CN1295098C - Digital suspension controller and method thereof - Google Patents
Digital suspension controller and method thereof Download PDFInfo
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- CN1295098C CN1295098C CNB2004100246351A CN200410024635A CN1295098C CN 1295098 C CN1295098 C CN 1295098C CN B2004100246351 A CNB2004100246351 A CN B2004100246351A CN 200410024635 A CN200410024635 A CN 200410024635A CN 1295098 C CN1295098 C CN 1295098C
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- 239000000725 suspension Substances 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 28
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 3
- 230000005622 photoelectricity Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 6
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- 238000005339 levitation Methods 0.000 description 4
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- 230000032683 aging Effects 0.000 description 1
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- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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Abstract
The present invention provides a digital suspension controller and a control method thereof. The digital suspension controller is used for controlling an electric magnet (3), and is connected with a vehicle-carried control system (2) to receive suspension commands. The digital suspension controller (1) comprises a suspension sensor (11), a suspension controller body (12) and a suspension wave chopper (13) which are orderly connected by a circuit, wherein the suspension controller body (12) comprises a signal processing circuit (121), an A/D converter (122), a digital signal processing unit (123) and a PWM wave output unit (124) which are orderly connected by a circuit. The present invention overcomes the defect that the traditional analog circuit type suspension controller has complex design, difficult debugging, narrow range of applicability, etc., and simultaneously effectively overcomes the influence of interference on systems and enhances the reliability of suspension systems.
Description
Technical field
The present invention relates to a kind of digital suspension controller and control method thereof that is used for magnetic-levitation train, it can carry out safe and effective control to electromagnet, and makes it to keep suspending.
Background technology
Magnetic-levitation train is the new traffic tool that the attractive force of dependence electromagnet makes train suspend and orbit, and has advantages such as the pollution-free noise of high-speed secure is little, has great vitality.Suspension controller is exactly to be applied to available voltage on the electromagnet by change, the electronics package that keeps train to suspend.It is the core cell of magnetic-levitation train, and its quality has directly determined the serviceability of magnetic-levitation train.The realization of controller has dual mode: analog control circuit and digital control circuit.
The circuit of the suspension controller of being realized by analogous circuit is very complicated, mainly is made up of 7 schematic diagram files, and they are: the circuit card auxiliary power circuit; The gap sensor of crossing the track seam merges circuit; Accelerometer signal is handled and commutation circuit; Current loop control and protective circuit; Suspension Control gap sensor signal conditioning and reactive circuit; The PWM ripple produces and the protection output circuit; Signal amplifies and driving circuit.After circuit layout is finished; if increase a function, a functional circuit all must be set again be realized, and existing protection and feed circuit also to be adjusted; circuit card need redesign and debug, and as seen its design and debugging are very complicated.In addition, utilize analogous circuit to realize nonlinear algorithm, need to use non-linear element, and the precision of analogous circuit non-linear element is very poor that selectable leeway is also very little, therefore general maximum are used to realize very simple nonlinear algorithm.Because non-linear is the essence of things, linear just some extraordinary circumstances, therefore complicated algorithm preferably all is non-linear basically, so the analog control circuit design is complicated, debug difficulties is difficult to realize complicated algorithm, has significant limitation.
Summary of the invention
Technical matters to be solved by this invention provides a kind of digital suspension controller and control method thereof, it has overcome shortcomings such as traditional analogous circuit formula suspension controller design complexity, debug difficulties, narrow application range, simultaneously can overcome the influence of interference effectively, improve the reliability of suspension system system.
In order to solve the problems of the technologies described above, the invention provides a kind of digital suspension controller, be used to control electromagnet, it is connected with vehicle control syetem to receive the order that suspends, this digital suspension controller comprises: circuit bonded assembly suspension sensor successively, suspension controller body, suspending chopper, wherein, described suspension controller body comprises circuit bonded assembly signal processing circuit, A/D converter, digital signal processing unit, PWM ripple output unit successively;
Described signal processing circuit is carried out pretreatment to the signal of sensor;
The analog signal conversion that described A/D converter provides analog sensor becomes signal processor can receive digital signal;
Described digital signal processing unit is according to signal and control command through sensor after pretreatment and the A/D converter conversion, carry out computing, generation is used to control the instruction of current of electromagnet, described A/D converter is connected with digital signal processing unit is two-way, and the work of A/D converter also is subjected to the control of signal processing unit;
The control command that described PWM ripple output unit is exported digital signal processing unit converts power circuit to and can receive signal.
The present invention also provides a kind of control method of digital suspension device simultaneously, and it comprises the steps:
Step 1, system initialization, finish the initial configuration of system parameter, comprise the initial configuration of controller parameter, start each parts work;
Step 2, control of access circulation, the read sensor signal is a digital quantity at this, has promptly passed through the result of A/D conversion;
Step 3, sensor signal is carried out the software pretreatment, generate operable status signal, this group status signal has two purposes, and controlled device correction mechanism and controller body use respectively;
Step 4, controller correction mechanism are assessed the effect that suspends according to the signal after the pretreatment, and the parameter of Correction and Control device body;
The status signal effect that the later controller body of parameter obtains pretreatment has been revised in step 5, utilization, generates control voltage;
Step 6, will control voltage and be converted into control command;
Step 7, inspection suspend and order, if require to continue suspension, get back to step 2, circulate, if landing is ordered, forward step 8 to;
Step 8, with the controller body according to the orderly close-down that guarantees safety.
The invention has the beneficial effects as follows: on the basis of traditional simulation suspension controller, keep original sensor unit (gap sensor, acceleration pick-up, current vortex transformer) and power amplification unit (suspending chopper), replace original analog signal treatment circuit unit with the digital signal processing circuit unit, in DSP, realize and improved original control algorithm, make the magnetic floating train suspending performance improve, can overcome the influence of interference effectively, improve the reliability of suspension system system.
In addition, because the algorithm computer realization of digital control circuit, hardware design is simple, only needs the content in the reprogramming memory device during debugging, hardware circuit is not adjusted, and has shortened the design cycle significantly; Utilize software to be easy to realize various complexity and nonlinear algorithm, this be analogous circuit can't accomplish.And it is insensitive that digital circuit disturbing factor such as floats to device aging, temperature.
Description of drawings
Fig. 1 is the structural representation of digital suspension controller of the present invention.
Fig. 2 is the workflow diagram of digital signal processing unit of the present invention.
Fig. 3 is the workflow diagram of control method of the present invention.
The specific embodiment
As shown in Figure 1: digital suspension controller 1 of the present invention is connected with vehicle control syetem 2, be used for controlling safely and effectively electromagnet 3, this digital suspension controller 1 comprises: circuit bonded assembly suspension sensor 11 successively, suspension controller body 12, suspending chopper 13.This suspension controller 1 can receive the suspension order of vehicle control syetem 2, also can realize suspending and landing by switch in this locality.
Described suspension sensor 11 comprises the gap sensor 111 that is used to obtain gap signal, be used to obtain the acceleration pick-up 112 of acceleration/accel of electromagnet motion and the current sensor 113 that obtains current signal.Described gap sensor 111, acceleration pick-up 112 are installed to the end of electromagnet; Described current sensor is nested on the lead that connects suspending chopper and electromagnet; More than each signal of sensor send suspension controller body 12 to.
Described suspension controller body 12 comprises circuit bonded assembly signal processing circuit 121, A/D converter 122, digital signal processing unit (DSP) 123, PWM ripple output unit 124, photoelectricity isolated location 125 successively, and, accessory feed, display circuit, EPROM, communication module, digital quantity input/output module.The signal of 121 pairs of sensors of described signal processing circuit carries out pretreatment, such as carrying out voltage-to-current conversion, filtering interference signals etc., makes that the signal of sensor is easy to use; The analog signal conversion that A/D converter 122 provides analog sensor becomes signal processor 121 can receive digital signal; Digital signal processing unit (DSP) 123 is according to signal and control command through sensor (comprising gap sensor, acceleration pick-up, current sensor) after pretreatment and the A/D converter conversion, carry out computing, generate the instruction that is used to control current of electromagnet; The control command that PWM ripple output unit 124 is exported digital signal processing unit (DSP) 123 converts power circuit to and can receive signal; The photoelectricity isolated location will be controlled the weak electric signal of usefulness and the preceding electric signal of generation power is isolated, with the protection control circuit.Described A/D converter and 123 two-way connections of digital signal processing unit, the work of A/D converter also is subjected to the control of signal processing unit.Described communication module and digital quantity input/output module all are connected with vehicle control syetem is two-way.Described accessory feed, display circuit, EEPROM, communication module, digital quantity input/output module all directly link to each other with digital signal processing unit 123.
As shown in Figure 2: the algorithm of described digital signal processing unit 123 is as follows: system initialization at first, carry out the controlling quantity initialization again, and wait then and wait upon timer and interrupt, judge interruption times, interrupt if judged result is an even, then carry out the A/D sampling, and filtering, return etc. and to wait upon timer and interrupt, repeat above-mentioned steps, interrupt, then move control algorithm if judged result is an odd, return waiting timer then and interrupt, and repeat above-mentioned steps.
Described control algorithm, be used for detecting automatically the effect that suspends, and with the suspension effect parametrization, just can suspension effect be described quantitatively with a number, and this parameter fed back in the controller, dynamically the parameter in the adjustment control makes it possible to achieve reasonable whole suspension effect, its workflow is as shown in Figure 3: step 1, system initialization: finish the initial configuration of system parameter, comprise the initial configuration of controller parameter.Start each parts work.Step 2, control of access circulation, read sensor signal (at this is digital quantity, has promptly passed through the result of A/D conversion).Step 3, sensor signal is carried out the software pretreatment, generate operable status signal.This group status signal has two purposes, and controlled device correction mechanism (Fig. 3 right part) and controller body (Fig. 3 left part) use respectively.Step 4, controller correction mechanism are assessed the effect that suspends according to the signal after the pretreatment, and the parameter of Correction and Control device body.The status signal effect that the later controller body of parameter obtains pretreatment has been revised in step 5, utilization, generates control voltage.Step 6, will control voltage and be converted into control command (, will export switch and be arranged to out or close) according to the value of time progress and control voltage.Step 7, inspection suspend and order, if require to continue suspension, get back to step 2, circulate, if landing is ordered, forward step 8 to.Step 8, with the controller body according to the orderly close-down that guarantees safety.
Claims (6)
1, a kind of digital suspension controller, be used to control electromagnet (3), it is connected with vehicle control syetem (2) to receive the order that suspends, this digital suspension controller (1) comprising: circuit bonded assembly suspension sensor (11) successively, suspension controller body (12), suspending chopper (13), it is characterized in that described suspension controller body (12) comprises circuit bonded assembly signal processing circuit (121), A/D converter (122), digital signal processing unit (123), PWM ripple output unit (124) successively;
Described signal processing circuit (121) is carried out pretreatment to the signal of sensor;
The analog signal conversion that described A/D converter (122) provides analog sensor becomes signal processor (121) can receive digital signal;
Described digital signal processing unit (123) is according to signal and control command through sensor after pretreatment and the A/D converter conversion, carry out computing, generation is used to control the instruction of current of electromagnet, described A/D converter and two-way connection of digital signal processing unit (123), the work of A/D converter also is subjected to the control of signal processing unit;
The control command that described PWM ripple output unit (124) is exported digital signal processing unit (123) converts power circuit to and can receive signal;
Described suspension sensor (11) comprises the gap sensor (111) that is used to obtain gap signal, be used to obtain the acceleration pick-up (112) of acceleration/accel of electromagnet motion and the current sensor (113) that obtains current signal; Described gap sensor (111), acceleration pick-up (112) are installed in the end of electromagnet (3), and described current sensor is nested on the lead that connects suspending chopper and electromagnet.
2, digital suspension controller according to claim 1 is characterized in that, described suspension controller body (12) comprises that also one is connected in the photoelectricity isolated location (125) between suspending chopper (13) and the PWM ripple output unit (124).
3, digital suspension controller according to claim 1, it is characterized in that described suspension controller body (12) also comprises accessory feed, display circuit, EEPROM, communication module, the digital quantity input/output module that all directly links to each other with digital signal processing unit (123).
4, a kind of control method of digital suspension controller is characterized in that, comprises the steps:
Step 1, system initialization, finish the initial configuration of system parameter, comprise the initial configuration of controller parameter, start each parts work;
Step 2, control of access circulation, the read sensor signal;
Step 3, sensor signal is carried out the software pretreatment, generate operable status signal, this group status signal has two purposes, and controlled device correction mechanism and controller body use respectively;
Step 4, controller correction mechanism are assessed the effect that suspends according to the signal after the pretreatment, and the parameter of Correction and Control device body;
The status signal effect that the later controller body of parameter obtains pretreatment has been revised in step 5, utilization, generates control voltage;
Step 6, will control voltage and be converted into control command;
Step 7, inspection suspend and order, if require to continue suspension, get back to step 2, circulate, if landing is ordered, forward step 8 to;
Step 8, with the controller body according to the orderly close-down that guarantees safety.
5, according to the control method of the digital suspension controller shown in the claim 4, it is characterized in that, described step 6 will be controlled the method that voltage is converted into control command: according to the value of time progress and control voltage, will export switch and be arranged to out or close.
According to the control method of the digital suspension controller shown in the claim 4, it is characterized in that 6, described sensor signal is a digital quantity, promptly passed through the result of A/D conversion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100246351A CN1295098C (en) | 2004-05-25 | 2004-05-25 | Digital suspension controller and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100246351A CN1295098C (en) | 2004-05-25 | 2004-05-25 | Digital suspension controller and method thereof |
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| CN1583456A CN1583456A (en) | 2005-02-23 |
| CN1295098C true CN1295098C (en) | 2007-01-17 |
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| CNB2004100246351A Expired - Lifetime CN1295098C (en) | 2004-05-25 | 2004-05-25 | Digital suspension controller and method thereof |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100367137C (en) * | 2006-06-02 | 2008-02-06 | 北京航空航天大学 | Integral high precision control moment gyro gimbal servo digital controller |
| CN100430260C (en) * | 2006-08-28 | 2008-11-05 | 中国人民解放军国防科学技术大学 | Suspension method for controling module of electromagnetism type magnetic suspension train in normal conduction and low temperature |
| CN101895240A (en) * | 2010-07-07 | 2010-11-24 | 深圳大学 | Magnetic suspension control system and method |
| CN101985284A (en) * | 2010-10-13 | 2011-03-16 | 上海磁浮交通发展有限公司 | Two-in-one guide controller for high-speed maglev train |
| CN103192733A (en) * | 2013-04-03 | 2013-07-10 | 南车株洲电力机车有限公司 | Suspension control method and device |
| CN103522912B (en) * | 2013-10-17 | 2015-10-28 | 中国人民解放军国防科学技术大学 | The magnetic flux feedback suspension control method of EMS type low speed aerotrain and device |
| CN105599634B (en) * | 2016-02-29 | 2017-12-05 | 同济大学 | A kind of magnetic floating train suspending control device and method |
| 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 |
| CN108382265B (en) * | 2018-01-09 | 2021-09-03 | 同济大学 | Suspension redundancy control system of medium-low speed maglev train |
| CN108973767B (en) * | 2018-08-06 | 2020-10-02 | 江西理工大学 | Suspension control method for suspension type magnetic suspension train |
| CN109664772B (en) * | 2019-01-16 | 2024-01-05 | 湖南凌翔磁浮科技有限责任公司 | Dual-redundancy suspension controller |
| CN110254244B (en) * | 2019-07-01 | 2020-12-25 | 湖南磁浮技术研究中心有限公司 | Suspension control method, system and device for magnetic-levitation train and readable storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3886871A (en) * | 1972-05-08 | 1975-06-03 | Rohr Industries Inc | Railway truck magnetic suspension |
| US5732636A (en) * | 1996-06-05 | 1998-03-31 | National Science Council | Magnetic levitation system |
| JP2973741B2 (en) * | 1992-10-01 | 1999-11-08 | 村田機械株式会社 | Rail transport trolley |
| CN1431117A (en) * | 2003-01-29 | 2003-07-23 | 国家磁浮交通工程技术研究中心 | Differential type lead control device of normal conduct type high-speed magnetic suspension vehicles |
-
2004
- 2004-05-25 CN CNB2004100246351A patent/CN1295098C/en not_active Expired - Lifetime
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3886871A (en) * | 1972-05-08 | 1975-06-03 | Rohr Industries Inc | Railway truck magnetic suspension |
| JP2973741B2 (en) * | 1992-10-01 | 1999-11-08 | 村田機械株式会社 | Rail transport trolley |
| US5732636A (en) * | 1996-06-05 | 1998-03-31 | National Science Council | Magnetic levitation system |
| CN1431117A (en) * | 2003-01-29 | 2003-07-23 | 国家磁浮交通工程技术研究中心 | Differential type lead control device of normal conduct type high-speed magnetic suspension vehicles |
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| CN1583456A (en) | 2005-02-23 |
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