CN117021962B - Train, system and control method based on short stator linear motor drive - Google Patents
Train, system and control method based on short stator linear motor drive Download PDFInfo
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- CN117021962B CN117021962B CN202311280127.9A CN202311280127A CN117021962B CN 117021962 B CN117021962 B CN 117021962B CN 202311280127 A CN202311280127 A CN 202311280127A CN 117021962 B CN117021962 B CN 117021962B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000006698 induction Effects 0.000 claims abstract description 37
- 230000005484 gravity Effects 0.000 claims abstract description 11
- 238000007665 sagging Methods 0.000 claims description 28
- 230000005611 electricity Effects 0.000 abstract description 2
- 230000002411 adverse Effects 0.000 description 5
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000002035 prolonged effect Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
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Classifications
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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
- B60L13/03—Electric propulsion by linear motors
Abstract
The invention provides a train, a system and a control method based on short stator linear motor driving, and relates to the field of rail transit electricity. In the train, a first primary coil is arranged on the upper surface of a first platform of a bogie, a first short-stator linear motor is formed by the first primary coil and a first induction plate arranged on a first extending table of a supporting frame, the first induction plate is positioned above the first primary coil, a second primary coil is arranged on the upper surface of a second platform of the bogie, a second short-stator linear motor is formed by the second primary coil and a second induction plate arranged on a second extending table of the supporting frame, and the second induction plate is positioned above the second primary coil. According to the invention, the short stator linear motor is arranged, so that the normal force generated by the short stator linear motor is opposite to the gravity direction of the train, the friction force between the rails during running of the train can be reduced, and the driving force output of the short stator linear motor is facilitated, so that the running speed of the train is improved.
Description
Technical Field
The invention relates to the field of rail transit electricity, in particular to a train, a system and a control method based on short stator linear motor driving.
Background
As shown in fig. 1, in the conventional medium-low speed urban rail train transportation system driven by the short stator linear motor, a primary winding, namely a stator, is installed at the bottom of a bogie, an induction plate, namely a rotor, is installed on the upper surface of a base column of a line, and the short stator linear motor and the stator form the short stator linear motor. The normal force is related to factors such as the air gap size, the material of the induction plate, the slip frequency and the like of the short stator linear motor, and in order to limit the influence of the normal force on the train operation, the currently adopted inhibition strategy is to adjust the slip frequency so that the normal force is close to zero, which is equivalent to only outputting driving force.
Disclosure of Invention
In view of the above, an aspect of the present invention is to provide a train driven by a short stator linear motor, which is configured to generate a normal force opposite to a gravity direction of the train, so as to reduce a friction force between rails during running of the train, and facilitate a driving force output of the short stator linear motor, thereby improving a running speed of the train, and the invention is realized by the following technical means:
the utility model provides a train based on short stator linear motor drive, includes the bogie, install the wheel pair on the bogie, the bogie both sides set up first sagging portion and second sagging portion respectively, first sagging portion is provided with the first platform of inwards extending, second sagging portion is provided with the second platform of inwards extending, first primary coil is installed to first platform upper surface mounting, first primary coil and install in the first induction plate of supporting rack first expansion platform constitute first short stator linear motor just first induction plate is located first primary coil top, second primary coil is installed to second platform upper surface mounting, second primary coil and install in the second induction plate of supporting rack second expansion platform constitute second short stator linear motor just the second induction plate is located second primary coil top, wherein, the supporting rack fixed mounting is in ground.
Further, a third primary coil is mounted on the lower surface of the beam of the bogie, a third short-stator linear motor is formed by the third primary coil and a third induction plate mounted on the supporting frame, and the third induction plate is located below the third primary coil.
Further, the first sagging portion is provided with n first platforms extending inwards, and the second sagging portion is provided with n second platforms extending inwards, wherein n is more than or equal to 2.
The invention also aims to provide a short stator linear motor wheel track traffic system comprising the train, which comprises the following technical means: the device comprises a bogie, a first platform, a second platform, a first induction plate, a second induction plate, a first platform and a second induction plate, and is characterized by further comprising a supporting frame and a running rail which is arranged on the supporting frame and matched with the wheel set, wherein the supporting frame is positioned below a beam of the bogie, the two sides of the supporting frame are respectively provided with the first platform and the second platform, the first platform corresponds to the first platform of the train, the first platform is positioned above the first platform, the second platform corresponds to the second platform of the train, the second platform is positioned above the second platform, the first induction plate is arranged on the lower surface of the first platform, and the second induction plate is arranged on the lower surface of the second platform.
Further, when the first sagging portion of the bogie is provided with n first platforms extending inward, and the second sagging portion of the bogie is provided with n second platforms extending inward, both sides of the supporting frame are respectively provided with n first extension tables and n second extension tables.
The invention also aims to provide a control method for controlling the short stator linear motor wheel track traffic system, which comprises the following technical means: the method for controlling the straight running of the train comprises the following steps:
s1: obtaining the traction force F required by the train T Acquiring a trainForce F in the vertical direction corresponding to the minimum required friction min ；
S2: controlling the input current of the first primary coil and the second primary coil so that F T1 + F T2 ≥F T And (G-F) N1 - F N2 ）≥F min ；
Wherein F is T1 For the driving force generated by the first short-stator linear motor, F T2 For the driving force generated by the second short stator linear motor, F N1 For the normal force generated by the first short-stator linear motor, F N2 And G is the gravity of the train, which is the normal force generated by the second short stator linear motor.
Further, the linear motor wheel track traffic system is provided with a third short stator linear motor, and the train linear running control method comprises the following steps: after the step S1 is carried out, the first short-stator linear motor and the second short-stator linear motor are controlled to output preferentially, if the step S2 is met, the third short-stator linear motor does not output, if the step S2 is still not met when the first short-stator linear motor and the second short-stator linear motor are controlled to output completely, the step S3 is carried out;
s3: judging whether F is satisfied or not when the first short-stator linear motor and the second short-stator linear motor are fully powered T1max + F T2max ≥F T If so, S4 is entered, if not, the input current to the third primary coil is controlled such that F T = F T1max + F T2max + F T3 ；
S4: controlling the input current of the third primary coil so that F N3 = F min -（G- F N1 - F N2 ) Simultaneously controlling the input currents of the first primary coil and the second primary coil such that F T = F T1 + F T2 + F T3 ；
Wherein F is T1max F is the driving force generated when the first short stator linear motor is fully exerted T2max F is the driving force generated when the second short stator linear motor is fully exerted T3 For driving force generated by the third short stator linear motor, F N3 And a normal force generated for the third short stator linear motor.
Further, the method for controlling the turning running of the inclined road surface of the train comprises the following steps:
p1: obtaining the traction force F required by the train T Acquiring a force F in the vertical direction corresponding to the minimum friction force required by the train min ；
P2: controlling the input current of the first primary coil and the second primary coil so that F T1 + F T2 ≥F T And (G) 1 - F N1 - F N2 ）≥F min ；
Wherein G is 1 Is the component of the train's gravity perpendicular to the road surface.
Further, the linear motor wheel track traffic system is provided with a third short stator linear motor, and the control method for the cornering running of the inclined road surface of the train comprises the following steps: after the step P1 is carried out, the first short-stator linear motor and the second short-stator linear motor are controlled to output preferentially, if P2 is met, the third short-stator linear motor does not output, if P2 is still not met when the first short-stator linear motor and the second short-stator linear motor are controlled to output completely, and P3 is entered;
p3: judging whether F is satisfied or not when the first short-stator linear motor and the second short-stator linear motor are fully powered T1max + F T2max ≥F T If satisfied, go to P4, if not, control the input current of the third primary coil such that F T = F T1max + F T2max + F T3 ；
P4: controlling the input current of the third primary coil so that F N3 = F min -（G 1 - F N1 - F N2 ) Simultaneously controlling the input currents of the first primary coil and the second primary coil such that F T = F T1 + F T2 + F T3 。
The working principle of the invention is as follows:
compared with the prior art scheme shown in fig. 1, in order to eliminate the adverse effect of the downward normal force generated by the short-stator linear motor, the first primary coil 31 of the first short-stator linear motor 3 is installed below the first induction plate 32, and the second primary coil 51 of the second short-stator linear motor 5 is installed below the second induction plate 52, so that the bogie structure in the prior art scheme shown in fig. 1 is improved, namely the bogie 1 in the embodiment is provided, thereby realizing the installation mode of placing the primary coil below the induction plate and achieving the technical purpose of eliminating the adverse effect of the downward normal force generated by the short-stator linear motor. The normal force generated by the first short-stator linear motor 3 and the second short-stator linear motor 5 is opposite to the gravity direction of the train, so that the friction force between wheel tracks during running of the train can be reduced, the driving force is not required to be sacrificed for considering the existence of the normal force, the efficient output of the driving force of the first short-stator linear motor 3 and the second short-stator linear motor 5 is facilitated, the energy loss caused by friction resistance during running of the train can be reduced, and the service life of the wheel set can be prolonged. It should be noted that, the first short stator linear motor 3 and the second short stator linear motor 5 are provided, so that the effective acting area of the iron core is increased, and the traction power of the train and the thrust required by the train can be improved. The magnitude of the current in the first short-stator linear motor 3 and the second short-stator linear motor 5 can be controlled to supplement centripetal force or centrifugal force when the train turns, so that the train steering is assisted. In order to better implement the invention, a third short-stator linear motor 6 can be further arranged, on one hand, the invention can operate according to the prior art scheme shown in fig. 1 when the first short-stator linear motor 3 and/or the second short-stator linear motor 5 are in fault, thereby improving the safety and reliability of train operation, and on the other hand, the invention can flexibly control the output force of the first short-stator linear motor 3 and the second short-stator linear motor 5, for example, the output force of the first short-stator linear motor 3 and the second short-stator linear motor 5 can be preferentially controlled to meet the train traction requirement, and the output force of the first short-stator linear motor 3, the output force of the second short-stator linear motor 5 and the output force of the third short-stator linear motor 6 can be simultaneously controlled to meet the train traction requirement, so as to cope with various traction requirements or sudden situations when the train is in operation.
Compared with the prior art, the invention has the beneficial effects that:
1. in order to eliminate adverse effects of downward normal force generated by the short-stator linear motor, the primary coils of the first short-stator linear motor and the second short-stator linear motor are arranged below the induction plate, so that the normal force generated by the first short-stator linear motor and the second short-stator linear motor is opposite to the gravity direction of a train, friction force between wheel tracks during running of the train can be reduced, on one hand, driving force is not required to be sacrificed for considering existence of the normal force, high-efficiency output of the driving force of the short-stator linear motor is facilitated, on the other hand, energy loss caused by friction resistance can be reduced, and the service life of the wheel set can be prolonged.
2. According to the invention, the first short stator linear motor and the second short stator linear motor are respectively arranged at two sides of the train bogie, so that the effective acting area of the iron core is increased, and the traction power and the required thrust of the train can be improved.
3. When the train runs on the inclined road surface in a turning way, centripetal force or centrifugal force can be supplemented for the train, so that the stability of the train in turning operation is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a short stator linear motor wheel track traffic system in the prior art.
Fig. 2 is a schematic diagram of a short stator linear motor wheel track traffic system according to an exemplary embodiment of the present invention.
Fig. 3 is a schematic diagram of another short stator linear motor wheel track traffic system according to an exemplary embodiment of the present invention.
Fig. 4 is a flow chart illustrating a method for controlling straight traveling in a short stator linear motor wheel track traffic system according to an exemplary embodiment of the present invention.
Fig. 5 is a flowchart illustrating a method for controlling cornering on a banked road of a short stator linear motor wheel-track traffic system according to an exemplary embodiment of the present invention.
Fig. 6 is a force exploded schematic view of a short stator linear motor wheel track traffic system according to an exemplary embodiment of the present invention during cornering on a sloped road surface.
Icon: 1-a bogie; 11-a first sagging portion; 111-a first platform; 12-a second sagging portion; 121-a second platform; 13-a cross beam; 2-wheel pairs; 3-a first short stator linear motor; 31-a first primary coil; 32-a first sensing plate; 4-supporting frames; 41-a first extension stand; 42-a second extension stand; 5-a second short stator linear motor; 51-a second primary coil; 52-a second sensing plate; 6-a third short stator linear motor; 61-a third primary coil; 62-a third sensing plate; 7-running rail.
Detailed Description
The present invention will be further described with reference to the drawings and detailed description below in order to enable those skilled in the art to better understand the technical aspects of the present invention.
Example 1
As shown in fig. 2, the present embodiment provides a train driven by a short stator linear motor, which includes a bogie 1, a wheel set 2 is mounted on the bogie 1, a first sagging portion 11 and a second sagging portion 12 are respectively disposed on two sides of the bogie 1, the first sagging portion 11 is provided with a first platform 111 extending inwards, the second sagging portion 12 is provided with a second platform 121 extending inwards, a first primary coil 31 is mounted on an upper surface of the first platform 111, the first primary coil 31 and a first induction plate 32 mounted in a first expansion table 41 in a support frame 4 form a first short stator linear motor 3, the first induction plate 32 is located above the first primary coil 31, a second primary coil 51 is mounted on an upper surface of the second platform 121, the second primary coil 51 and a second induction plate 52 mounted in a second expansion table 42 in the support frame 4 form a second short stator linear motor 5, and the second induction plate 52 is located above the second primary coil 51, wherein the support frame 4 is fixedly mounted on the ground.
In contrast to the prior art solution shown in fig. 1, in this embodiment, in order to eliminate the adverse effect of the downward normal force generated by the short-stator linear motor, the first primary coil 31 of the first short-stator linear motor 3 is installed below the first induction plate 32, and the second primary coil 51 of the second short-stator linear motor 5 is installed below the second induction plate 52, and accordingly, the bogie structure in the prior art solution shown in fig. 1 is improved, that is, the bogie 1 in this embodiment is provided, so that the installation manner of placing the primary coil below the induction plate can be realized, and the technical purpose of eliminating the adverse effect of the downward normal force generated by the short-stator linear motor is achieved. In addition, the first sagging portion 11 and the second sagging portion 12 of the bogie 1 may be symmetrically disposed at two sides of the bogie 1, and the structural parameters of the first short-stator linear motor 3 and the second short-stator linear motor 5 may be the same, so that the control algorithm is simpler and more convenient, for example, the lengths and widths of the first primary coil 31 and the second primary coil 51 are the same, the first primary coil 31 and the second primary coil 51 are disposed in parallel, and the air gaps of the first short-stator linear motor 3 and the second short-stator linear motor 5 are the same.
In this embodiment, the normal force generated by the first short stator linear motor 3 and the second short stator linear motor 5 is opposite to the gravity direction of the train, so that the friction force between the wheel tracks during the running of the train can be reduced, on one hand, the driving force does not need to be sacrificed in order to consider the existence of the normal force, the efficient output of the driving force of the first short stator linear motor 3 and the second short stator linear motor 5 is facilitated, on the other hand, the energy loss caused by the friction resistance during the running of the train can be reduced, and the service life of the wheel set can be prolonged.
It should be further noted that, in this embodiment, the first short stator linear motor 3 and the second short stator linear motor 5 are provided, so that the effective acting area of the iron core is increased, and the traction power of the train and the thrust required by the train can be improved.
Preferably, as shown in fig. 3, a third primary coil 61 is mounted on the lower surface of the cross beam 13 of the steering frame 1 in this embodiment, the third primary coil 61 and a third induction plate 62 mounted on the support frame 4 form a third short stator linear motor 6, and the third induction plate 62 is located below the third primary coil 61. The third short-stator linear motor 6 is provided in this embodiment, on one hand, the first short-stator linear motor 3 and/or the second short-stator linear motor 5 can be operated according to the prior art scheme shown in fig. 1 when the first short-stator linear motor 3 and/or the second short-stator linear motor 5 fail, so as to improve the safety and reliability of train operation, on the other hand, the output force of the first short-stator linear motor 3 and the second short-stator linear motor 5 can be flexibly controlled, for example, the output force of the first short-stator linear motor 3 and the output force of the second short-stator linear motor 5 can be preferentially controlled to meet the train traction requirement, and the output forces of the first short-stator linear motor 3, the second short-stator linear motor 5 and the third short-stator linear motor 6 can be simultaneously controlled to meet the train traction requirement, so as to cope with various traction requirements or emergency situations when the train is operated. In particular implementation, the lengths of the first primary coil 31, the second primary coil 51, and the third primary coil 61 may be set to be the same, the widths of the first primary coil 31 and the second primary coil 51 are set to be the same, the width of the third primary coil 61 is set to be k times the width of the first primary coil 31, the air gaps of the first short-stator linear motor 3, the second short-stator linear motor 5, and the third short-stator linear motor 6 are set to be the same, and the first primary coil 31, the second primary coil 51, and the third primary coil 61 are arranged in parallel.
Preferably, the first sagging portion 11 in this embodiment is provided with n inwardly extending first lands 111, and the second sagging portion 12 is provided with n inwardly extending second lands 121, n.gtoreq.2. Here, in view of technical purposes such as providing a larger driving force, or increasing the effective acting area of the iron core, or improving the reliability of train operation (providing a spare short stator linear motor), the present embodiment provides a plurality of first platforms 111 and a plurality of second platforms 121, and when implemented, the plurality of first platforms 111 may be disposed in parallel up and down, the plurality of second platforms 121 may be disposed in parallel up and down, one first platform 111 may correspond to one second platform 121, and the first primary coil 31 of the first short stator linear motor 3 may be mounted on the upper surface of each or a part of the first platforms 111, and correspondingly, the second primary coil 51 of the second short stator linear motor 5 may be mounted on the upper surface of each or a part of the second platforms 121.
Example 2
As shown in fig. 2, this embodiment provides a short stator linear motor wheel track traffic system including the train according to embodiment 1, the present embodiment further includes a supporting frame 4 and a running rail 7 disposed on the supporting frame 4 and matched with the wheel set 2, the supporting frame 4 is located below the beam 13 of the bogie 1, two sides of the supporting frame 4 are respectively provided with a first extension table 41 and a second extension table 42, the first extension table 41 corresponds to the first platform 111 of the train, the first extension table 41 is located above the first platform 111, the second extension table 42 corresponds to the second platform 121 of the train, the second extension table 42 is located above the second platform 121, the first sensing plate 32 is mounted on the lower surface of the first extension table 41, and the second sensing plate 52 is mounted on the lower surface of the second extension table 42.
In this embodiment, the supporting frame 4 and the running rail 7 belong to a track system, and together with a train and a short stator linear motor, a short stator linear motor wheel track system is formed, the supporting frame 4 is fixedly mounted on the ground, the supporting frame 4 may be of a T-shaped structure, the vertical portions may have the same width, as shown in fig. 1, the vertical portions may also be wider at the upper sides and narrower at the lower sides, the portions of the horizontal portions wider than the vertical portions may be regarded as a first extension table 41 and a second extension table 42, and of course, the supporting frame 4 may also be configured to include a vertical portion, a first extension table 41 and a second extension table 42, where the first extension table 41 and the second extension table 42 are located at the two sides of the vertical portion and lower than the upper surface of the vertical portion. Here, the support frame 4 may be located between the first and second drooping portions 11 and 12 of the bogie 1.
Preferably, when the first sagging portion 11 of the bogie 1 is provided with n first platforms 111 extending inward, and the second sagging portion 12 of the bogie 1 is provided with n second platforms 121 extending inward, the support frame 4 is provided with n first extension stands 41 and n second extension stands 42 on both sides, respectively. Here, one first extension table 41 corresponds to one first stage 111, one second extension table 42 corresponds to one second stage 121, a corresponding set of the first stage 111 and the first extension table 41 may be used to place one first short stator linear motor 3, and a corresponding set of the second stage 121 and the second extension table 42 may be used to place one second short stator linear motor 5.
Example 3
As shown in fig. 4, the present embodiment provides a control method for controlling the short stator linear motor wheel track traffic system according to embodiment 2, including a train linear running control method, where the train linear running control method includes:
s1: obtaining the traction force F required by the train T Acquiring a force F in the vertical direction corresponding to the minimum friction force required by the train min ；
S2: the input currents of the first primary coil 31 and the second primary coil 51 are controlled such that F T1 + F T2 ≥F T And (G-F) N1 - F N2 ）≥F min ；
Wherein F is T1 For the driving force generated by the first short-stator linear motor 3, F T2 For the driving force generated by the second short stator linear motor 5, F N1 For the normal force, F, generated by the first short-stator linear motor 3 N2 The normal force generated by the second short stator linear motor 5 is G, the weight of the train.
As preferable, the linear motor wheel-rail traffic system in the present embodiment is provided with a third short stator linear motor 6, and the train straight running control method includes: after the step S1 is carried out, the first short-stator linear motor 3 and the second short-stator linear motor 5 are controlled to output preferentially, if the S2 is met, the third short-stator linear motor 6 does not output, if the S2 is still not met when the first short-stator linear motor 3 and the second short-stator linear motor 5 are controlled to output completely, the S3 is entered;
s3: when the first short-stator linear motor 3 and the second short-stator linear motor 5 are fully powered, judging whether F is satisfied T1max + F T2max ≥F T If satisfied, go to S4, if not satisfied, control the input current of the third primary coil 61 so that F T = F T1max + F T2max + F T3 ；
S4: controlling the input current of the third primary coil 61 so that F N3 = F min -（G- F N1 - F N2 ) The input currents of the first primary coil 31 and the second primary coil 51 are simultaneously controlled such that F T = F T1 + F T2 + F T3 ；
Wherein F is T1max F is the driving force generated when the first short stator linear motor 3 is fully exerted T2max For the driving force generated when the second short-stator linear motor 5 is fully exerted, it is worth to be noted that the driving force generated when the first short-stator linear motor 3 is fully exerted is represented by the maximum driving force which can be generated by the first short-stator linear motor 3; similarly, the driving force of the full output of the second short-stator linear motor 5 represents the maximum driving force which can be generated by the second short-stator linear motor 5; f (F) T3 For the driving force generated by the third short stator linear motor 6, F N3 A normal force is generated for the third short stator linear motor 6.
As shown in fig. 5, the present embodiment preferably further includes a train-side road surface turning travel control method including:
p1: obtaining the traction force F required by the train T Acquiring a force F in the vertical direction corresponding to the minimum friction force required by the train min ；
P2: the input currents of the first primary coil 31 and the second primary coil 51 are controlled such that F T1 + F T2 ≥F T And (G) 1 - F N1 - F N2 ）≥F min ；
Wherein G is 1 Is the component of the train's gravity perpendicular to the road surface.
As a preferable example, the linear motor wheel-track traffic system of the present embodiment is provided with a third short stator linear motor 6, and the train inclined road surface turning travel control method includes: after the step P1 is carried out, the first short-stator linear motor 3 and the second short-stator linear motor 5 are controlled to output preferentially, if P2 is met, the third short-stator linear motor 6 does not output, if P2 is still not met when the first short-stator linear motor 3 and the second short-stator linear motor 5 are controlled to output completely, and the motor enters P3;
p3: when the first short-stator linear motor 3 and the second short-stator linear motor 5 are fully powered, judging whether F is satisfied T1max + F T2max ≥F T If satisfied, P4 is entered, and if not satisfied, the input current to the third primary coil 61 is controlled such that F T = F T1max + F T2max + F T3 ；
P4: controlling the input current of the third primary coil 61 so that F N3 = F min -（G 1 - F N1 - F N2 ) The input currents of the first primary coil 31 and the second primary coil 51 are simultaneously controlled such that F T = F T1 + F T2 + F T3 。
For easy understanding, as shown in fig. 6, a schematic diagram of force decomposition of a short stator linear motor wheel track traffic system in cornering operation on inclined road is provided, and it can be seen that F N1 、F N2 、F N3 Can be decomposed into component forces F in the vertical direction N11 、F N21 、F N31 And a component force F in the horizontal direction N12 、F N22 、F N32 The gravity G of the train can be decomposed into component force G vertical and horizontal to the line plane 1 、G 2 If F N12 +F N22 >F N32 The train can be supplemented with centripetal force; if F N12 +F N22 <F N32 The centrifugal force can be supplemented for the train when the train turns on the inclined road surface, and the centripetal force or the centrifugal force can be supplemented for the train, so that the stability of the turning operation of the train is improved.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that the above-mentioned preferred embodiment should not be construed as limiting the invention, and the scope of the invention should be defined by the appended claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (8)
1. The train based on the driving of the short stator linear motor is characterized by comprising a bogie (1), wherein a wheel set (2) is arranged on the bogie (1), a first sagging part (11) and a second sagging part (12) are respectively arranged on two sides of the bogie (1), the first sagging part (11) is provided with a first platform (111) extending inwards, the second sagging part (12) is provided with a second platform (121) extending inwards, a first primary coil (31) is arranged on the upper surface of the first platform (111), the first primary coil (31) and a first induction plate (32) arranged on a first extending platform (41) of a supporting frame (4) form a first short stator linear motor (3), the first induction plate (32) is positioned above the first primary coil (31), a second primary coil (51) is arranged on the upper surface of the second platform (121), the second primary coil (51) and a second induction plate (42) arranged on the second extending platform (4) form a second linear motor (52) and the second primary coil (52) is arranged on the ground, wherein the second primary coil (52) is arranged on the ground;
a third primary coil (61) is arranged on the lower surface of a cross beam (13) of the bogie (1), the third primary coil (61) and a third induction plate (62) arranged on the supporting frame (4) form a third short-stator linear motor (6), and the third induction plate (62) is positioned below the third primary coil (61);
the first short-stator linear motor (3) and the second short-stator linear motor (5) are controlled to output preferentially, and if the conditions are met: f (F) T1 + F T2 ≥F T And (G-F) N1 - F N2 ）≥F min The third short stator linear motor (6) does not exert force; if the first short-stator linear motor (3) and the second short-stator linear motor (5) are controlled to fully exert the force, the following conditions are still not satisfied: f (F) T1 + F T2 ≥F T And (G-F) N1 - F N2 ）≥F min Then judge whether or not F is satisfied T1max + F T2max ≥F T If it is satisfied, F N3 = F min -（G- F N1 - F N2 ) And F T = F T1 + F T2 + F T3 If not, F T = F T1max + F T2max + F T3 ；
Wherein F is T1 For the driving force generated by the first short stator linear motor (3),
F T2 driving force for a second short stator linear motor (5)，
F T3 For the driving force generated by the third short stator linear motor (6),
F N1 a normal force generated for the first short stator linear motor (3),
F N2 for the normal force generated by the second short stator linear motor (5),
F N3 for the normal force generated by the third short stator linear motor (6),
F T1max is the driving force generated when the first short stator linear motor (3) fully outputs force,
F T2max is the driving force generated when the second short stator linear motor (5) fully outputs force,
F T the traction force required by the train is provided;
F min the force in the vertical direction corresponds to the minimum friction force required by the train;
g is the weight of the train.
2. A train based on short stator linear motor driving according to claim 1, characterized in that the first sagging (11) is provided with n inwardly extending first platforms (111), the second sagging (12) is provided with n inwardly extending second platforms (121), n being ≡2.
3. The utility model provides a short stator linear electric motor wheel rail traffic system, includes claim 1 or 2 based on short stator linear electric motor driven train, its characterized in that still includes supporting rack (4) with set up in on supporting rack (4) and with running rail (7) that wheel pair (2) match, supporting rack (4) are located crossbeam (13) below of bogie (1), supporting rack (4) both sides set up first expansion platform (41) and second expansion platform (42) respectively, first expansion platform (41) with first platform (111) of train correspond, just first expansion platform (41) are located first platform (111) top, second expansion platform (42) with second platform (121) of train correspond, just second expansion platform (42) are located second platform (121) top, first induction plate (32) install in first expansion platform (41) lower surface induction plate (52) install in second expansion platform (42).
4. A short stator linear motor wheel rail traffic system according to claim 3, characterized in that when the first sagging portion (11) of the bogie (1) is provided with n inwardly extending first platforms (111) and the second sagging portion (12) of the bogie (1) is provided with n inwardly extending second platforms (121), the support frame (4) is provided with n first extension tables (41) and n second extension tables (42) on both sides, respectively.
5. A control method for controlling the short stator linear motor wheel track traffic system according to claim 3 or 4, characterized by comprising a train straight running control method comprising:
s1: obtaining the traction force F required by the train T Acquiring a force F in the vertical direction corresponding to the minimum friction force required by the train min ；
S2: controlling the input current of the first primary coil (31) and the second primary coil (51) such that F T1 + F T2 ≥F T And (G-F) N1 - F N2 ）≥F min ；
Wherein F is T1 F for the driving force generated by the first short stator linear motor (3) T2 For the driving force generated by the second short stator linear motor (5), F N1 For the normal force, F, generated by the first short-stator linear motor (3) N2 And G is the gravity of the train and is the normal force generated by the second short stator linear motor (5).
6. The control method according to claim 5, characterized in that the linear motor wheel track traffic system is provided with a third short stator linear motor (6), the train linear travel control method comprising: after the step S1 is carried out, the first short-stator linear motor (3) and the second short-stator linear motor (5) are controlled to output preferentially, if the S2 is met, the third short-stator linear motor (6) cannot output force, and if the S2 is still not met when the first short-stator linear motor (3) and the second short-stator linear motor (5) are controlled to output force completely, the S3 is entered;
s3: when the first short-stator linear motor (3) and the second short-stator linear motor (5) are in full output, judging whether F is met T1max + F T2max ≥F T If satisfied, go to S4, if not satisfied, control the input current of the third primary coil (61) so that F T = F T1max + F T2max + F T3 ；
S4: controlling the input current of the third primary coil (61) so that F N3 = F min -（G- F N1 - F N2 ) Simultaneously controlling the input currents of the first primary coil (31) and the second primary coil (51) such that F T = F T1 + F T2 + F T3 ；
Wherein F is T1max Is the driving force generated when the first short stator linear motor (3) fully outputs force, F T2max Is the driving force generated when the second short stator linear motor (5) is fully powered, F T3 For the driving force generated by the third short stator linear motor (6), F N3 A normal force is generated for the third short stator linear motor (6).
7. The control method according to claim 5 or 6, characterized by further comprising a train-inclined-road-surface turning travel control method comprising:
p1: obtaining the traction force F required by the train T Acquiring a force F in the vertical direction corresponding to the minimum friction force required by the train min ；
P2: controlling the input current of the first primary coil (31) and the second primary coil (51) such that F T1 + F T2 ≥F T And (G) 1 - F N1 - F N2 ）≥F min ；
Wherein G is 1 Is the gravity drop of the trainA component that is straight to the road surface.
8. The control method according to claim 7, characterized in that the linear motor wheel-track traffic system is provided with a third short stator linear motor (6), and the train-inclined-road-surface turning travel control method includes: after the step P1 is carried out, the first short-stator linear motor (3) and the second short-stator linear motor (5) are controlled to output preferentially, if P2 is met, the third short-stator linear motor (6) cannot output force, and if the first short-stator linear motor (3) and the second short-stator linear motor (5) are controlled to output force completely, P2 is still not met, and P3 is entered;
p3: when the first short-stator linear motor (3) and the second short-stator linear motor (5) are in full output, judging whether F is met T1max + F T2max ≥F T If satisfied, P4 is entered, and if not satisfied, the input current to the third primary coil (61) is controlled so that F T = F T1max + F T2max + F T3 ；
P4: controlling the input current of the third primary coil (61) so that F N3 = F min -（G 1 - F N1 - F N2 ) Simultaneously controlling the input currents of the first primary coil (31) and the second primary coil (51) such that F T = F T1 + F T2 + F T3 。
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