JP3164681B2 - Control device for linear synchronous motor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a linear synchronous motor, for example, and more particularly to a method for accurately moving a vehicle without overrunning from a target position even at a small distance of about several tens of cm. The present invention relates to a linear synchronous motor control device that can be used.

[0002]

2. Description of the Related Art FIG. 3 is a block diagram showing the internal configuration of a control device for a linear synchronous motor disclosed in Japanese Patent Application Laid-Open No. 62-221895.

In FIG. 3, 1 is a speed pattern signal indicating a speed pattern, 2 is a frequency generator for generating a frequency pattern signal 3 based on the speed pattern signal 1, and 4 is a feedback phase signal 28 from an integration circuit 27 described later. And a phase difference detector 6 that outputs a phase difference signal 5 based on a frequency pattern signal from the frequency generator 2. A phase calculation signal 6 performs a compensation operation based on the phase difference signal 5 from the phase difference detector 4. Is output. Reference numeral 8 denotes a speed difference detector which outputs a speed difference signal 9 based on a speed command signal 7 from the compensation calculator 6 and a vehicle speed signal 26 which will be described later, and 10 denotes a speed difference signal 9 from the speed difference detector 8. Compensation computing unit 12 performs a compensation calculation based on the result, and outputs a thrust command signal 11. A compensation pattern computing unit 12 multiplies the thrust command signal 11 from the compensation computing unit 10 by a vehicle position detection signal 20 described later to obtain a current pattern. Is output as a current pattern signal 13.

A power converter 14 generates three-phase AC power 15 based on a current pattern signal 13 from a multiplier 12. A propulsion coil 16 of a primary linear synchronous motor arranged along a track on the ground side. , 17 is the propulsion coil 1
6, a field coil of a primary linear synchronous motor mounted on the vehicle 18 facing the vehicle 6, a vehicle position detector 19 provided along the track to detect the position of the vehicle 18 and output a vehicle position detection signal 20; Reference numeral 21 denotes a phase detector which detects the position detection phase of the vehicle position detection signal 20 from the vehicle position detector 19 and outputs a position detection phase signal 22. Also, 2
Reference numeral 3 denotes a phase difference detector which detects a phase difference between a position detection phase signal 22 from the phase detector 21 and a feedback phase signal 28 from an integrator 27 described later and outputs a phase difference signal 24. Reference numeral 25 denotes a phase difference detection. Compensation calculator that performs a compensation calculation based on the phase difference signal 24 from the calculator 23 and outputs a vehicle speed signal 26.
7 integrates the vehicle speed signal 26 from the compensation calculator 25,
An integrator that outputs a feedback phase signal 28.

Next, the operation will be described. The speed pattern signal 1 is input to the frequency generator 2 and the frequency generator 2
In, a frequency pattern 3 is generated based on the speed pattern signal 1. The frequency pattern signal 3 is input to one input terminal of the phase difference detector 4, and a feedback phase signal 28 is fed back to the other input terminal. In the phase difference detector 4,
The phase difference between the frequency pattern signal 3 and the feedback phase signal 28 is detected and input to the compensation calculator 6 as the phase difference signal 5. The compensation calculator 6 performs a compensation calculation based on the phase difference signal, and the resulting speed command signal 7 is supplied to the speed difference detector 8.

[0006] The speed difference detector 8 detects a speed difference between the speed command signal 7 and the vehicle speed signal 26, and the obtained speed difference signal 9 is supplied to the compensation calculator 10. Compensator calculator compensation calculation based on the speed difference signal from 10 the speed difference detector 8 is performed, this thrust command signal 11 obtained by the is supplied to the multiplying adder 12. In the multiplier 12, the thrust command signal 11 from the compensation calculator 10 is multiplied by the vehicle position detection signal 20 from the vehicle position detector 19, and the result is supplied to the power converter 14 as a current pattern signal 13. .

In the power converter 14, a three-phase AC current 15 based on the current pattern signal 13 from the multiplier 12 is output.
To the propulsion coil 16 to form a traveling magnetic field,
The vehicle 18 is driven by generating a thrust between itself and a field coil 17 mounted on the vehicle 8. On the other hand, the vehicle position detector 19
Then, the relative position between the ground-side propulsion coil 16 and the vehicle 18-side field coil 17 is detected, and a vehicle position detection signal 20 is output. The phase detector 21 detects the position detection phase of the vehicle position detection signal 20 and supplies it as a position detection phase signal 22 to the phase difference detector 23.

[0008] The phase difference detector 23 detects the phase difference between the position detection phase signal 22 and the feedback phase signal 28, and supplies this as a phase difference signal 24 to the compensation calculator 25. The compensation calculator 25 performs a compensation calculation based on the phase difference signal 24 from the phase difference detector 23, and supplies the result to the integrator 27 and the speed difference detector 8 as a vehicle speed signal 26, respectively. In the integrator 27, the vehicle speed signal 26 from the compensation calculator 25 is integrated, and the result is supplied to the phase difference detector 4 as a feedback phase signal 28.

[0009]

In the case of a conventional vehicle, when the vehicle stops beyond an allowable range with respect to a target stop point at a stop of a station or the like, the vehicle is moved by a short distance, and the target position is set. to stop the, although the driver by inching operation it is necessary to move the vehicles, vehicle LSM control system, the vehicle since it is basically unattended operation, it must be performed inching automatically. However, when the vehicle position is moved by about several tens of cm, it is difficult to control the vehicle by the speed pattern from the starting resistance and inertia of the vehicle.
Difficulty is expected from the response, and there has been a problem that the vehicle cannot be moved accurately without overrunning from the target during inching operation.

The present invention has been made to solve such a problem, and does not cause an overrun from a target position even at a small distance of about several tens cm.
An object of the present invention is to obtain a control device for a linear synchronous motor that can move a vehicle accurately.

[0011]

A control device for a linear synchronous motor according to the present invention comprises a propulsion coil arranged along a track on the ground and a field coil mounted on the vehicle opposite to the propulsion coil. A position detecting means for detecting a relative position between the propulsion coil and the field coil, and a speed calculation for calculating a speed of the vehicle based on a position detection signal from the position detection means. Means, a thrust calculating means for calculating a thrust based on speed information from the speed calculating means and a speed pattern from the speed pattern generating means, and a current command value corresponding to the thrust, and a current from the thrust calculating means. Power supply means for supplying power to the propulsion coil based on a command value, and running the vehicle for a short distance based on the output of the speed calculation means. Current pattern generating means for generating a current pattern in the case, wherein the vehicle is moved based on the current pattern from the current pattern generating means only when the vehicle is run for a short distance. .

[0012]

In the present invention, the vehicle is moved based on the current pattern from the current pattern generating means when the vehicle is driven only for a short distance only when the vehicle is driven for a short distance.

[0013]

[Embodiment 1] An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing one embodiment of the present invention, and FIG. 2 is a graph for explaining the embodiment. In the figure, the same reference numerals are given to portions corresponding to FIG. 3, and detailed description thereof will be omitted. Reference numeral 30 denotes a speed pattern signal 1 indicating a speed pattern and a target stop position signal 3 indicating a target stop position.
A speed pattern generator 32 that outputs 1 supplies a switching signal 33 to a switch 34 based on a position detection signal 39 indicating a detection position from a vehicle position detector 38 and a target stop position signal 31 from the speed pattern generator 30. A switching unit 35 switches a current command value signal 36 indicating a current command value for inching operation to one fixed contact 34 of the switch 34 based on a vehicle speed signal 43 from a speed calculator 42 described later.
a, a current commander for supplying a to the speed pattern generator 3
This is a thrust calculator that calculates a thrust required to match the speed pattern signal 1 from 0 to the vehicle speed signal 43 indicating the vehicle speed, and supplies the thrust command signal 11 to the other fixed contact 34 b of the switch 34. Reference numeral 38 denotes a vehicle position detector (e.g., an optical type or a type using an intersection guide line) which is provided along a track and detects the position of the vehicle 18 and outputs a vehicle position detection signal 39; A phase detector that detects a phase equal to the LSM induced voltage phase based on the vehicle position detection signal 39 and outputs the detected phase as a phase detection signal 41. A phase detector 42 calculates a vehicle speed based on the phase detection signal 41 and generates a vehicle speed signal. 43 is a speed calculator outputting 43.

Next, the operation will be described. During normal traveling, when the speed pattern signal 1 generated from the speed pattern generator 30 is supplied to the thrust calculator 37, the thrust calculator 37 is based on the vehicle speed signal 43 from the speed calculator 42. Then, a thrust such that the speed deviation between the speeds indicated by these two signals becomes “0” is calculated, and the result is supplied to the other fixed contact 34 a of the switch 34. In the current command unit 35, a current command value signal 36 is generated based on the vehicle speed signal 43 from the speed calculator 42, and this current command value signal 36 is connected to one of the fixed contacts 34 of the switch 34.
a.

On the other hand, the switch 32 is provided with a vehicle position detector 38.
Vehicle position detection signal 39 and speed pattern generator 3
Based on the target stop position signal 31 from 0, how much the vehicle 18 is from the target stop position is detected, and as a result a switching signal is supplied. When the train is running, the movable contact 34c of the switch 34 is set to the other position. It is connected to the fixed contact 34b. Therefore, thrust command signal 11 from the thrust calculator 37 is supplied to the multiplying adder 12 via the switch 34, in this multiplier 12, and the thrust command signal 11 and the phase detection signal 41 is multiplied, the result is the current The pattern signal 13 is supplied to the power converter 14. The power converter 14 generates three-phase AC power by using a cycloconverter or an inverter.
6 is supplied with a three-phase alternating current. As a result, the vehicle 18
A thrust is generated between the field coil 17 and the propulsion coil 16, and the vehicle 18 moves.

In the inching operation, that is, when the switching unit 32 receives the position detection signal 37 from the vehicle position detector 38 and the target stop position signal 31 from the speed pattern generator 30,
Accordingly, when the vehicle 18 stops with a deviation from the target stop position and the deviation exceeds an allowable range (normally several tens cm), the movable contact 34c of the switch 34 is turned on by the switching signal output from the switch 32. Fixed contact 3
4a, whereby the current command value signal 36 from the current command device 35 is supplied to the multiplier 12. Multiplier 1
2, the current command value signal 3 from the current command device 35
6 is multiplied by the phase detection signal 41 from the phase detector 40, and the result of the multiplication is supplied to the power converter 14 as a current pattern signal 13. And this power converter 14
Generates three-phase AC power using a cycloconverter or an inverter, and causes the propulsion coil 16 to pass three-phase AC current. As a result, a thrust is generated between the field coil 17 and the propulsion coil 16 of the vehicle 18, and the vehicle 18 moves according to the inching pattern.

Next, a current command generated by the inching current command device 35 will be described with reference to FIG. FIG.
, The point from the point P1 to the point P2 is a section in which the current rises with an inclination in consideration of the riding comfort.
Reference numeral 3 denotes a section in which a constant current, that is, a constant thrust is given, and points P3 to P4 are sections in which the vehicle has shifted from acceleration to braking, and is controlled until the current reaches a constant current value. Also,
Point P5 indicates a state in which the electric brake is released, and the stationary brake is operating instead. That is, at the time of inching, the instructing operation can be automatically performed by the current commander 35 giving a current command as shown in FIG.

Usually, the inertia of the vehicle is large and the starting resistance is large. Therefore, when the vehicle is moved by a small distance, a brake command is issued immediately after the vehicle starts moving and the vehicle is likely to overrun unless the vehicle is stopped. Therefore, FIG.
The timing of the point P3 is to detect the speed of the vehicle and to detect that the vehicle has begun to move, that is, to detect a condition such as speed ≧ 1 km / h. As described above, the thrust can be directly controlled when the current is directly commanded ( if the phase of the current and the voltage (back electromotive force) is constant in the linear synchronous motor, the current and the thrust are in a proportional relationship. Is)
Therefore, control can be performed with good response.

As described above, in the present embodiment, at the time of inching operation, the switch 32 selects the inching current command value signal 36 output from the current command device 35, and this inching current command value signal. Since 36 is input to the multiplier 12, the vehicle can be accurately moved without overrunning from the target position even if the distance is as small as about several tens of cm.

Embodiment 2 FIG. In the above-described embodiment, the timing of switching from the power running to the brake is performed by detecting the speed. However, the acceleration and the position may be included in the detection condition.

[0021]

As described above, according to the present invention, a linear synchronous motor having a propulsion coil arranged along a track on the ground and a field coil mounted on the vehicle opposite to the propulsion coil. A position detecting means for detecting a relative position between the propulsion coil and the field coil; a speed calculating means for calculating a speed of the vehicle based on a position detection signal from the position detecting means; A thrust calculating means for calculating a thrust based on the speed information from the calculating means and the speed pattern from the speed pattern generating means to obtain a current command value according to the thrust; and a thrust calculating means based on the current command value from the thrust calculating means. A power supply unit for supplying power to the propulsion coil, and a current for generating a current pattern when the vehicle travels a short distance based on an output of the speed calculation unit Turn generating means, and the vehicle is moved based on the current pattern from the current pattern generating means only when the vehicle travels for a short distance. However, there is an effect that the vehicle can be accurately moved without overrunning from the target position.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a control device for a linear synchronous motor according to the present invention.

FIG. 2 is a diagram for explaining an operation of a control device for a linear synchronous motor according to the present invention.

FIG. 3 is a block diagram showing a conventional linear synchronous motor control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 12 Multiplier 14 Power converter 16 Propulsion coil 17 Field coil 18 Vehicle 32 Switch 34 Switch 35 Current commander 37 Thrust calculator 38 Vehicle position detector 40 Phase detector 42 Speed calculator

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B60L 13/03-13/10 H02P 5/00 101 H02P 7/00 101

Claims (1)

(57) [Claims] An apparatus for controlling a linear synchronous motor, comprising: a propulsion coil disposed along a track on a ground side; and a field coil mounted on a vehicle so as to face the propulsion coil. Position detecting means for detecting a relative position of the magnetic coil; speed calculating means for calculating the speed of the vehicle based on a position detection signal from the position detecting means; speed information and speed pattern generating means from the speed calculating means A thrust calculating means for calculating a thrust based on the speed pattern from the motor and obtaining a current command value corresponding to the thrust; and a power supply means for supplying power to the propulsion coil based on the current command value from the thrust calculating means. And current pattern generating means for generating a current pattern when the vehicle travels a short distance based on the output of the speed calculating means, A control device for a linear synchronous motor, wherein the vehicle is moved based on the current pattern from the current pattern generating means only when the vehicle travels for a short distance.