JP2007274838A - Magnetically levitated transporter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a magnetically levitated transporter for controlling a thrust force, levitation, pitching and rolling by executing winding switching of a plurality of inverters without feeding power to a mover. <P>SOLUTION: In the magnetically levitated transporter, a plurality of stator coil units (14) are arranged in two columns on right and left for a thrust force direction. The mover (11) is three times or more as long as the stator coil units (14) in the thrust force direction. When the mover (11) is stopped, the plurality of inverters (16) feed power to the stator coils facing the mover (11). While the mover (11) is traveling, a changeover switch (15) executes switching so as to feed power to the stator coil units (14) facing the mover (11). The inverters (16) feed power to the corresponding stator coil unit (14) so that the mover (11) generates the thrust force and levitation force. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a magnetic levitation transport apparatus including a mover having a field pole, a stator coil unit arranged separately, and a plurality of inverters that feed power to the stator coil unit via a changeover switch, and a control method thereof. .

A conventional magnetic levitation transport apparatus including a movable body having a field pole, a stator coil unit arranged separately, and a plurality of inverters that feed power to the stator coil unit via a changeover switch, and a control method thereof, Generally, power is supplied to each stator coil unit using a plurality of inverters and winding switching, and thrust control and floating control of the center of gravity of the mover are performed. There is also a highly reliable floating railway that controls the output of another inverter when one inverter fails (see, for example, Patent Document 1).
In addition, there are some which move in a three-dimensional manner by being provided with a mechanism that partially generates a thrust and a levitation force on the mover (see, for example, Patent Document 2).
FIG. 8 is a block diagram showing a configuration of a conventional magnetic levitation transport apparatus disclosed in Patent Document 1, which is a triple-feed type linear motor power supply apparatus.
In FIG. 8, VH is a moving vehicle equipped with field poles, SEC _N , SEC _{N + 1} , SEC _{N + 2} ... Is an armature coil unit installed separately on the ground side, SW _N , SW _{N + 1} , SW _{N + 2} . Coil unit changeover switch, A, B, C are 3-phase AC wires for A, B, and C, INV-A, INV-B, INV-C are PWM control inverters, Cd DC smoothing capacitors, CNV are PWM control converters, DCB _{1 to} DCB ₃ are DC circuit breakers, ACB _{1 to} ACB ₃ are AC circuit breakers, Ls is an AC reactor, TRs is a power transformer, and BUS is a three-phase AC power line. In the linear motor power supply apparatus of FIG. 8, the ground armature coils are arranged in two layers, and the armature coil unit SEC _N that receives power from the A system and the armature coil unit SEC _{N + 1} that receives power from the B system are wrapped. Furthermore, this armature coil unit SEC _{N + 1} and the armature coil unit SEC _{N + 2} that receives power from the C system are wrapped and arranged. In this triple motor type linear motor power supply device, when one inverter (for example, INV-A) fails, the DC circuit breaker DCB1 and the AC circuit breaker ACB1 are turned off, and the inverter of the fault system (system A) By disconnecting only INV-A and continuing to supply power from the inverters INV-B and INV-C connected to other systems, the vehicle VH can be continuously driven.
FIG. 9 is a view showing an appearance of a conventional magnetic levitation transport device disclosed in Patent Document 2. As shown in FIG.
In FIG. 9, 1 is a vehicle, 2 is a magnet, 3 is a rotating body, 4 is a motor, 5-1, 5-2, and 5-3 are electrically conductive plates. When the rotating body 3 rotates, an induced current is generated in the electrically conductive plate, and a repulsive force is generated in the rotating body 3. At this time, since the rotation center of the rotating body 3 is shifted from the boundary line of the electrically conductive plates 5-1 and 5-2 or the electrically conductive plates 5-2 and 5-3, the disc is The magnetic drag in the propulsion direction generated when rotating is different on the left and right of each rotating plate, and thrust is obtained as a resultant force by reversing the rotating direction of the left and right discs. Further, when the position of the rotator 3 is shifted to the left and right, a difference occurs in the lateral force mainly generated in the electrically conductive plate. As a result, if the combination of the rotators 3 is shifted to the right, the left side is If you move to the left, a guide force will be generated to return to the right.
Japanese Patent Laid-Open No. 4-91603 (FIG. 1) JP-A-8-111313 (FIG. 3)

A magnetic levitation transport apparatus having a conventional mover having a field pole, a stator coil unit arranged separately, and a plurality of inverters that feed power to the stator coil unit via a changeover switch is a thrust force during traveling. Although control can be performed to control the floating of the center of gravity of the mover, there is a problem that pitching and rolling due to running force cannot be offset. Further, when the mover floats and is stationary, there is a problem that pitching caused by disturbance cannot be canceled out.
For example, the magnetic levitation transport apparatus of Patent Document 1 can control thrust and control the floating of the center of gravity of the mover, but does not consider pitching control and rolling control. In addition, the magnetic levitation conveyance device of Patent Document 2 can perform thrust control, levitation control, guidance control, pitching control, and rolling control, but it is necessary to supply power to four motors in the mover, and the system There was a problem of becoming complicated.
The present invention has been made in view of such problems, and uses a plurality of inverters and winding switching without supplying power to the mover, and performs thrust control, levitation control, pitching control, and rolling control. It is an object of the present invention to provide a magnetic levitation transfer device that does not shake.

In order to solve the above problem, the present invention is configured as follows.
The invention described in claim 1 includes a mover having a field pole, a plurality of stator units having a multiphase coil, a plurality of inverters for supplying power to the multiphase coil of the stator unit via a changeover switch, A plurality of the stator units are arranged in two rows on the left and right in the traveling direction, and the mover is three times longer than the stator unit in the traveling direction. When stationary, the plurality of inverters supply power to a plurality of stator coils facing the mover, and when the mover travels, the changeover switch faces the mover. Switching is performed so that power is supplied to a plurality of stator units, and the inverter supplies power to the corresponding stator coil units to generate thrust and levitation force on the mover. A.
According to a second aspect of the present invention, there is provided the magnetic levitation transport apparatus according to the first aspect, wherein a gap signal is generated by detecting a gap between the stator unit and the movable element at four positions, front, rear, left and right of the movable element. A sensor and a control unit that controls the thrust command of the inverter so that the sum of the left and right thrusts of the front part is equal to the sum of the left and right thrusts of the rear part, and the front and rear, left and right gaps are constant; It is characterized by providing.
According to a third aspect of the present invention, in the magnetic levitation transport apparatus according to the first aspect, a linear scale for detecting the position of the mover is provided between the left and right stators.
According to a fourth aspect of the present invention, in the magnetic levitation transport apparatus according to the first aspect, a linear scale for detecting the position of the mover is provided between the left and right stators.
According to a fifth aspect of the present invention, in the magnetic levitation transport apparatus according to the first aspect, the thrust current is a q-axis current, and the levitation force current is a d-axis current.
A sixth aspect of the present invention is the magnetic levitation transport apparatus according to the first aspect, wherein the inverter always supplies power to the same number of stator coil units.

  According to the present invention, since the stator unit to which a plurality of inverters correspond is controlled independently, the front / rear / left / right thrust and levitation force of the mover can be controlled independently, and thrust control, levitation control, pitching control, rolling control A magnetic levitation apparatus without shaking can be provided.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 10 is a view for explaining the structure of the magnetic levitation transport apparatus of the present invention. In FIG. 10, 50 is a fixed part, 51 is a stator left, 52 is a stator right, 53 is a movable part, 54 is a movable element left, 55 is a movable element right, 56 is a gap sensor left, 57 is a gap sensor right, 58 is a linear scale. A stator left 51 and a stator right 52 are attached on the fixed portion 50, and a mover left 55 and a mover right 56 are attached to the movable portion 53. The gap sensor left 56 is attached to the left and front of the movable part, and the gap sensor right 57 is attached to the right and rear. FIG. 11 is a diagram for explaining the electrical configuration of the present invention. In FIG. 11, 59 is a control unit, S1 to S6 are right stator units, S1 ′ to S6 ′ are left stator units, 61 and 62 are changeover switches, 63 is an inverter 1, 64 is an inverter 2, and 65 is Inverters 1 'and 66 are inverters 2'. The control unit 59 turns on and off the selection switches 61 and 62 from the position signal of the linear scale 59, and converts the stator units S1 to S6 and S1 ′ to S6 ′ facing the movers 55 and 56 to the inverters INV1, INV2, In addition to being electrically connected to INV1 ′ and INV2 ′, the current command is generated by calculating the amplitude and phase of each inverter from the gap signal and the thrust command.
FIG. 1 is a diagram showing a basic configuration of a magnetic levitation transport apparatus showing an embodiment of the present invention. In FIG. 1, 10 is a stator, 11 is a mover, 14 is a stator coil unit, 15 is a changeover switch, and 16 is a three-phase AC inverter. The stator 10 is divided into respective stator coil units S1, S2, S3, S4, S5, S1 ′, S2 ′, S3 ′, S4 ′, and S5 ′. The stator coil units S1, S2, and S5 are connected to the three-phase AC inverter Inv. 1 is fed. The stator coil units S3 and S4 are connected to the three-phase AC inverter Inv. 2 is fed. The stator coil units S1 ', S2', S5 'are connected to the three-phase AC inverter Inv. Via the changeover switches SW1', SW2 ', SW5'. Power is supplied from 1 ′. The stator coil units S3 ′ and S4 ′ are connected to the three-phase AC inverter Inv. Power is supplied from 2 ′.
FIG. 2 is an explanatory view showing the configuration of the stator and the mover of the magnetic levitation transport apparatus showing the embodiment of the present invention. In FIG. 2, the mover 11 is provided with permanent magnet magnetic poles 12 and is three times as long as the stator coil unit 14. Each stator coil unit 14 is composed of a three-phase U, V, and W coil 13. By feeding the stator coil unit 14 with a three-phase alternating current, thrust Fx and levitation force Fz are applied to the mover 11. appear.

FIG. 3 is a diagram showing stator coil unit switching in the magnetic levitation transport apparatus of the present invention. As shown in FIG. 3A, when the mover 11 faces the six stator coil units S1, S2, S3, S1 ′, S2 ′, S3 ′, the changeover switches SW1, SW2, SW3, SW4. , SW1 ′, SW2 ′, SW3 ′, SW4 ′ are turned on, and the changeover switches SW5 and SW5 ′ are turned off.
As shown in FIG. 3B, when the mover 11 partially faces the four stator coil units S1, S4, S1 ′, S4 ′, the changeover switches SW1, SW2, SW3, SW4, SW1 ', SW2', SW3 ', SW4' are turned on, and the changeover switches SW5 and SW5 'are turned off.
As shown in FIG. 3C, when the mover 11 faces the six stator coil units S2, S3, S4, S2 ′, S3 ′, and S4 ′, the changeover switches SW1 and SW1 ′ are turned off. Accordingly, the changeover switches SW2, SW3, SW4, SW5, SW2 ′, SW3 ′, SW4 ′, and SW5 ′ are turned ON. In FIG. 3, appropriate eight stator coil units 14 are selected according to the position of the mover 11, and each inverter 16 supplies current to the two selected stator coil units 14.

FIG. 4 is a diagram showing the principle of the magnetic levitation transport apparatus of the present invention. FIG. 4A shows the thrust and levitation force generated in the mover 11 in the state where the movement distance is x1, and corresponds to the states of FIGS. 3A and 3B. By using the four inverters 16, it is possible to generate four traveling forces and four levitation forces on the mover 11. FIG. 4B shows the respective thrusts and levitation forces generated in the mover 11 in the state of the moving distance x2, and corresponds to the state of FIG.
The control principle of the magnetic levitation transport device of the present invention is to control the respective levitation forces so as to cancel pitching and rolling.
FIG. 5 is a diagram showing the pitching control of the magnetic levitation transport apparatus of the present invention, and only the x-axis direction and the z-axis direction are shown to clarify the pitching control. FIG. 5 (a) illustrates the state of FIG. 4 (a) from the lateral direction and shows pitching caused by thrust or disturbance. This pitching can be offset by an appropriate levitation force Fz1 and an appropriate levitation force Fz2. The levitation force Fz1 and the levitation force Fz2 are determined so that the pitching damping torque 18 is generated at the center of gravity 17 of the mover so that the pitching angle θ is zero. FIG. 5B illustrates the state of FIG. 4B from the lateral direction and shows pitching caused by thrust or disturbance. This pitching can be offset by appropriate levitation forces Fz1, Fz11 and an appropriate levitation force Fz2. The levitation forces Fz1 and Fz11 and the levitation force Fz2 are determined so as to generate a pitching damping torque 18 at the center of gravity 17 of the mover so that the pitching angle θ is zero.
FIG. 6 is a diagram showing the rolling control of the magnetic levitation transport apparatus according to the present invention, and only the y-axis direction and the z-axis direction are shown to clarify the rolling control. FIG. 6 shows rolling caused by the shape of the stator or disturbance. This rolling can be offset by an appropriate levitation force Fz1 and an appropriate levitation force Fz1 ′. The levitation force Fz1 and the levitation force Fz1 ′ are determined so as to generate a rolling damping torque 19 at the center of gravity 17 of the mover so that the rolling angle γ is zero.
In the present embodiment, control using four inverters is shown, but more accurate control is possible by using more inverters based on the same principle.
Further, based on the same principle, it is possible to use two inverters to perform thrust control, levitation control, and pitching control, or thrust control, levitation control, and rolling control.
Further, since no thrust ripple is generated, the current of each motor or the d-axis current may be controlled in the thrust direction.

FIG. 7 is a control block diagram of the magnetic levitation transport apparatus of the present invention. First, a position command X0, a speed command V0, and a gap length command δ0 of the mover center of gravity 17 are input. Using the measurement information of the sensor block 20, the entire Fx of the mover 11 and the floating force Fz of the mover 11 are determined by the PID control block. In the control block of θ = 0, γ = 0, appropriate lift force command positions Fz1, Fz2, Fz1 ′ are determined by the position x of the mover 11, the rolling angle γ, the pitching angle θ, and the gap length δ of the mover center of gravity 17. , Fz2 ′ is determined. An inverter Inv. Is generated so as to generate the thrust and the levitation force. 1, inverter Inv. 1 ′, inverter Inv. 2 and the inverter Inv. 2 'outputs the appropriate currents I1, I2, I1', I2 '. The currents I 1, I 2, I 1 ′, and I 2 ′ are supplied through the changeover switch 15 block 21 by selecting an appropriate stator coil unit 14 according to the position x of the mover.
By the above method, thrust control, levitation control, pitching control, and rolling control can be realized.

The portion of the present invention that differs from Patent Document 1 is a portion that can perform pitching control and rolling control in addition to thrust control and floating control of the center of gravity of the mover.
Moreover, the part from which this invention differs from patent document 2 is a part which eliminated the need to supply electric power to a needle | mover.

The figure which shows the basic composition of the magnetic levitation conveyance apparatus which shows the Example of this invention, and its control method Explanatory drawing which shows the structure of the stator and the needle | mover of the magnetic levitation conveyance apparatus which shows the Example of this invention, and its control method The figure which shows the stator coil unit switching of the magnetic levitation conveyance apparatus of this invention, and its control method The figure which shows the principle of the magnetic levitation conveyance apparatus of this invention The figure which shows the pitching control of the magnetic levitation conveyance apparatus of this invention The figure which shows the rolling control of the magnetic levitation conveyance apparatus of this invention Control block diagram of magnetic levitation transport apparatus of the present invention The block diagram which shows the structure of 1st Example of the patent document 1 of the conventional magnetic levitation conveyance apparatus and its control method FIG. 3 is a diagram showing FIG. 3 of the first embodiment of Patent Document 2 of a conventional magnetic levitation transport apparatus and its control method. The figure explaining the structure of the magnetic levitation conveyance apparatus of this invention The figure explaining the electrical constitution of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Stator 11 Mover 12 Field pole 13 Coil 14 Stator coil unit 15 Changeover switch 16 Inverter 17 Mover center of gravity 18 Pitching damping torque 19 Rolling damping torque 20 Sensor block 21 Changeover switch block 50 Fixing part 51 Stator left 52 Stator Right 53 Movable part 54 Movable element left 55 Movable element right 56 Gap sensor left 57 Gap sensor right 58 Linear scale 59 Control part 61, 62 Changeover switch 63, 64, 65, 66 Inverter

Claims (6)

A magnetic levitation transport apparatus comprising: a mover having a field pole; a plurality of stator coil units having a multiphase coil; and a plurality of inverters for supplying power to the multiphase coils of the stator coil unit via a changeover switch. In
A plurality of the stator coil units are arranged in two rows on the left and right with respect to the traveling direction,
The mover is at least three times longer than the stator coil unit in the traveling direction,
When the mover is stationary, the plurality of inverters supply power to the plurality of stator coils facing the mover,
When the mover travels, the changeover switch performs switching to supply power to a plurality of stator coil units facing the mover,
The magnetic levitation conveying apparatus characterized in that the inverter supplies power by combining a thrust current that generates thrust to the corresponding stator coil unit and a levitation force current that generates levitation force.   2. The magnetic levitation transport apparatus according to claim 1, wherein the plurality of inverters supply power to the stator coil units at the front, rear, left and right of the mover. 4. A gap sensor that detects a gap between the stator coil unit and the mover at four locations on the front, rear, left, and right sides of the mover and generates a gap signal;
A controller that calculates a rolling angle and a pitching angle from the gap signal, and generates a thrust current command and a levitation force current command of the inverter from the rolling angle, the pitching angle, and a thrust command;
The magnetic levitation apparatus according to claim 1, further comprising:   2. The magnetic levitation transport apparatus according to claim 1, wherein a linear scale for detecting the position of the mover is provided between the left and right stators.   2. The magnetic levitation transport apparatus according to claim 1, wherein the thrust current is a q-axis current, and the levitation force current is a d-axis current.   2. The magnetic levitation transport device according to claim 1, wherein the inverter always supplies power to the same number of stator coil units.

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