coupling test system for levitation and guiding adaptability analysis Download PDFInfo
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- CN114371685B CN114371685B CN202111548203.0A CN202111548203A CN114371685B CN 114371685 B CN114371685 B CN 114371685B CN 202111548203 A CN202111548203 A CN 202111548203A CN 114371685 B CN114371685 B CN 114371685B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/12—Measuring magnetic properties of articles or specimens of solids or fluids
- G01R33/1261—Measuring magnetic properties of articles or specimens of solids or fluids using levitation techniques
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention relates to a high-speed magnetic levitation magnetic coupling test system for levitation and guiding adaptability analysis, which comprises a high-speed magnetic levitation magnetic coupling vibration test bed, a levitation controller, a guiding controller and an upper computer, wherein the levitation controller and the guiding controller are connected with the upper computer through a CAN bus, the high-speed magnetic levitation magnetic coupling vibration test bed comprises a vertical hydraulic excitation device, a transverse hydraulic excitation device and a track module, the track module is provided with two track beams, the two track beams are respectively provided with a levitation/guiding sensor, a levitation/guiding controller and a levitation/guiding electromagnet, the vertical hydraulic excitation device is used for simulating the vertical irregularity and vibration state of a track, the transverse hydraulic excitation device is used for simulating the transverse vibration of the track, and the track module is used for realizing curve degree state simulation for alleviating a curve track. Compared with the prior art, the method has the advantages of more comprehensive test, higher accuracy and the like, so that the suspension/guide control algorithm based on the platform research and design is more accurate.
Description
Technical Field
The invention relates to the field of magnetic levitation trains, in particular to a high-speed magnetic levitation magnetic coupling test system for levitation and guiding adaptability analysis.
Background
The magnetic levitation train is used as a rail transportation tool, and can realize non-contact operation on the premise of effectively achieving the similar passenger carrying requirements of high-capacity transportation tools such as high-speed rails, subways and the like, so that the wheel rail abrasion problem and the noise problem faced by the conventional rail transportation are avoided, the operation and maintenance cost is further effectively reduced, and the upper limit of the operation speed is improved. In addition, the magnetic levitation trains developed and operated at present all adopt a rail holding mode, so that the possibility of heavy accidents such as derailment and the like is effectively avoided, and the safety and the reliability are further improved. The electromagnet is an actuating mechanism for ensuring the stable levitation of the maglev train, and the levitation control system combines signals output by the levitation sensor and the acceleration sensor to change the internal current of the electromagnet, so that the maglev train can stably levitate at an expected levitation gap (8-10 mm). In the development and research process of the past decades, the technology of the maglev train is basically mature, and the maglev train gradually goes to commercial production and operation.
At present, all commercial operations are electromagnetic levitation type magnetic levitation trains (EMS type magnetic levitation trains). The suspension system mainly comprises three parts of a suspension control box, a suspension sensor and a suspension electromagnet, and the fault proportion caused by the fault of the suspension control plate accounts for more than 80% of the faults of the whole suspension system. Based on the current technical means, redundant control is generally adopted for the whole suspension control box, namely, two suspension controller boxes are arranged at each suspension point, so that the possibility of suspension control is greatly improved.
For a high-speed running magnetic levitation train, besides the levitation electromagnet, a guiding electromagnet is required to be arranged for guiding control of the train to improve running stability, so that a levitation control algorithm and a guiding control algorithm are required to run in a levitation control box at the same time, and output control current is regulated by collecting levitation gap, guiding gap and related acceleration data in real time, so that stable running of the train is achieved. On the one hand, the development of the control algorithm requires numerical simulation to carry out theoretical analysis, and on the other hand, when the feasibility is verified, the algorithm needs to be experimentally verified based on a suspension test bed. In the prior art, a suspension control simulation platform for testing is generally only used for performing single-suspension control box and suspension control algorithm simulation test, and guiding performance and redundancy performance are not considered, so that a test result cannot truly reflect the running effect of a train, and the research and design of the control algorithm are caused to deviate, so that adverse effects are caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a high-speed magnetic levitation magnetic coupling test system for levitation and guidance adaptability analysis.
The aim of the invention can be achieved by the following technical scheme:
a high-speed magnetic levitation magnetic force coupling test system for levitation and direction adaptability analysis, includes high-speed magnetic levitation magnetic force coupling vibration test bench, first levitation controller, second levitation controller, first direction controller, second direction controller and host computer, first levitation controller, second levitation controller, first direction controller, second direction controller pass through CAN bus connection host computer, wherein:
the high-speed magnetic levitation magnetic force coupling vibration test bed comprises a vertical hydraulic excitation device, a transverse 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, a first levitation electromagnet, a second levitation electromagnet, a first guide electromagnet and a second guide electromagnet, wherein the track module is suspended and fixed through the track support, the track module comprises a first track beam and a second track beam which are provided with gaps between each other, the vertical hydraulic excitation device is arranged above the joint of two sections of track beams and used for simulating the vertical irregularity and vibration state of the track, and the transverse hydraulic excitation device is arranged on one side of the joint of the two sections of track beams and used for simulating the transverse vibration of the track and simulating the curve degree state of a gentle curve track; the first suspension electromagnet and the second suspension electromagnet are mechanically coupled and connected with each other;
the first suspension electromagnet is arranged below the first track beam, the first suspension sensor is used for detecting a gap between the first track beam and the first suspension electromagnet, the second suspension electromagnet is arranged below the second track beam, the second suspension sensor is used for detecting a gap between the second track beam and the second suspension electromagnet, the first suspension controller is connected with the first suspension sensor and the first suspension electromagnet, and the second suspension controller is connected with the second suspension sensor and the second suspension electromagnet;
the first guide electromagnet is arranged on one side of the first track beam, the first guide sensor is used for detecting a gap between the first track beam and the first guide electromagnet, the second guide electromagnet is arranged on one side of the second track beam, the second guide sensor is used for detecting a gap between the second track beam and the second guide electromagnet, the first guide controller is connected with the first guide sensor and the first guide electromagnet, and the second guide controller is connected with the second guide sensor and the second guide electromagnet.
Further, the vertical hydraulic excitation device is used for excitation generation according to the track spectrum of the real high-speed magnetic levitation track.
Further, the upper computer is used for correcting the suspension control parameters and the guide control parameters in the suspension controller and the guide controller in real time.
Further, damping brackets are arranged below the first suspension electromagnet and the second suspension electromagnet.
Further, an air spring is arranged below the gap of the track module.
Further, the test method comprises the following steps:
vertical disturbance suspension test: under the state that only the vertical hydraulic excitation device is started, starting two suspension controllers or only one suspension controller to perform suspension control;
lateral disturbance pilot test: under the state that only the transverse hydraulic excitation device is started, starting two suspension controllers or only one guide controller to perform suspension control;
comprehensive disturbance test: and simultaneously starting the vertical hydraulic excitation device and the transverse hydraulic excitation device, and starting the two suspension controllers and the two guide controllers to perform suspension control in a traversing manner in a permutation and combination mode.
Compared with the prior art, the invention has the following beneficial effects:
1. the vertical hydraulic vibration excitation device and the horizontal hydraulic vibration excitation device are designed simultaneously to simulate the track irregularity, the vertical vibration condition (vibration waveform can be generated by excitation by combining a track spectrum of a real high-speed magnetic levitation track besides amplitude and frequency adjustment) and the horizontal curve degree and horizontal vibration condition, so that the influence of the vertical and horizontal states of the track on suspension/guiding control during train field operation is simulated, and the comprehensive interference between the tracks (vertical and horizontal) caused by geometric deviation is included. Meanwhile, the vertical hydraulic excitation device and the horizontal hydraulic excitation device can be used for carrying out independent excitation on the first track module and the second track module, namely one track module is in a disturbed state, and the other track module is in an undisturbed state, so that a comparison test is realized.
2. The invention designs two sets of suspension control systems and two guide control systems which respectively correspond to two sections of track beams, and can realize mechanical redundancy, namely, normal suspension of the suspension/guide electromagnet module can be realized under the condition that one set of control system acts independently under the condition that one sensor/controller fails. Meanwhile, the levitation electromagnets in the two levitation control systems are mechanically coupled and connected with each other, so that the levitation frame structure of the actual high-speed maglev train is simulated and restored, and the levitation/guiding control algorithm based on the platform research and design is more accurate.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic view of the installation of the transverse hydraulic actuator of the present invention.
FIG. 3 is a schematic flow chart of a normal test without taking disturbance into consideration.
Reference numerals: 1-a high-speed magnetic levitation magnetic coupling vibration test bed; 11-vertical hydraulic excitation device; 12-a transverse hydraulic actuation device; 13-track module; 13 a-a first rail beam; 13 b-a second track beam; 14-track brackets; 15 a-a first suspension sensor; 15 b-a second suspension sensor; 16 a-a first levitation electromagnet; 16 b-a second suspension electromagnet; 17-a first guidance sensor; 18-a first guiding electromagnet; 2 a-a first levitation controller; 2 b-a second levitation controller; 3 a-a first steering controller; 3 b-a second steering controller; 4-upper computer.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
As shown in fig. 1 and 2, the present embodiment provides a high-speed magnetic levitation magnetic coupling test system for levitation and guidance adaptability analysis, which includes a high-speed magnetic levitation magnetic coupling vibration test stand 1, a first levitation controller 2a, a second levitation controller 2b, a first guidance controller 3a, a second guidance controller 3b, and an upper computer 4, wherein the first levitation controller 2a, the second levitation controller 2b, the first guidance controller 3a, and the second guidance controller 3b are connected to the upper computer 4 through a CAN bus. The high-speed magnetic levitation magnetically coupled vibration test stand 1 comprises a vertical hydraulic excitation device 11, a horizontal hydraulic excitation device 12, a rail module 13, a rail bracket 14, a first levitation sensor 15a, a second levitation sensor 15b, a first guidance sensor 17, a second guidance sensor (not shown in the figure), a first levitation electromagnet 16a, a second levitation electromagnet 16b, a first guidance electromagnet 18 and a second guidance electromagnet (not shown in the figure).
The track module 13 is suspended and fixed through a track bracket 14, the track module 13 comprises a first track beam 13a and a second track beam 13b which are provided with gaps between each other, and air springs are arranged below the gaps for supporting; the vertical hydraulic excitation device 11 is arranged above the joint of the two sections of track beams; the transverse hydraulic excitation device 12 is arranged at one side of the joint of the two sections of track beams; the first levitation electromagnet 16a and the second levitation electromagnet 16b are mechanically coupled to each other.
The first levitation electromagnet 16a is installed below the first track beam 13a, and the first levitation sensor 15a is used for detecting a gap between the first track beam 13a and the first levitation electromagnet 16 a; a second levitation electromagnet 16b is installed below the second track beam 13b, and a second levitation sensor 15b is used to detect a gap between the second track beam 13b and the second levitation electromagnet 16b; the first levitation controller 2a is connected with the first levitation sensor 15a and the first levitation electromagnet 16a, and the second levitation controller 2b is connected with the second levitation sensor 15b and the second levitation electromagnet 16b; damping brackets are arranged below the first suspension electromagnet 16a and the second suspension electromagnet 16 b.
A first guide electromagnet 18 is installed at one side of the first rail beam 13a, and a first guide sensor 17 is used to detect a gap between the first rail beam 13a and the first guide electromagnet 18; the second guide electromagnet is installed at one side of the second rail beam 13b, and the second guide sensor is used for detecting a gap between the second rail beam 13b and the second guide electromagnet; the first guiding controller 3a is connected with the first guiding sensor 17 and the first guiding electromagnet 18, and the second guiding controller 3b is connected with the second guiding sensor and the second guiding electromagnet.
In the embodiment, the vertical hydraulic excitation device 11 applies vertical excitation to the track and is used for simulating the deflection vertical deflection deformation and vertical vibration of the track (the vibration waveform can be generated by excitation by combining the track spectrum of the real high-speed magnetic levitation track besides being adjusted by amplitude and frequency); the transverse hydraulic excitation device 12 applies transverse excitation to the guide rail for simulating the transverse curvilinearity and transverse vibration condition of the rail; the first/second suspension sensor and the first/second guiding electromagnet are used for detecting the gap between the electromagnet and the rail beam and the vibration of the electromagnet module, and the signals of the suspension sensor and the guiding sensor are respectively given to the suspension controller and the guiding controller and then transmitted to the upper computer 4 through the CAN bus.
The specific test procedure of this embodiment is as follows:
when the disturbance normal test is not considered, as shown in fig. 3, the main circuit 440V is powered up, and a 110V dc power supply supplies power to the suspension/steering control signal, the switching power supply, and the like. The first/second suspension sensor and the first/second guiding sensor respectively acquire corresponding gap signals and acceleration signals, the first/second suspension controller and the first/second guiding controller respectively receive the gap signals and the acceleration signals through FPGA circuits, control quantity is calculated in the DSP, PWM waves are generated, the IGBT is driven to send control current, and the control current is transmitted to the upper computer through the CAN bus. And at the upper computer, parameter correction is realized and returned to the controller to ensure suspension/guiding stability.
Vertical disturbance suspension test: the signal transmission and control amount calculation are basically the same when disturbance is not considered. The difference from the normal test is that when the vertical disturbance suspension test is carried out, the vertical hydraulic excitation device is required to excite the track with certain frequency/amplitude (the vibration waveform can be excited by combining the track spectrum of the real high-speed magnetic suspension track to generate vibration besides being regulated by amplitude and frequency), so that certain deformation and vibration are generated to test the suspension control performance. If a contrast test is required, the first track beam can be excited, and the other first track beam is kept in a normal state, so that the contrast test is formed.
Lateral disturbance pilot test: substantially the same as described above. The difference from the normal test is that the transverse hydraulic excitation device is adopted to excite the guide rail so as to generate certain deformation or vibrate at certain frequency/amplitude, thereby verifying the guide control performance.
Comprehensive disturbance test: similar to the test mode, the multi-working condition test can be carried out by combining different combinations of transverse excitation and vertical excitation, and the suspension/guiding performance of the train is comprehensively verified.
In addition, mechanical redundancy is realized among the electromagnets of the embodiment, when a certain sensor/controller fails, the air spring is deflated (about 1/2), the failed system is stopped, and the two electromagnets can be stably suspended by a single closed-loop control system.
In conclusion, the invention integrates the functions of transverse excitation generation, vertical excitation generation, signal detection and communication, and real-time correction and calculation of control parameters, on one hand, the structure of the single-side suspension frame of the high-speed maglev train is truly simulated, on the other hand, the suspension/guiding control performance of different control parameters under various different working conditions can be verified, and the reliability of the system can be further improved based on mechanical redundancy.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (6)
1. A high-speed magnetic levitation magnetic force coupling test system for suspension and direction adaptability analysis, its characterized in that includes high-speed magnetic levitation magnetic force coupling vibration test bench, first suspension controller, second suspension controller, first direction controller, second direction controller and host computer, first suspension controller, second suspension controller, first direction controller, second direction controller pass through CAN bus connection host computer, wherein:
the high-speed magnetic levitation magnetic force coupling vibration test bed comprises a vertical hydraulic excitation device, a transverse 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, a first levitation electromagnet, a second levitation electromagnet, a first guide electromagnet and a second guide electromagnet, wherein the track module is suspended and fixed through the track support, the track module comprises a first track beam and a second track beam which are provided with gaps between each other, the vertical hydraulic excitation device is arranged above the joint of two sections of track beams and used for simulating the vertical irregularity and vibration state of the track, and the transverse hydraulic excitation device is arranged on one side of the joint of the two sections of track beams and used for simulating the transverse vibration of the track and simulating the curve degree state of a gentle curve track; the first suspension electromagnet and the second suspension electromagnet are mechanically coupled and connected with each other;
the first suspension electromagnet is arranged below the first track beam, the first suspension sensor is used for detecting a gap between the first track beam and the first suspension electromagnet, the second suspension electromagnet is arranged below the second track beam, the second suspension sensor is used for detecting a gap between the second track beam and the second suspension electromagnet, the first suspension controller is connected with the first suspension sensor and the first suspension electromagnet, and the second suspension controller is connected with the second suspension sensor and the second suspension electromagnet;
the first guide electromagnet is arranged on one side of the first track beam, the first guide sensor is used for detecting a gap between the first track beam and the first guide electromagnet, the second guide electromagnet is arranged on one side of the second track beam, the second guide sensor is used for detecting a gap between the second track beam and the second guide electromagnet, the first guide controller is connected with the first guide sensor and the first guide electromagnet, and the second guide controller is connected with the second guide sensor and the second guide electromagnet.
2. The high-speed magnetic levitation magnetic coupling test system for levitation and guidance adaptability analysis according to claim 1, wherein the vertical hydraulic excitation device is generated by excitation according to a track spectrum of a real high-speed magnetic levitation track.
3. The high-speed magnetic levitation magnetic coupling test system for levitation and guidance adaptability analysis according to claim 1, wherein the upper computer is used for correcting levitation control parameters and guidance control parameters in the levitation controller and the guidance controller in real time.
4. The high-speed magnetic levitation magnetic coupling test system for levitation and guidance adaptability analysis according to claim 1, wherein damping brackets are arranged below the first levitation electromagnet and the second levitation electromagnet.
5. The high-speed magnetically levitated magnetic coupling test system for levitation and guidance adaptability analysis of claim 1, wherein an air spring is disposed under the gap of the rail module.
6. A high-speed magnetically levitated magnetic coupling test system for levitation and guidance adaptability analysis according to claim 1, wherein the test method comprises:
vertical disturbance suspension test: under the state that only the vertical hydraulic excitation device is started, starting two suspension controllers or only one suspension controller to perform suspension control;
lateral disturbance pilot test: under the state that only the transverse hydraulic excitation device is started, starting two suspension controllers or only one guide controller to perform suspension control;
comprehensive disturbance test: and simultaneously starting the vertical hydraulic excitation device and the transverse hydraulic excitation device, and starting the two suspension controllers and the two guide controllers to perform suspension control in a traversing manner in a permutation and combination mode.
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Citations (6)
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| JPH0223079A (en) * | 1988-07-08 | 1990-01-25 | Sumitomo Electric Ind Ltd | Magnetic levitation device |
| CN210269203U (en) * | 2019-08-12 | 2020-04-07 | 中车青岛四方机车车辆股份有限公司 | Maglev train line track simulation device and test bed |
| CN111103809A (en) * | 2019-12-10 | 2020-05-05 | 同济大学 | Suspension control simulation platform for high-speed and medium-low speed maglev trains |
| CN111338234A (en) * | 2020-03-12 | 2020-06-26 | 中车青岛四方机车车辆股份有限公司 | Magnetic suspension control algorithm verification system, method and device |
| CN112098116A (en) * | 2020-08-14 | 2020-12-18 | 西南交通大学 | Maglev train vibration test bed |
| WO2021171159A1 (en) * | 2020-02-28 | 2021-09-02 | Safran Landing Systems | Maglev supervisory control architecture |
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2021
- 2021-12-17 CN CN202111548203.0A patent/CN114371685B/en active Active
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| JPH0223079A (en) * | 1988-07-08 | 1990-01-25 | Sumitomo Electric Ind Ltd | Magnetic levitation device |
| CN210269203U (en) * | 2019-08-12 | 2020-04-07 | 中车青岛四方机车车辆股份有限公司 | Maglev train line track simulation device and test bed |
| CN111103809A (en) * | 2019-12-10 | 2020-05-05 | 同济大学 | Suspension control simulation platform for high-speed and medium-low speed maglev trains |
| WO2021171159A1 (en) * | 2020-02-28 | 2021-09-02 | Safran Landing Systems | Maglev supervisory control architecture |
| CN111338234A (en) * | 2020-03-12 | 2020-06-26 | 中车青岛四方机车车辆股份有限公司 | Magnetic suspension control algorithm verification system, method and device |
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