CN114927051A - Magnetic levitation trolley experiment system - Google Patents
Magnetic levitation trolley experiment system Download PDFInfo
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- CN114927051A CN114927051A CN202210746054.7A CN202210746054A CN114927051A CN 114927051 A CN114927051 A CN 114927051A CN 202210746054 A CN202210746054 A CN 202210746054A CN 114927051 A CN114927051 A CN 114927051A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/005—Testing of electric installations on transport means
- G01R31/006—Testing of electric installations on transport means on road vehicles, e.g. automobiles or trucks
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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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a magnetic suspension trolley experiment system, which comprises: the track system and the vehicle system can carry out single-point suspension control experiments and also can carry out multi-point simultaneous experiments; the feedback signal provides original data, an algorithm interface is opened, and secondary programming development is supported; functional modules such as PID, data calibration and the like are built in and can be directly configured for use; the upper computer debugging software is provided, a debugging data line and a WIFI interface are arranged, a functional module and a downloading functional algorithm can be configured wirelessly, and the use is safer and more reliable; the upper computer system can display data such as suspension sensors, acceleration, output current and the like; the built-in memory stores system operation data in real time, can survive a data chart and is convenient for data analysis in the control process.
Description
Technical Field
The invention relates to the technical field of magnetic levitation, in particular to a magnetic levitation trolley experiment system.
Background
At present, experimental teaching aids of control disciplines of domestic colleges and universities mostly adopt experimental platforms such as inverted pendulums, rolling balls and motors, the functions are relatively single, the difference between the functions and an actual complex electromechanical system is large, and the requirement for high-speed development of the control disciplines cannot be effectively supported. The magnetic levitation technology is developed and widely applied in China in recent years, and a magnetic levitation trolley is attached to the application background of the most advanced control system at present, wherein a levitation system is a typical complex electromechanical unstable system, a controller needs to be designed to achieve the purpose of stable levitation, and advanced experiment teaching of control disciplines can be developed. The system can vividly and intuitively display the effect of the designed control strategy, deepen the cognition of students on the control theory, and has great practical significance for developing subject construction, subject evaluation, course practice and the like. Has positive effects of promoting the improvement of talent culture quality, improving the level of scientific research and promoting the content development of colleges and universities.
The magnetic levitation trolley is an experimental system formed based on a magnetic levitation technology and is an experimental platform for learning, researching and controlling technologies. The magnetic suspension trolley adopts a domestic medium-low speed magnetic suspension train single frame 4-point suspension structure and adopts a linear motor for traction to carry out reciprocating motion. The structure of the product is mainly divided into a base, a track and a vehicle. The track is installed on the base, and the vehicle during operation suspends on the track, and it falls on the track when shutting down. The existing magnetic levitation type trolley is generally designed to be a display propaganda type product, does not have an experiment teaching function, and cannot meet the experiment teaching requirement.
Disclosure of Invention
The invention provides a magnetic levitation trolley experiment system, which aims to solve the problems that the existing magnetic levitation trolley has a single design function, can be used for displaying propaganda only and cannot meet the requirement of control subject frontier experiment teaching.
The invention provides a magnetic levitation trolley experiment system, which comprises: the track system comprises a power supply connector, a control switch and a current receiving rail, wherein the power supply connector is connected with the control switch, and the control switch is connected with the current receiving rail; the vehicle system comprises a current receiving boot, a terminal strip, a direct-current power supply, a traction system, a central control system, a suspension system and a connector; the traction system comprises a traction converter and a linear motor, the central control system comprises a central control board, and a speed measuring and positioning system, a remote controller and a WiFi module which are respectively connected with the central control board, the number of the suspension systems is two, and the suspension system comprises two-in-one suspension control boards, a suspension electromagnet, a four-way gap sensor and two-way acceleration sensors which are respectively connected with the two-in-one suspension control boards; the terminal row is respectively connected with the traction converter and the direct current power supply, and the direct current power supply is respectively connected with the central control board and the two-in-one suspension control board; the traction converter, the central control board and the two-in-one suspension control board are in communication connection; the central control board and the two-in-one suspension control board are respectively connected with the connector.
Further, an upper computer system of the magnetic levitation trolley experiment system provides two user types to control the authority: the teacher account has all system permissions; the student account number, the control panel program without downloading and updating and the controller parameter writing function.
Further, the control mode of the magnetic suspension trolley experiment system comprises a serial communication mode, and the serial communication mode is realized by adopting the following modes: inserting the debugging line into a reserved debugging port on the side surface of the vehicle body, and connecting the other end of the debugging line to a USB port of a computer; opening a main interface of the upper computer system, clicking a connection button of the main interface, selecting serial port connection, setting the baud rate to be 115200, selecting a corresponding port, clicking to open the serial port, and successfully connecting when an upper indicator lamp is green; after the serial port connection is finished, observing whether the received sensor data is normal or not through a monitoring interface in a conventional mode, wherein before floating, the whole vehicle has no fault and has no red or yellow phenomena; checking whether the gap value of the suspension sensor is normal or not, wherein the normal values of the gap 1 and the gap 2 are between 6 and 9 mm; after confirming that all the states are normal, sequentially clicking the floating button or one-key floating button of each suspension point to carry out whole-vehicle floating, and observing the change of the gap value and the suspension state of the trolley until the trolley is stably suspended; after the trolley is stably suspended, a traction button can be clicked to carry out traction, and the data change and the trolley running state in the running process are observed in real time; before the trolley is stopped, the brake button is clicked to stop the trolley, then the landing buttons of the suspension points or the one-key landing button is clicked in sequence to drop the trolley, finally the connection is disconnected, the debugging line is taken down, the idle switch is disconnected, and the power plug is pulled down.
Further, the control mode of the magnetic levitation trolley experiment system comprises a wireless communication mode, and the wireless communication mode is realized by adopting the following modes: the WIFI of the computer is turned on and the WiFi module is connected; clicking a connection button of a main interface of the upper computer system, selecting WIFI, clicking connection, establishing TCP connection, and successfully connecting when an upper indicator light is green; after the TCP connection is completed, whether the received sensor is normal or not is observed through a monitoring interface in a conventional mode: before floating, the whole vehicle has no fault, namely, no red or yellow phenomenon appears; checking whether the clearance value of each suspension sensor is normal or not, wherein the normal value of the clearance 1 and the clearance 2 is between 6 and 9 mm; after confirming that all the states are normal, sequentially clicking the floating buttons or one-key floating buttons of all the floating points to float the whole trolley, and observing the change of the gap values and the suspension state of the trolley until the trolley stably floats; after the trolley is stably suspended, a traction button can be clicked to carry out traction, and data change and the running state of the trolley in the running process are observed in real time; before the trolley is stopped, the braking button is clicked to stop the trolley, then the landing buttons of the suspension points or the one-key landing button are clicked in sequence to drop the trolley, finally the connection is disconnected, the air switch is disconnected, and the power plug is pulled down.
Further, the debugging method of the magnetic levitation trolley experiment system comprises the following steps: inserting the debugging line into a reserved debugging port on the side surface of the vehicle body, and connecting the other end of the debugging line to a USB port of a computer; opening a connection button of a main interface of the upper computer system, selecting CAN connection, setting the baud rate to be 500, clicking connection and initializing, and successfully connecting when an upper indicator lamp is green; and then switching to a debugging mode interface, checking data through a data curve interface, performing current loop parameter verification through a current loop parameter adjusting interface, and performing PID parameter verification through a PID parameter adjusting interface, wherein the acquisition frequency under a debugging model can reach 5 kHz.
Further, the upper computer system includes: the data curve interface is used for checking a current data curve, different suspension points can be selected for checking, the data types are divided into analog quantity and digital quantity, the selection can be carried out according to the current requirement, and a storage button can be clicked to keep the currently acquired data; a current loop parameter adjusting interface, wherein a set value is used for adjusting the duty ratio and ranges from 0 to 1400; the parameter KC is used for adjusting the current loop parameter, and the range is 0-65535; the time is used for setting sampling time; PID tuning interface: the parameter KP controls the proportion, the parameter KD controls the gap differentiation, the parameter KBI controls the acceleration integral, the parameter KI controls the gap integral, and the parameter KC controls the current loop parameter.
Further, the debugging method of the magnetic levitation trolley experimental system further comprises the following steps: after an upper computer system is connected, TCP or serial port connection is established, a system main interface is accessed, a suspension point needing to modify control parameters is switched to, the required parameters are filled in corresponding positions, new parameters can be used for operation after clicking sending, the parameters are recovered after power failure, the parameters can be solidified to a control panel by clicking a write-in button, and the parameters are not original after power failure and restart.
Further, the mathematical model establishing process of the magnetic suspension trolley experimental system is as follows:
the dynamics of the single-point magnetic suspension system is shown in formula 1:
the electromagnetic attraction force at any instant F is formula 2:
for ease of expression, let equation 3:
the kinetic equation 4 of the single-point magnetic suspension system can be obtained by substituting formula 2 and formula 3 into formula 1:
in addition, the voltage equation of the electromagnet winding loop is as follows:
the equivalent expression of the inductance is as follows:
equation 6 of the inductance is substituted for equation 5 and equation 7 is obtained through calculation:
equations 4 and 7 are the basic models of the single-point magnetic suspension system;
in the above formulas, F is the acting force between the electromagnet and the track, m is the mass of the electromagnet, N represents the number of turns of the coil, A m Represents the effective pole area, μ, of the electromagnetic coil 0 And representing the vacuum permeability, s is the gap between the electromagnet and the track surface, i is the current in the electromagnet coil, L is the equivalent inductance of the coil, and R is the equivalent resistance of the electromagnet coil.
Further, the magnetic levitation trolley experiment system comprises an MATLAB simulation program for single-point levitation control, and the design method of the MATLAB simulation program is as follows:
the MATLAB simulation program comprises a main program part, an electromagnetic force calculation function, a dynamic acceleration calculation function, a real-time gap calculation function, a control voltage calculation function and a simulation curve drawing program segment; after the simulation program enters a main program, firstly, real-time gap calculation is carried out, then control voltage, control current, electromagnetic force and acceleration are sequentially subjected to iterative operation, and the simulation step length is designed according to 1 ms.
Further, the magnetic levitation trolley experiment system comprises a Simulink simulation program for single-point levitation control, and the design method of the Simulink simulation program is as follows:
the Simulink simulation module is divided into two parts: the device comprises a suspension system simulation module and an inductance effect simulation module; in order to simulate the inductive effect in the actual scene of the suspended trolley, the suspension system simulation module comprises an inductive effect simulation module, and the simulation step length is designed according to 0.1 ms.
The invention has the following beneficial effects: the invention provides a magnetic levitation trolley experiment system, which comprises: the system comprises a track system and a vehicle system, wherein four-point suspension is configured, the suspension stable gap is 4mm, and two paths of gap sensors and one path of acceleration sensor are configured at a single point; the single-point suspension control experiment can be carried out, and the multi-point simultaneous experiment can also be carried out; the feedback signal provides original data, an algorithm interface is opened, and secondary programming development is supported; functional modules such as PID, data calibration and the like are built in and can be directly configured for use; the upper computer debugging software is provided, a debugging data line and a WIFI interface are arranged, a functional module and a downloading functional algorithm can be configured wirelessly, and the use is safer and more reliable; the upper computer system can display data such as suspension sensors, acceleration, output current and the like; the built-in memory stores system operation data in real time, can survive a data chart and is convenient for controlling process data.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
FIG. 1 is a block diagram of a magnetic levitation trolley experimental system;
FIG. 2 is a diagram of a suspension system simulation module;
fig. 3 is a block diagram of an inductance effect simulation.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention. The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 3, an embodiment of the invention provides a magnetic levitation train experiment system, including: the track system comprises a power supply connector, a control switch and a current receiving rail, wherein the power supply connector is connected with the control switch, and the control switch is connected with the current receiving rail.
The vehicle system comprises a current receiving boot, a terminal strip, a direct-current power supply, a traction system, a central control system, a suspension system and a connector; the traction system comprises a traction converter and a linear motor, the central control system comprises a central control board, and a speed measuring and positioning system, a remote controller and a WiFi module which are respectively connected with the central control board, the number of the suspension systems is two, and the suspension system comprises two-in-one suspension control boards, a suspension electromagnet, a four-way gap sensor and two-way acceleration sensors which are respectively connected with the two-in-one suspension control boards; the terminal row is respectively connected with the traction converter and the direct current power supply, and the direct current power supply is respectively connected with the central control board and the two-in-one suspension control board; the traction converter, the central control board and the two-in-one suspension control board are in communication connection; the central control board and the two-in-one suspension control board are respectively connected with the connector.
The vehicle part structure mainly comprises main parts such as a vehicle shell assembly, a vehicle body assembly and the like, wherein the vehicle body assembly comprises a traction device, a bogie and a suspension device, and the main parts of the suspension device comprise an electromagnet, a gap sensor, an acceleration sensor and a suspension controller. The suspension of the vehicle is realized by electromagnets below the F rails on the two sides of the rail, and after the suspension controller receives suspension gap parameters acquired by the gap sensor, the suspension controller controls the suspension gap between the electromagnets and the F rails by adjusting the working parameters of the electromagnets, so that the vehicle can stably suspend.
The main components of the bogie assembly are a vehicle decoupling structure, a damping device, a proximity switch, a bearing wheel and a buffer device, the bogie assembly is a main supporting structural member of the whole vehicle, and the main components of the traction device, the suspension device and the like are all arranged on the vehicle through the bogie assembly, and the bogie assembly transmits vertical suspension force and longitudinal motor thrust to provide motion decoupling of the vehicle. The damping device is positioned at the interface of the underframe and the bogie, which is not only beneficial to isolating the vibration between the bogie and the vehicle body, but also beneficial to decoupling of the vehicle; the proximity switch is mainly used for reversing the vehicle, when the proximity switch induces a reversing induction block on a track, information is sent to the control unit, the control unit sends a reversing instruction to the traction controller, and the controller controls the motor to apply reverse traction force; the supporting wheels are mainly used for supporting the vehicle after the vehicle falls off and are convenient to move; the buffer device is mainly used for slowing down the impact between the vehicle and the vehicle bumper when the reversing is out of control or the braking is failed. The main components of the traction device are a traction controller and a linear induction motor. After receiving traction, braking and reversing signals sent by a control system, the traction controller adjusts and controls the linear induction motors above the induction plates on the two sides of the track to realize the functions. Meanwhile, the motor is provided with a temperature detection sensor, and the controller can feed back data through the sensor to perform over-temperature protection on the motor.
The magnetic suspension trolley experiment system is a compact and modularized power electronic system integrating traction inversion, suspension chopping, auxiliary power supply and integrated control. An external alternating current power supply is connected from the lower part of the base, passes through the circuit breaker on the base, and is connected into the vehicle from a current receiving rail arranged at a pier through a current collector to supply power for the vehicle.
The device is mainly composed of an incoming line power supply connector, a control switch and a current receiving rail on a rail part. The vehicle system mainly comprises a current receiving boot, an AC/DC power supply, two sets of two-in-one suspension systems, a set of central control system and a set of traction system. The traction system consists of a traction converter and 2 linear motors, and the traction converter outputs one path of output to drive the left linear motor and the right linear motor of the suspension frame, so that the traction function is realized. The suspension system consists of two sets of two-in-one suspension control panels and two electromagnets, wherein the electromagnets are respectively arranged on two sides of the vehicle body, and each control panel controls two points corresponding to the unilateral electromagnet. The central control system mainly comprises a central control board, a speed measuring and positioning device, a remote controller, a wireless module and the like. Therefore, a set of minimum unit controllable dynamic suspension system is formed. The vehicle is provided with three-level anti-collision, wherein the first-level anti-collision is to induce a metal reversing induction block on a sleeper through proximity switches at two ends of the vehicle and feed the block back to a vehicle central control system to start reverse braking; the secondary collision avoidance is that the distance between the secondary collision avoidance and the distance measurement stop block is fed back through an infrared distance measurement sensor, and the control system can implement reverse braking when the distance is larger than a set maximum distance or smaller than a set minimum distance; when the first-level collision avoidance and the second-level collision avoidance fail, the buffer cushion of the vehicle is in contact with the bumper on the track, so that the vehicle is forced to stop under the working condition with the buffer.
In this embodiment, the upper computer system of the magnetic levitation trolley experimental system provides two user types to control the authority: the teacher account has all system permissions; the student account number has no functions of downloading and updating the control panel program and writing the controller parameters.
In this embodiment, the control mode of the magnetic levitation trolley experimental system includes a serial communication mode, and the serial communication mode is implemented by adopting the following modes: inserting the debugging line into a reserved debugging port on the side surface of the vehicle body, and connecting the other end of the debugging line to a USB port of a computer; opening a main interface of the upper computer system, clicking a connection button of the main interface, selecting serial port connection, setting the baud rate to be 115200, selecting a corresponding port, clicking to open the serial port, and successfully connecting when an upper indicator lamp is green; after the serial port connection is finished, observing whether the received sensor data is normal or not through a monitoring interface in a conventional mode, wherein before floating, the whole vehicle has no fault and has no red or yellow phenomena; checking whether the gap value of the suspension sensor is normal or not, wherein the normal values of the gap 1 and the gap 2 are between 6 and 9 mm; after confirming that all the states are normal, sequentially clicking the floating button or one-key floating button of each suspension point to carry out whole-vehicle floating, and observing the change of the gap value and the suspension state of the trolley until the trolley is stably suspended; after the trolley is stably suspended, a traction button can be clicked to carry out traction, and data change and the running state of the trolley in the running process are observed in real time; before the trolley is stopped, the brake button is clicked to stop the trolley, then the landing buttons of the suspension points or the one-key landing button are clicked in sequence to drop the trolley, finally the connection is disconnected, the debugging line is taken down, the idle switch is disconnected, and the power plug is pulled down.
In this embodiment, the control mode of the magnetic levitation trolley experiment system includes a wireless communication mode, and the wireless communication mode is implemented by the following modes: the WIFI of the computer is turned on and the WiFi module is connected; clicking a connection button of a main interface of the upper computer system, selecting WIFI, clicking connection, establishing TCP connection, and successfully connecting when an upper indicator light is green; after the TCP connection is completed, whether the received sensor is normal or not is observed through a monitoring interface in a conventional mode: before floating, the whole vehicle has no fault, namely, no red or yellow phenomenon appears; checking whether the clearance value of each suspension sensor is normal or not, wherein the normal value of the clearance 1 and the clearance 2 is between 6 and 9 mm; after confirming that all the states are normal, sequentially clicking the floating button or one-key floating button of each suspension point to float the whole trolley, and observing the change of the gap value and the suspension state of the trolley until the trolley stably floats; after the trolley is stably suspended, a traction button can be clicked to carry out traction, and data change and the running state of the trolley in the running process are observed in real time; before the trolley is stopped, the braking button is clicked to stop the trolley, then the landing buttons of the suspension points or the one-key landing button are clicked in sequence to drop the trolley, finally the connection is disconnected, the air switch is disconnected, and the power plug is pulled down.
In this embodiment, the debugging method of the magnetic levitation trolley experiment system includes: inserting the debugging line into a reserved debugging port on the side surface of the vehicle body, and connecting the other end of the debugging line to a USB port of a computer; opening a connection button of a main interface of the upper computer system, selecting CAN connection, setting the baud rate to be 500, clicking connection and initializing, and successfully connecting when an upper indicator lamp is green; and then switching to a debugging mode interface, checking data through a data curve interface, performing current loop parameter verification through a current loop parameter adjusting interface, performing PID parameter verification through a PID parameter adjusting interface, wherein the acquisition frequency under a debugging model can reach 5 kHz.
In this embodiment, the upper computer system includes: the data curve interface is used for checking a current data curve, different suspension points can be selected for checking, the data types are divided into analog quantity and digital quantity, the selection can be carried out according to the current requirement, and a storage button can be clicked to keep the currently acquired data; a current loop parameter adjusting interface, wherein a set value is used for adjusting the duty ratio and ranges from 0 to 1400; the parameter KC is used for adjusting the current loop parameter, and the range is 0-65535; the time is used for setting sampling time; PID tuning interface: the parameter KP controls the proportion, the parameter KD controls the gap differentiation, the parameter KBI controls the acceleration integral, the parameter KI controls the gap integral, and the parameter KC controls the current loop parameter.
In this embodiment, the debugging method of the magnetic levitation vehicle experiment system further includes: after an upper computer system is connected, TCP or serial connection is established, a system main interface is accessed, the suspension point needing to modify control parameters is switched to fill the required parameters into the corresponding position, the new parameters can be used for operation after clicking sending, the parameters are restored after power failure, the parameters can be solidified to the control panel by clicking a write-in button, and the parameters are not original after power failure and restart.
Further, the mathematical model establishing process of the magnetic suspension trolley experimental system is as follows:
the dynamic method of the single-point magnetic suspension system is shown in formula 1:
the electromagnetic attraction force at any instant F is formula 2:
for ease of expression, let equation 3:
the kinetic equation 4 of the single-point magnetic suspension system can be obtained by substituting formula 2 and formula 3 into formula 1:
in addition, the voltage equation of the electromagnet winding loop is as follows:
the equivalent expression of the inductance is as follows:
equation 7 can be obtained by substituting equation 6 of the inductance for equation 5 and calculating:
equations 4 and 7 are the basic models of the single-point magnetic suspension system;
in the above formulas, F is the acting force between the electromagnet and the track, m is the mass of the electromagnet, N represents the number of turns of the coil, A m Represents the effective pole area, μ, of the electromagnetic coil 0 And the magnetic permeability represents the vacuum magnetic permeability, s is a gap between the electromagnet and the track surface, i is the current in the electromagnet coil, L is the equivalent inductance of the coil, and R is the equivalent resistance of the electromagnet coil.
In this embodiment, the magnetic levitation trolley experimental system includes an MATLAB simulation program for single-point levitation control, and the design method of the MATLAB simulation program is as follows:
the MATLAB simulation program comprises a main program part, an electromagnetic force calculation function, a dynamic acceleration calculation function, a real-time gap calculation function, a control voltage calculation function and a simulation curve drawing program segment; after the simulation program enters a main program, firstly, real-time gap calculation is carried out, then control voltage, control current, electromagnetic force and acceleration are sequentially subjected to iterative operation, and the simulation step length is designed according to 1 ms.
In this embodiment, the magnetic levitation vehicle experiment system includes a Simulink simulation program for single-point levitation control, and the design method of the Simulink simulation program is as follows:
the Simulink simulation module is divided into two parts: the device comprises a suspension system simulation module and an inductance effect simulation module; in order to simulate the inductive effect in the actual scene of the suspended trolley, the suspension system simulation module comprises an inductive effect simulation module, and the simulation step length is designed according to 0.1 ms.
The testing steps are as follows:
the MATLAB program simulation test steps are as follows:
1) opening a Susp _ m _ code.m file by using MATLAB software;
2) the confirmed simulation configuration parameters mainly comprise the following parameters (which can be adjusted according to actual requirements):
mass 13.5; % of the mass of the trolley;
init _ Gap is 0.008; % initial gap;
s0 ═ 0.004; % nominal levitation clearance;
kp is 3000; % gap error control coefficient;
ki _ acc ═ 40; % acceleration integral control coefficient;
after changing the configuration parameters, please click "save";
3) selecting an editor tab, clicking a running button, starting the program to execute, and waiting for a simulation curve window to pop up;
4) the simulation program automatically ends.
Simulation test steps of the Simulink model:
the Simulink simulation model is developed based on an MATLAB2018a environment, and 2018a and an updated version are required to be selected during running. The specific simulation steps are as follows:
1) opening a Susp _ sim _ V2018a file using Simulink;
2) confirming simulation configuration parameters (which can be automatically adjusted according to actual requirements), starting program execution, and waiting for a simulation curve window to pop up;
4) the simulation program is automatically ended.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention.
Claims (10)
1. The utility model provides a magnetism floats dolly experimental system which characterized in that includes: the track system comprises a power supply connector, a control switch and a current receiving rail, wherein the power supply connector is connected with the control switch, and the control switch is connected with the current receiving rail; the vehicle system comprises a current receiving boot, a terminal strip, a direct-current power supply, a traction system, a central control system, a suspension system and a connector;
the traction system comprises a traction converter and a linear motor, the central control system comprises a central control board, and a speed measuring and positioning system, a remote controller and a WiFi module which are respectively connected with the central control board, the number of the suspension systems is two, and the suspension system comprises a two-in-one suspension control board, a suspension electromagnet, a four-way gap sensor and two-way acceleration sensors which are respectively connected with the two-in-one suspension control board;
the terminal row is respectively connected with the traction converter and the direct current power supply, and the direct current power supply is respectively connected with the central control board and the two-in-one suspension control board; the traction converter, the central control board and the two-in-one suspension control board are in communication connection; the central control board and the two-in-one suspension control board are respectively connected with the connector.
2. The magnetic levitation trolley experimental system as claimed in claim 1, wherein the host computer system of the magnetic levitation trolley experimental system provides two user types for controlling authority: the teacher account has all system permissions; the student account number has no functions of downloading and updating the control panel program and writing the controller parameters.
3. The magnetic levitation trolley experimental system as claimed in claim 2, wherein the control mode of the magnetic levitation trolley experimental system comprises a serial communication mode, and the serial communication mode is realized by adopting the following modes: inserting a debugging line into a reserved debugging port on the side surface of the vehicle body, and connecting the other end of the debugging line to a USB port of a computer; opening a main interface of the upper computer system, clicking a connection button of the main interface, selecting serial port connection, setting the baud rate to be 115200, selecting a corresponding port, clicking to open the serial port, and successfully connecting when an upper indicator lamp is green; after the serial port connection is finished, observing whether the received sensor data is normal or not through a monitoring interface in a conventional mode, wherein before floating, the whole vehicle has no fault and has no red or yellow phenomena; checking whether the gap value of the suspension sensor is normal or not, wherein the normal values of the gap 1 and the gap 2 are between 6 and 9 mm; after confirming that all the states are normal, sequentially clicking the floating button or one-key floating button of each suspension point to carry out whole-vehicle floating, and observing the change of the gap value and the suspension state of the trolley until the trolley is stably suspended; after the trolley is stably suspended, a traction button can be clicked to carry out traction, and the data change and the trolley running state in the running process are observed in real time; before the trolley is stopped, the brake button is clicked to stop the trolley, then the landing buttons of the suspension points or the one-key landing button are clicked in sequence to drop the trolley, finally the connection is disconnected, the debugging line is taken down, the idle switch is disconnected, and the power plug is pulled down.
4. The magnetic levitation trolley experiment system as recited in claim 3, wherein the control mode of the magnetic levitation trolley experiment system comprises a wireless communication mode, and the wireless communication mode is realized by adopting the following modes: a computer WIFI is turned on and a WiFi module is connected; clicking a connection button of a main interface of the upper computer system, selecting WIFI, clicking connection, establishing TCP connection, and successfully connecting when an upper indicator lamp is green; after the TCP connection is completed, observing whether the received sensor data is normal through a monitoring interface in a conventional mode: before floating, the whole vehicle has no fault, namely, no red or yellow phenomenon appears; checking whether the clearance value of each suspension sensor is normal or not, wherein the normal value of the clearance 1 and the clearance 2 is between 6 and 9 mm; after confirming that all the states are normal, sequentially clicking the floating buttons or one-key floating buttons of all the floating points to float the whole trolley, and observing the change of the gap values and the suspension state of the trolley until the trolley stably floats; after the trolley is stably suspended, a traction button can be clicked to carry out traction, and data change and the running state of the trolley in the running process are observed in real time; before the trolley stops being used, the braking button is clicked to stop the trolley, then the landing buttons of the suspension points or the one-key landing button are clicked in sequence to drop the trolley, finally the connection is disconnected, the air switch is disconnected, and the power plug is pulled down.
5. The magnetic levitation trolley experimental system as recited in claim 4, wherein the debugging method of the magnetic levitation trolley experimental system comprises: inserting a debugging line into a reserved debugging port on the side surface of the vehicle body, and connecting the other end of the debugging line to a USB port of a computer; opening a connection button of a main interface of the upper computer system, selecting CAN connection, setting the baud rate to be 500, clicking connection and initializing, and successfully connecting when an upper indicator lamp is green; and then switching to a debugging mode interface, checking data through a data curve interface, performing current loop parameter verification through a current loop parameter adjusting interface, and performing PID parameter verification through a PID parameter adjusting interface, wherein the acquisition frequency under a debugging model can reach 5 kHz.
6. A magnetic levitation trolley experimental system as recited in claim 5, wherein the upper computer system comprises: the data curve interface is used for checking a current data curve, different floating points can be selected for checking, the data types are divided into analog quantity and digital quantity, the data types can be selected according to current requirements, and a storage button can be clicked to keep currently acquired data; a current loop parameter adjusting interface, wherein a set value is used for adjusting the duty ratio and ranges from 0 to 1400; the parameter KC is used for adjusting the current loop parameter, and the range is 0-65535; the time is used for setting sampling time; PID tuning interface: the parameter KP controls the proportion, the parameter KD controls the gap differentiation, the parameter KBI controls the acceleration integral, the parameter KI controls the gap integral, and the parameter KC controls the current loop parameter.
7. The magnetic levitation train experiment system as recited in claim 6, wherein the debugging method of the magnetic levitation train experiment system further comprises: after an upper computer system is connected, TCP or serial port connection is established, a system main interface is accessed, a suspension point needing to modify control parameters is switched to, the required parameters are filled in corresponding positions, new parameters can be used for operation after clicking sending, the parameters are recovered after power failure, the parameters can be solidified to a control panel by clicking a write-in button, and the parameters are not original after power failure and restart.
8. The magnetic levitation vehicle experimental system as recited in claim 7, wherein the mathematical model of the magnetic levitation vehicle experimental system is established as follows:
the dynamics of the single-point magnetic suspension system is shown in formula 1:
the electromagnetic attraction force at any instant F is formula 2:
for ease of expression, let equation 3:
the kinetic equation 4 of the single-point magnetic suspension system can be obtained by substituting formula 2 and formula 3 into formula 1:
in addition, the voltage equation of the electromagnet winding loop is as follows:
the equivalent expression of the inductance is as follows:
equation 6 of the inductance is substituted for equation 5 and equation 7 is obtained through calculation:
equations 4 and 7 are the basic model of the single-point magnetic suspension system;
in the above formulas, F is the acting force between the electromagnet and the track, m is the mass of the electromagnet, N represents the number of turns of the coil, A m Represents the effective pole area, μ, of the electromagnetic coil 0 And representing the vacuum permeability, s is the gap between the electromagnet and the track surface, i is the current in the electromagnet coil, L is the equivalent inductance of the coil, and R is the equivalent resistance of the electromagnet coil.
9. The magnetic levitation trolley experimental system as claimed in claim 8, wherein the magnetic levitation trolley experimental system comprises an MATLAB simulation program for single-point levitation control, and the design method of the MATLAB simulation program is as follows:
the MATLAB simulation program comprises a main program part, an electromagnetic force calculation function, a dynamic acceleration calculation function, a real-time gap calculation function, a control voltage calculation function and a simulation curve drawing program segment; after the simulation program enters a main program, firstly, real-time gap calculation is carried out, then control voltage, control current, electromagnetic force and acceleration are sequentially subjected to iterative operation, and the simulation step length is designed according to 1 ms.
10. The magnetic levitation vehicle experimental system of claim 9, comprising a Simulink simulation program for single-point levitation control, the Simulink simulation program being designed as follows:
the Simulink simulation module is divided into two parts: the device comprises a suspension system simulation module and an inductance effect simulation module; in order to simulate the inductive effect in the actual scene of the suspension trolley, the suspension system simulation module comprises an inductive effect simulation module, and the simulation step length is designed according to 0.1 ms.
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