CN115447396A - Suspension control method based on voltage control - Google Patents
Suspension control method based on voltage control Download PDFInfo
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- CN115447396A CN115447396A CN202211417500.6A CN202211417500A CN115447396A CN 115447396 A CN115447396 A CN 115447396A CN 202211417500 A CN202211417500 A CN 202211417500A CN 115447396 A CN115447396 A CN 115447396A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/04—Magnetic suspension or levitation for vehicles
- B60L13/06—Means to sense or control vehicle position or attitude with respect to railway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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Abstract
The invention discloses a suspension control method based on voltage control, relates to the field of control systems of maglev trains, and solves the problems of overlarge rigidity, obvious system vibration and poor energy regulation capability of the conventional suspension system. The expected voltage value u is calculated by the controller exp (ii) a Inputting a desired voltage value u by using a voltage controller exp And the voltage value u at the end of the electromagnet i Calculating to obtain signals u1 and u2 for driving the power switches Q1 and Q2; u1 and u2 are input into a square wave voltage generator to respectively drive the Q1 and the Q2, and voltages with the average values of positive, negative and zero are respectively generated at two ends of the electromagnet according to the difference of the u1 and the u2; wherein the low-pass filtering converts the square-wave form of the electromagnet end voltage u into a continuous signal state u i (ii) a The suspension force between the electromagnet and the rail is correspondingly changed by adjusting the voltage control quantity at the two ends of the electromagnet in the suspension process, so that the gap between the electromagnet and the rail is kept stable.
Description
Technical Field
The invention relates to the technical field of a magnetic suspension train control system, in particular to a suspension control method based on voltage control.
Background
The electromagnetic maglev train attracts the track by using a levitation magnet positioned below the track to provide magnetic force required by levitation; the stable suspension of train is realized through the suspension control unit, and the suspension control unit provides certain electric current for the suspension electro-magnet for under rated suspension clearance, the levitation force equals the gravity of train, thereby realizes the stable suspension of train.
The magnetic suspension system is unstable in the suspension direction, the suspension control method is required to be adopted to stabilize the system, a common suspension control method which is easy to realize is a current control method, the method introduces the concept of a current loop, and when a controller is designed, the actual current i of an electromagnet can be considered to be capable of following the output control value i of the controller in real time exp No adjustment time is required. The time t is adjusted in practice because the inductance of the electromagnet prevents sudden changes in the current j Is unavoidable. To reduce t j To realize fast tracking of current, the current control method needs to increase the output voltage, which brings the following disadvantages: (1) The suspension system has high rigidity, and the system vibrates obviously when being interfered; (2) The output of the levitation control system is easily saturated and the regulation capability is reduced.
Disclosure of Invention
The invention aims to: in order to solve the technical problems that the existing suspension system is high in rigidity and obvious in system vibration and the adjusting capacity is reduced when the existing suspension system is interfered, the invention provides a suspension control method based on voltage control, and the performance of the suspension control system is improved.
The technical scheme adopted by the invention is as follows: a levitation control method based on voltage control utilizes a gap x between an electromagnet and a track, a differential value x' of the gap, and a current i flowing through the electromagnet to calculate a voltage expected value u through a controller exp (ii) a Inputting a desired voltage value u by a voltage controller exp And the voltage value u at the end of the electromagnet i Calculating to obtain signals u1 and u2 for driving the power switches Q1 and Q2; u1 and u2 are input into a square wave voltage generator to drive Q1 and Q2 respectively, and voltages with the average values of positive, negative and zero are generated at two ends of the electromagnet respectively according to the difference of u1 and u2; wherein the low-pass filtering converts the square-wave form of the electromagnet end voltage u into a continuous signal state u i (ii) a The suspension force between the electromagnet and the rail is correspondingly changed by adjusting the voltage control quantity at the two ends of the electromagnet in the suspension process, so that the gap between the electromagnet and the rail is kept stable; the voltage controllerThe control steps are as follows:
the first step is as follows: will expect voltage u exp And actual voltage u of electromagnet i Subtracting to obtain a voltage difference u e ；
The second step is that: for u is paired e Performing integration, and setting an integral value saturation limit;
the third step: superimposing the integrated value with the desired voltage u exp ；
Through the first three steps, a feedforward control quantity u with saturation integration is obtained f ；
The fourth step: will u f With the actual voltage value u of the electromagnet i Comparing;
setting a threshold u g ；
When u is f -u i ＞u g When the actual voltage value is smaller than the expected voltage value, square wave signals u1 and u2 with duty ratio exceeding 50% in T period are output, and the duty ratio can be a fixed value or a fixed value along with u f -u i The magnitude of the values varies in the same direction;
when u is f -u i ＜－u g When the actual voltage value is larger than the expected voltage value, square wave signals u1 and u2 with the duty ratio smaller than 50% in the T period are output, and the duty ratio can be a fixed value or a fixed value along with u i -u f The magnitude of the values varies in the same direction;
when | u f -u i ｜＜u g When the actual voltage is very close to the expected voltage, the regulation can be stopped, and the output square wave signals u1 and u2 are such that the average voltage of the end parts of the electromagnet is 0 in one T period.
The calculation formula of the voltage control quantity is as follows:
wherein: m is the mass of the electromagnet, x is the gap between the electromagnet and the rail, x (t)' is the differential value of the gap,
is the second derivative of the gap, i is the flowThe current of the electromagnet i (t)' is the differential value of the current, F (i, x) is the levitation force between the electromagnet and the rail, g is the gravitational acceleration, u is 0 Which is the permeability coefficient in a vacuum,
n is the number of turns of the coil of the electromagnet, A is the surface area of the electromagnet at the air gap, R is the resistance value of the electromagnet, and u (t) is the voltage value of the end part of the electromagnet.
The current control method is to neglect the formula (3), and only use the formulas (1) and (2) to design a control algorithm, and use the current i as a control quantity; the invention comprehensively adopts the formula (1), (2) and (3) to carry out algorithm design, namely a voltage control method, and uses voltage
As a control quantity.
Wherein the controller can be designed by adopting any control theory to obtain the expected voltage u exp (ii) a The invention mainly relates to 3 links of a voltage controller, a square wave voltage generator and low-pass filtering.
The voltage controller is controlled by a desired voltage u exp And actual voltage u of electromagnet i As input quantity, signals u1 and u2 for controlling the power switches Q1 and Q2 are output through calculation; the voltage controller comprises the following specific control steps:
s1, setting a desired voltage u exp And actual voltage u of electromagnet i Subtracting to obtain a voltage difference u e ；
u e =u exp -u i ；
S2, p u e Integrating and setting an integral value saturation limit;
setting an upper integration limit to U lim The lower limit of integration is-U lim The last integral value is u int0 ；
First, integral calculation u is performed int1 =u int0 +△t×u e (ii) a Wherein
Is the integration step length;
then carrying out saturation treatment:
if u is int1 ＜-U lim Then u is int0 =-U lim ；
If u is int1 ＞-U lim Then u is int0 =U lim ；
Otherwise u int0 = u int1 ；
S3, superposing the integral value on the expected voltage u exp To obtain a feedforward control quantity u with saturation integral f ；
u f =u int0 +u exp ；
S4, setting a threshold u g Will be
With the actual voltage value u of the electromagnet i Comparing;
(1) When u is f -u i ＞u g Then, outputting square wave signals u1 and u2 with the duty ratio exceeding 50% in the T period;
(2) When u is f -u i ＜－u g Outputting square wave signals u1 and u2 with the duty ratio less than 50% in the T period;
(3) When | u f -u i ｜＜u g The output square wave signals u1 and u2 are such that the average voltage at the end of the electromagnet is 0 in one T period.
The conditions for driving the power switches Q1 and Q2 by the square wave voltage generator are as follows: the power switches Q1 and Q2 are independently controlled to be opened and closed through U1 and U2, when U1 is high, Q1 is conducted, when U1 is low, Q1 is cut off, when U2 is high, Q2 is conducted, when U2 is low, Q2 is cut off, and when Q1 and Q2 are simultaneously conducted, the voltage applied to the electromagnet is U 0 (ii) a When Q1 is cut off and Q2 is switched on, the voltage applied to the electromagnet is 0; when Q1 and Q2 are simultaneously cut off, the voltage applied to the electromagnet is-U 0 。
The u1 and u2 square wave signals synchronously output by the voltage controller take T as a period, and have the following three forms:
(1) Output a positive voltage whenTime t when u1 and u2 are high 1 When the duty ratio exceeds 50%, the average voltage value of the end part of the electromagnet in one period T is
；
(2) Outputting a negative voltage, when u1, u2 are high for a time t 1 When the duty ratio is less than 50%, the average voltage value of the end part of the electromagnet in one period T is
；
(3) Outputting zero voltage, in a period T, when u1 is high
Time at which u2 is high
In this case, the average voltage value at the end of the electromagnet during one period T is 0.
The low-pass filtering adopts a second-order low-pass filter.
The second-order low-pass filter comprises an operational amplifier A, the operational amplifier A is provided with 3 pins, and a resistor R1 is connected with a resistor R2 at a point a; the resistor R2 is connected with the capacitor C2 at a point b; the other end of the capacitor C2 is grounded; point b is the non-inverting input port pin 3 of the operational amplifier A; the resistor R1 is connected with the capacitor C1 at a point a; the other end of the capacitor C1 is connected with a point d, namely an output port pin 1 of the operational amplifier A; one end of the resistor Rf is grounded, and the other end of the resistor Rf is connected with the resistor RF at a point c, namely a pin 2 at the inverting input end of the operational amplifier A; the other end of the resistor RF is connected to point d, i.e. to the output port pin 1 of the operational amplifier.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the system rigidity based on voltage control is lower than that based on current control, the adjustment is softer, and the overshoot is small; because the inductance characteristic of the electromagnet is considered, the system model is more accurate, the external disturbance resistance is strong, and the system stability is better.
The invention converts the continuously changing voltage control quantity into the square wave switching signal for driving the power tube, thereby reducing the power loss on the power tube, reducing the heat productivity and ensuring the feasibility of the engineering.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a schematic diagram of the output of a positive voltage from the voltage controller according to the present invention;
FIG. 3 is a schematic diagram of the output negative voltage of the voltage controller of the present invention;
FIG. 4 is a schematic diagram of the output zero voltage of the voltage controller of the present invention;
FIG. 5 is a schematic diagram of the main circuit topology of the square wave voltage generator of the present invention;
fig. 6 is a main circuit topology of the low pass filter of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in FIGS. 1 to 6, the present embodiment provides a levitation control method based on voltage control, which calculates a desired voltage u by a controller using a gap x between an electromagnet and a track, a differential value x' of the gap, and a current i flowing through the electromagnet exp (ii) a Inputting a desired voltage value u by a voltage controller exp And the voltage value u at the end of the electromagnet i Calculating to obtain signals u1 and u2 for driving the power switches Q1 and Q2; u1 and u2 are input into a square wave voltage generator to drive Q1 and Q2 respectively, and voltages with the average values of positive, negative and zero are generated at two ends of the electromagnet respectively according to the difference of u1 and u2; wherein the low-pass filtering converts the square-wave form of the electromagnet end voltage u into a continuous signal state u i (ii) a The suspension force between the electromagnet and the rail is correspondingly changed by adjusting the voltage control quantity at the two ends of the electromagnet in the suspension process, so that the gap between the electromagnet and the rail is kept stable; the control steps of the voltage controller are as follows:
the first step is as follows: will expect a voltage u exp And actual voltage u of electromagnet i Subtracting to obtain a voltage difference u e ；
The second step: for u is paired e Integrating and setting an integral value saturation limit;
the third step: superimposing the integrated value with the desired voltage u exp ；
Through the first three steps, a feedforward control quantity u with saturation integration is obtained f ；
The fourth step: will u f With the actual voltage value u of the electromagnet i Comparing;
setting a threshold u g ；
As shown in FIG. 2, when u f -u i ＞u g And then, the actual voltage value is smaller than the expected voltage value, square wave signals u1 and u2 with the duty ratio exceeding 50% in the T period are output, and the duty ratio can be a fixed value or a fixed value along with u f -u i The magnitude of the values varies in the same direction;
when u is shown in FIG. 3 f -u i ＜－u g When the actual voltage value is larger than the expected voltage value, square wave signals u1 and u2 with the duty ratio smaller than 50% in the T period are output, and the duty ratio can be a fixed value or a fixed value along with u i -u f The magnitude of the values varies in the same direction;
as shown in fig. 4, when | u f -u i ｜＜u g When it is, the actual voltage is very connectedWhen the voltage is expected, and the voltage can not be regulated any more, the output square wave signals u1 and u2 are required to enable the average voltage of the end parts of the electromagnets to be 0 in a T period.
Example 2
On the basis of the embodiment 1, the specific control steps of the voltage controller are as follows:
s1, setting a desired voltage u exp And actual voltage u of electromagnet i Subtracting to obtain a voltage difference u e ；
u e =u exp -u i ；
S2, p u e Performing integration, and setting an integral value saturation limit;
setting an upper integration limit to U lim The lower limit of integration is-U lim The last integral value is u int0 ；
First, integral calculation u is performed int1 =u int0 +△t×u e (ii) a Wherein
Is the integration step length;
then carrying out saturation treatment:
if u is int1 ＜-U lim Then u is int0 =-U lim ；
If u is int1 ＞-U lim Then u is int0 =U lim ；
Otherwise u int0 = u int1 ；
S3, superposing the integral value on the expected voltage u exp To obtain a feedforward control quantity u with saturation integral f ；
u f =u int0 +u exp ；
S4, setting a threshold u g Will be
With the actual voltage value u of the electromagnet i Comparing;
(1) When u is f -u i ＞u g Outputting square wave signals u1 and u2 with duty ratio exceeding 50% in T period, wherein specific waveforms are shown in figure 2;
(2) When u is f -u i ＜－u g Then, outputting square wave signals u1 and u2 with duty ratio less than 50% in the T period, wherein the specific waveform is shown in FIG. 3;
(3) When | u f -u i ｜＜u g In this case, the output square wave signals u1 and u2 should be such that the average voltage at the end of the electromagnet is 0 during a T period, and the specific waveform is shown in fig. 4.
The u1 and u2 square wave signals synchronously output by the voltage controller take T as a period, and have the following three forms:
(1) Outputting a positive voltage, as shown in FIG. 2, when u1, u2 are high for a time t 1 When the duty ratio exceeds 50%, the average voltage value of the end part of the electromagnet in one period T is
；
(2) Output negative voltage, as shown in FIG. 3, when u1, u2 are high for time t 1 When the duty ratio is less than 50%, the average voltage value of the end part of the electromagnet in one period T is
；
(3) Output zero voltage, as shown in FIG. 4, during a period T when u1 is high
Time at which u2 is high
In the meantime, the average voltage value of the end portion of the electromagnet in one period T is 0.
As shown in fig. 5, U0 is the main loop voltage, L is the equivalent inductance of the electromagnet, and the conditions for driving the power switches Q1 and Q2 by the square wave voltage generator are as follows: the opening and closing of the power switches Q1 and Q2 are independently controlled by U1 and U2, when U1 is high, Q1 is conducted, when U1 is low, Q1 is cut off, when U2 is high, Q2 is conducted, when U2 is low, Q2 is cut off, when Q1 and Q2 are conducted simultaneously, the voltage applied to the electromagnet is U 0 (ii) a When Q1 is turned off and Q2 is turned onThe voltage applied to the electromagnet is 0; when Q1 and Q2 are simultaneously cut off, the voltage applied to the electromagnet is-U 0 。
As shown in fig. 6, the low-pass filtering adopts a second-order low-pass filter, and as can be seen from the working principle of a square wave generator, the voltage u applied to the two ends of the electromagnet is a discontinuous square wave and cannot be used for feedback control, and for this reason, a low-pass filtering link is designed to convert the discontinuous voltage u into a continuous signal u i 。
The second-order low-pass filter comprises an operational amplifier A, the operational amplifier A is provided with 3 pins, and a resistor R1 is connected with a resistor R2 at a point a; the resistor R2 is connected with the capacitor C2 at a point b; the other end of the capacitor C2 is grounded; point b is the non-inverting input port pin 3 of the operational amplifier A; the resistor R1 is connected with the capacitor C1 at a point a; the other end of the capacitor C1 is connected with a point d, namely an output port pin 1 of the operational amplifier A; one end of the resistor Rf is grounded, and the other end of the resistor Rf is connected with the resistor RF at a point c, namely a pin 2 at the inverting input end of the operational amplifier A; the other end of the resistor RF is connected to point d, i.e. to the output port pin 1 of the operational amplifier.
The working principle of the second-order low-pass filter is as follows:
according to the working principle of the in-phase operational amplifier, the method can obtain
From the above equation set, the transfer function can be obtained
The amplitude-frequency characteristic of the transfer function is
The cut-off frequency can be obtained by taking the derivative of the formula to omega and making it equal to zero
In that
In between, the amplitude-frequency characteristic is approximately a horizontal straight line and
there is a small peak; when in use
The amplitude-frequency characteristic is attenuated with a slope of-40 dB/decade.
The calculation formula of the voltage control quantity is as follows:
wherein: m is the mass of the electromagnet, x is the gap between the electromagnet and the track, x (t)' is the differential value of the gap,
is the second derivative of the gap, i is the current flowing through the electromagnet, i (t)' is the differential value of the current, F (i, x) is the levitation force between the electromagnet and the rail, g is the gravitational acceleration, u is the second derivative of the gap 0 Which is the permeability coefficient in a vacuum,
n is the number of turns of the coil of the electromagnet, A is the surface area of the electromagnet at the air gap, R is the resistance value of the electromagnet, and u (t) is the voltage value of the end part of the electromagnet.
Claims (7)
1. A levitation control method based on voltage control is characterized in that a controller calculates a voltage expected value u by utilizing a gap x between an electromagnet and a track, a differential value x' of the gap and a current i flowing through the electromagnet exp (ii) a Inputting a desired voltage value u by a voltage controller exp And the voltage value u at the end of the electromagnet i Calculating to obtain signals u1 and u2 for driving the power switches Q1 and Q2; u1 and u2 are input into a square wave voltage generator to drive Q1 and Q2 respectively, and voltages with the average values of positive, negative and zero are generated at two ends of the electromagnet respectively according to the difference of u1 and u2; wherein the low-pass filtering converts the square-wave form of the electromagnet end voltage u into a continuous signal state u i (ii) a The suspension force between the electromagnet and the rail is correspondingly changed by adjusting the voltage control quantity at the two ends of the electromagnet in the suspension process, so that the gap between the electromagnet and the rail is kept stable;
the control steps of the voltage controller are as follows:
the first step is as follows: will expect voltage u exp And actual voltage u of electromagnet i Subtracting to obtain a voltage difference u e ；
The second step is that: for u is paired e Integrating and setting an integral value saturation limit;
the third step: superimposing the integrated value with the desired voltage u exp ；
Through the first three steps, a feedforward control quantity u with saturation integration is obtained f ；
The fourth step: will u f With the actual voltage value u of the electromagnet i Comparing;
setting a threshold u g ；
When u is f -u i ＞u g When the actual voltage value is smaller than the expected voltage value, square wave signals u1 and u2 with duty ratio exceeding 50% in T period are output, and the duty ratio can be a fixed value or a fixed value along with u f -u i The magnitude of the values varies in the same direction;
when u is f -u i ＜－u g And then, the actual voltage value is larger than the expected voltage value, and square wave signals u1 and u2 with the duty ratio smaller than 50% in the T period are output, wherein the duty ratio can be a fixed value or a fixed value along with u i -u f The magnitude of the values varies in the same direction;
when | u f -u i ｜＜u g When the actual voltage is very close to the expected voltage, the regulation can not be carried out, and the output square wave signals u1 and u2 are required to enable the ends of the electromagnet to be averaged in a T periodThe voltage is 0.
2. The levitation control method based on voltage control as claimed in claim 1, wherein the voltage control quantity is calculated by the formula:
wherein: m is the mass of the electromagnet, x is the gap between the electromagnet and the rail, x (t)' is the differential value of the gap,
is the second derivative of the gap, i is the current flowing through the electromagnet, i (t)' is the differential value of the current, F (i, x) is the levitation force between the electromagnet and the rail, g is the gravitational acceleration, u is the second derivative of the gap 0 Which is the permeability coefficient in a vacuum,
n is the number of turns of the coil of the electromagnet, A is the surface area of the electromagnet at the air gap, R is the resistance value of the electromagnet, and u (t) is the voltage value of the end part of the electromagnet.
3. The levitation control method based on voltage control as claimed in claim 1, wherein the voltage controller comprises the following specific control steps:
s1, setting a desired voltage u exp And actual voltage u of electromagnet i Subtracting to obtain a voltage difference u e ；
u e =u exp -u i ；
S2, p u e Integrating and setting an integral value saturation limit;
setting an upper integration limit to U lim The lower limit of integration is-U lim The last calculated integral value is u int0 ；
First, integral calculation u is performed int1 =u int0 +△t×u e (ii) a Wherein
Is the integration step length;
then carrying out saturation treatment:
if u is int1 ＜-U lim Then u is int0 =-U lim ；
If u is int1 ＞-U lim Then u is int0 =U lim ；
Otherwise u int0 = u int1 ；
S3, superposing the integral value on the expected voltage u exp To obtain a feedforward control quantity u with saturation integral f ；
u f =u int0 +u exp ；
S4, setting a threshold u g Will be
With the actual voltage value u of the electromagnet i Comparing;
(1) When u is f -u i ＞u g Outputting square wave signals u1 and u2 with duty ratio exceeding 50% in T period;
(2) When u is f -u i ＜－u g Outputting square wave signals u1 and u2 with the duty ratio less than 50% in the T period;
(3) When | u f -u i ｜＜u g The output square wave signals u1 and u2 are such that the average voltage at the end of the electromagnet is 0 in one T period.
4. The levitation control method based on voltage control as claimed in claim 1, wherein the square wave voltage generator drives the power switches Q1, Q2 under the condition that: the opening and closing of the power switches Q1 and Q2 are independently controlled by U1 and U2, when U1 is high, Q1 is conducted, when U1 is low, Q1 is cut off, when U2 is high, Q2 is conducted, when U2 is low, Q2 is cut off, when Q1 and Q2 are conducted simultaneously, the voltage applied to the electromagnet is U 0 (ii) a When Q1 is turned off and Q2 is turned on, the voltage is appliedThe voltage on the magnet is 0; when Q1 and Q2 are simultaneously cut off, the voltage applied to the electromagnet is-U 0 。
5. The levitation control method based on voltage control as claimed in claim 4, wherein the u1 and u2 square wave signals synchronously output by the voltage controller have a period T, and have the following three forms:
(1) Outputting a positive voltage, when u1, u2 are high for a time t 1 When the duty ratio exceeds 50%, the average voltage value of the end part of the electromagnet in one period T is;
(2) Outputting a negative voltage, when u1, u2 are high for a time t 1 When the duty ratio is less than 50%, the average voltage value of the end part of the electromagnet in one period T is;
(3) And outputting zero voltage, wherein in one period T, when u1 is high and u2 is high, the average voltage value of the end part of the electromagnet in one period T is 0.
6. The levitation control method based on voltage control as claimed in claim 1, wherein the low-pass filtering is a second-order low-pass filter.
7. The voltage control-based levitation control method according to claim 6, wherein the second-order low-pass filter comprises an operational amplifier A, the operational amplifier A has 3 pins, and a resistor R1 is connected with a resistor R2 at a point a; the resistor R2 is connected with the capacitor C2 at a point b; the other end of the capacitor C2 is grounded; point b is the non-inverting input port pin 3 of the operational amplifier A; the resistor R1 is connected with the capacitor C1 at a point a; the other end of the capacitor C1 is connected with a point d, namely an output port pin 1 of the operational amplifier A; one end of the resistor Rf is grounded, and the other end of the resistor Rf is connected with the resistor RF at a point c, namely a pin 2 at the inverting input end of the operational amplifier A; the other end of the resistor RF is connected to point d, i.e. to the output port pin 1 of the operational amplifier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211417500.6A CN115447396B (en) | 2022-11-14 | 2022-11-14 | Suspension control method based on voltage control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211417500.6A CN115447396B (en) | 2022-11-14 | 2022-11-14 | Suspension control method based on voltage control |
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| CN115447396A true CN115447396A (en) | 2022-12-09 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07256325A (en) * | 1994-03-23 | 1995-10-09 | Nippon Steel Corp | Device for controlling dumping of steel sheet |
| CN102910085A (en) * | 2012-10-23 | 2013-02-06 | 西南交通大学 | Double-tube independent interleaving control method for electromagnetic attraction suspension system |
| CN106740255A (en) * | 2016-11-29 | 2017-05-31 | 中车株洲电力机车有限公司 | A kind of magnetic floating train suspending control system and control method |
| CN113014095A (en) * | 2021-02-02 | 2021-06-22 | 湖南凌翔磁浮科技有限责任公司 | Intelligent chopping system for magnetic suspension train |
| CN113162406A (en) * | 2021-02-02 | 2021-07-23 | 湖南凌翔磁浮科技有限责任公司 | Intelligent chopper circuit for magnetic suspension train |
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- 2022-11-14 CN CN202211417500.6A patent/CN115447396B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07256325A (en) * | 1994-03-23 | 1995-10-09 | Nippon Steel Corp | Device for controlling dumping of steel sheet |
| CN102910085A (en) * | 2012-10-23 | 2013-02-06 | 西南交通大学 | Double-tube independent interleaving control method for electromagnetic attraction suspension system |
| CN106740255A (en) * | 2016-11-29 | 2017-05-31 | 中车株洲电力机车有限公司 | A kind of magnetic floating train suspending control system and control method |
| CN113014095A (en) * | 2021-02-02 | 2021-06-22 | 湖南凌翔磁浮科技有限责任公司 | Intelligent chopping system for magnetic suspension train |
| CN113162406A (en) * | 2021-02-02 | 2021-07-23 | 湖南凌翔磁浮科技有限责任公司 | Intelligent chopper circuit for magnetic suspension train |
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