JP3697498B2 - Method and apparatus for controlling levitation / landing of attraction type magnetically levitated vehicle - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a method and apparatus for controlling the ascent and landing of an attraction-type magnetically levitated vehicle supported by a plurality of carriages, and more specifically, the levitation of a plurality of carriages supporting the vehicle at the start of levitation and landing (end of levitation). The present invention relates to a method and apparatus for controlling force.
[0002]
[Prior art]
Among the magnetic levitation railways, the levitation force is obtained not by magnetic repulsive force but by attraction, and generally called the attraction type magnetic levitation railway, the vehicle can be switched between levitation and landing while the vehicle is stopped. It is known.
[0003]
That is, since the levitation electromagnet and the propulsion device (linear motor) are provided in the attracting magnetic levitation vehicle, the levitation / landing switching can be performed by independently driving the levitation electromagnet separately from the propulsion device. Because it can.
[0004]
In the case of an attraction type magnetically levitated vehicle, in order to secure the levitating force of a heavy vehicle of several tons with the magnetic attraction force between the ground-side laying rail and the electromagnet, the gap between the rail and the track is as much as possible. On the other hand, it is desirable to provide a large number of the electromagnets continuously on the vehicle side, while it is simultaneously required to be able to follow these many electromagnets along a rail in which a straight track and a curved track are continuous. For this reason, as shown in FIG. 3 as an example, in the attraction type magnetically levitated vehicle, a plurality of carriages 2, 2,... In this example, three cars on one side, a total of six cars) are connected along the rail 3, and the levitation electromagnets 21 are assembled to the carriage 2 respectively, and each carriage 2 suspends the vehicle body 1 from a suspension device (not shown), a spring. In general, a characteristic configuration in which the devices 4 are supported independently via the device 4 is employed.
[0005]
The above-mentioned vehicle is usually provided with a primary side of a linear motor as a propulsion device, and a mechanical brake device is usually provided so as to act between a carriage and a rail. Is not provided for all carts, but is often provided for some carts.
[0006]
[Problems to be solved by the invention]
By the way, the attraction type magnetically levitated vehicle floats the vehicle body by attracting the levitation electromagnet to the laying rail fixed on the ground side, and in the landing state, a rail engaging portion (hereinafter referred to as “skid”) provided on the carriage. Since it is supported by engaging with the rail upper surface, the size of the gap between the electromagnet for levitation and the rail (the vertical separation distance) is naturally larger at the time of landing than at the time of levitation, and the size of the magnetic gap at the time of landing. Is generally assumed to be “gl”, and in order to keep the contact probability between the lower part of the spring and the rail at the time of vehicle travel to a minimum, the magnetic gap at the time of floating is assumed to be “gf”, and gl≈2 · gf
Usually it is set to a degree.
[0007]
Here, if the exciting current of the magnet is I and the magnetic gap is g, the attractive force of the levitation electromagnet is proportional to the square of (I / g). At the start of levitation, the gap gl is twice as large as the normal levitation gap gf as described above, and it is necessary to have substantially the same suction force to support the weight of the vehicle body. It means that twice as much is required, and as a result, it can be seen that the power to be supplied to the levitation electromagnet at the start of levitation is four times that of normal levitation.
[0008]
This is the same when landing, and in order to land the vehicle in a controlled state rather than a natural fall state with an impact (engagement of the skid to the rail), it is almost the same as when ascending to the moment of landing. Since the same suction force is required, as described above, if the gap at the time of landing is set to double that of normal ascent, supply power needs to be four times that of normal ascent.
[0009]
That is, when the landing vehicle is levitated or when the levitating vehicle is landed, the excitation current of the entire levitating electromagnet instantaneously doubles that of normal levitation, and the supply of the levitating power device Electric power needs to be four times that of normal ascent.
[0010]
However, it is wasteful in terms of equipment and is as light as possible to prepare such a power device that can supply power that is four times as high as the surface of the surface in order to guarantee the instantaneous power that is required temporarily. However, this would lead to an increase in the weight of a desirable floating vehicle.
[0011]
One of the objects of the present invention is to solve such a problem, and to lift an attraction type magnetically levitated vehicle that can minimize excessive power concentration (instantaneous power) at the start of vehicle ascent or landing on the vehicle.・ To provide a landing control method and apparatus.
In addition, this vehicle is usually provided with a mechanical brake device, and this mechanical brake device is configured to hold the rail and restrain the positional relationship between the rail and the vehicle in the track direction to generate a braking force. However, this restraining force also acts in the vertical direction. Therefore, if the levitation / landing control of the attraction type magnetically levitated vehicle is performed in this brake operating state, an overcurrent flows through the levitation electromagnet, which may cause a problem with the excitation device.
[0012]
Another object of the present invention is to solve such a problem and to prevent the overcurrent from flowing to the levitation electromagnet at the start of levitation of the vehicle or at the time of landing of the vehicle. A control method and apparatus are provided.
[0013]
Furthermore, when the levitation control that does not cause excessive consumption of the instantaneous power described above in the attraction-type magnetic levitation vehicle is performed from the state where the vehicle has landed on the slope track, an overcurrent is generated in the levitation electromagnet described above. It is necessary to prevent the vehicle from flowing and prevent the vehicle from inadvertently moving down the slope.
[0014]
Another object of the present invention is to provide a levitation / landing control method and apparatus for an attraction type magnetically levitated vehicle, which can solve the above-mentioned problem and can satisfactorily perform control at the start of levitation on a slope track. There is to offer.
[0015]
[Means for Solving the Problems]
The features of the levitation / landing control method and apparatus of the attraction type magnetically levitated vehicle according to the present invention for achieving the above object are as described in the claims.
[0016]
A feature of the ascent and landing control method for an attraction type magnetically levitated vehicle according to claim 1 of the present application is that a levitating electromagnet that acts on a magnetic attraction force between a vehicle body and a ground-side fixed rail suspended from the vehicle body. A method for controlling the ascent and landing of an attraction type magnetically levitated vehicle including a plurality of trolleys having a plurality of trolleys, wherein the levitation start operation from the rail or the landing operation on the rail is temporally performed in all or a part of the plurality of trolleys. It is in the place that gave the gap.
[0017]
In the above, “giving a time lag” means that at the start of the ascent operation from the rails of a plurality of carriages or at the start of a landing action on the rails of a plurality of carriages, all the carriages are started to float or land at the same time. It means not to. The deviation time is determined within a range in which excessive instantaneous electric power does not overlap in time, and is generally about 0.2 to 1.5 seconds, preferably 0 although it depends on the speed of ascent operation. A time lag of about 5 seconds may be given. In order to prevent time lags, if all of the carts suspended in the vehicle are not simultaneous, it is divided into groups for some carts, and within one group and between other groups. Then, any configuration can be adopted, for example, when it is not simultaneous. According to the latter grouping method, for example, by grouping for each truck in a symmetrical position on the left and right and front and rear of the vehicle, it is possible to eliminate the tendency of the vehicle body to tilt instantaneously when starting ascent and landing Is obtained.
[0018]
The present invention is a system in which a straddle-type vehicle travels on a pair of left and right rails laid in parallel, and a system in which a suspension-type vehicle travels under one rail or two parallel rails. It can be applied to any attraction type magnetically levitated traveling vehicle. In the following description, a straddle-type vehicle will be described as a representative example. In this case, the vehicle body is referred to as an upper spring as being located above the spring device, and the carriage is referred to as an unspring as being located below the spring device. There is.
[0019]
In the example of FIG. 3, the above-described attraction type magnetically levitated vehicle includes a vehicle body 1 as a spring upper portion on which passengers, passengers, cargo, etc. ride, an electromagnet 21 for levitation, a primary side of a linear motor, a mechanical brake device 22, etc. The carriage 2 as a lower part of the structure is assembled to the carriage structure, and the carriage 2 and the vehicle body 1 are moved in the orbital (x-axis) direction and around the x-axis out of three-dimensional degrees of freedom. Rotation is constrained, but the other four degrees of freedom (movement in the y-axis and z-axis directions, and rotation around the y-axis and z-axis) are allowed to be connected by a suspension device, thrust link, air spring 4, etc. Can be illustrated as a representative one.
The mechanical brake device (hereinafter simply referred to as “brake device”) is not limited, but generally has a configuration in which a plate portion continuous in the rail track direction is pressed with a brake pad. It is done.
[0020]
In the invention of claim 2 of the present application, at least one of the plurality of carriages included in the attraction type magnetically levitated vehicle includes a brake device that applies a mechanical braking force to the rail. The levitation control is performed so as to release the braking action of the brake device at the start of the levitation of the carriage provided with the brake device. By doing so, it is possible to reduce the possibility that the exciter and the like break down due to an overcurrent generated when the ascent is started in a restrained state between the rail on which the mechanical braking force is applied and the carriage.
[0021]
Note that whether or not the braking of the brake device is acting can be performed by detecting the state of the brake operating device or the like, and the operation of the operating unit having a brake pad or the like is appropriately detected by a torque sensor or the like, for example. It is more preferable to provide it so that it can be detected in order to ensure reliable control.
[0022]
The invention of claim 3 of the present application is characterized by an ascending control method effective for preventing unintentional movement of a vehicle when starting on a hill, and a carriage for starting ascent at the end of a time shift is provided. The vehicle is provided with a brake device, and the propulsive force of the vehicle propulsion device is applied simultaneously with the start of the ascent. In this way, even if the dolly, which has been levitated in advance, releases the braking of the brake device and ascends, the vehicle is in the position of the brake device provided by the dolly that rises last in relation to the rail. The carriage that does not move because it is constrained and floats at the end does not generate an overcurrent because it lifts by releasing the brake device at the start of its ascent, and at the same time as it rises, it activates the propulsion device to generate thrust By doing so, the unexpected movement of the vehicle can be prevented.
[0023]
Here, the action of the propulsive force of the propulsion device “simultaneously” with the start of the last descent of the carriage means that there is substantially no delay, and the degree of the delay (for example, 0 (About 5 seconds) is determined by design within a range where there is no harmful effect caused by vehicle slippage.
[0024]
According to a fourth aspect of the present invention, at least one of the plurality of carriages included in the attraction type magnetically levitated vehicle includes a brake device that applies a mechanical braking force to the rail. In this case, instead of starting to float after releasing the brake as described above, or together with this, the control is performed to prohibit the operation of starting the vehicle from the rail during the braking operation of the brake device.
[0025]
By doing so, the ascent will not start before the braking of the brake device is released, and it will be possible to start ascending only after the braking is released. The possibility that the exciter or the like may break down due to an overcurrent generated in the event of a failure can be reliably prevented.
[0026]
The feature of the levitation / landing control device of the attraction type magnetic levitation vehicle according to claim 5 of the present application is that the levitation that acts on the traction force between the vehicle body and the ground-side fixed rail. A plurality of carts having electromagnets, a brake device that is provided on at least one of the carts and applies a mechanical braking force between the rails, and an excitation current is supplied to the levitation electromagnets of the carts In the attraction-type magnetic levitation vehicle provided with the electric power device, the control means for controlling the timing of supplying the exciting current for starting and / or landing to the levitation electromagnet from each electric power device, the control means includes: In this configuration, the excitation current supply timing for starting and / or landing is controlled so as to be shifted in time between the plurality of carriages.
[0027]
As described above, the control that gives the time lag is to make all of the carts suspended in the vehicle not to be simultaneous. Any of the cases where it is not simultaneous with the other groups can be adopted.
[0028]
The control means can be configured as, for example, a sequencer that applies excitation currents of the levitation electromagnets to a plurality of carts in a predetermined order when a vehicle levitation start signal is commanded. The same applies when a landing start signal is commanded.
[0029]
It is also possible to add a control element for preventing overcurrent generation and starting a slope when the braking device is braking. For example, the following configurations can be adopted as appropriate.
[0030]
(B) A detector for determining whether the brake device of each carriage is operating is provided, and when it is detected that the brake pressure is operating, the excitation current is applied to each levitation electromagnet by the sequencer. A prohibition circuit is provided in the control circuit so as not to exist.
[0031]
(B) When starting to ascend on a slope, the carriage that has been levitated earlier releases the braking device and causes it to ascend. For the dolly that rises later, the brake or landing skid is applied to the In addition to fixing the position, after the completion of the rising of the preceding carriage, if the brake device is operating, remove the brake device and start ascent, and immediately after the ascent, the propulsion by the propulsion device such as a linear motor is applied. A control circuit is configured.
[0032]
【Example】
Hereinafter, the present invention will be described based on embodiments shown in the drawings.
[0033]
1 to 3 illustrate an example of a schematic configuration of an attraction type magnetic levitation vehicle to which the levitation / landing control device of the present invention is applied.
[0034]
In these drawings, reference numeral 1 denotes a vehicle body, which is supported by a plurality of carts 2 (three in each case, three in the left and right in the example of FIG. 3) that constitute the lower part of the spring.
[0035]
As shown in FIG. 2, each carriage 2 is opposed to the rail 3 laid on the ground side from the lower arm portion 26 of the strength structure 25 having a C-shaped cross section (cross section perpendicular to the track direction) from below. Thus, the landing electromagnet 21 is assembled in the orbital direction with almost no gap, and the landing skid portion 23 engaged with the upper surface of the rail 3 and slidable on the upper arm portion 27 of the strength structure 25 is provided. Also, the upper arm 27 is connected to the vehicle body 1 via the pair of front and rear air springs 4, a suspension device (not shown), a thrust link, and the like.
[0036]
Further, a primary side (not shown) of the linear motor is assembled to the lower surface of the upper arm portion 27 to configure the linear motor with the rail 3 as the secondary side. Further, as shown in FIG. A hydraulic cylinder type brake device (detailed structure not shown) 22 that grips and presses the outer arm portion of the inverted U-shaped rail 3 with a pair of brake pads at a substantially central portion in the track direction of each carriage 2. Is assembled.
[0037]
FIG. 2A is a diagram showing a landing state, where the landing skid portion 23 is engaged with the upper surface of the rail 3, and the gap gl between the rail 3 and the levitation electromagnet 21 is maximized. . FIG. 2B is a diagram showing a normal levitation state. The landing skid portion 23 is spaced upward from the upper surface of the rail 3, and the gap gf between the rail 3 and the levitation electromagnet 21 is the maximum in the present example. A state in which the gap is approximately ½ of the gap gl is shown.
[0038]
FIG. 1 shows an outline of a control system for performing the levitation / landing control characteristic of the present invention in the attraction type magnetically levitated vehicle having the above configuration, and shows a plan view of six carriages of the vehicle. The signal transmission relationship between the levitation electromagnet 21, the brake device 22 and the control device 5 of each carriage 2 and the transmission relationship of the monitor signal from a sensor (not shown) for detecting the levitation and landing of each carriage 2 are shown. Yes.
[0039]
That is, the control device 5 uses various commands given by the driver operating the operation panel etc. as operation command signals, monitors signals from the sensors that detect the rising and landing of the cart 2, and other An appropriate monitor signal (for example, a detection signal indicating whether or not the brake device is operating) is provided as a monitor input signal. And according to these operation command signals and monitor input signals, the levitation electromagnet 21 and the brake device 22 of each carriage are controlled in accordance with a sequence programmed in advance.
[0040]
In this example, the control device 5 can drive and control the drive devices (No 1 to No 6) of the levitation electromagnets 21 of each carriage independently via the levitation control bus 51, and also via the brake control bus 52. Thus, the brake devices 22 (# 1 to # 6) provided in each carriage 2 can be independently driven and controlled.
[0041]
Several specific examples of ascent and landing control performed by the ground control system having the above configuration will be described below.
[0042]
(1) Levitation / landing control with brake not activated (flow in Fig. 4)
The brake devices 22 of all the carriages 2 of the vehicle stopped in the levitated state are released, and in this state, the excitation by the drive device of each levitating electromagnet 21 is performed at intervals of 0.5 seconds, for example, in the order of No1 to No6. The landing is sequentially controlled to land the cart 2. Thereby, each carriage 2 lands quickly and quietly from the state of FIG. 2B to the state of FIG.
[0043]
The excitation current at the moment of landing of each carriage 2 needs to be twice as much as that in the floating state as described above, and the consumption of instantaneous power is four times as great. In the above example, these are all zero. Since the shift is performed every 5 seconds, the instantaneous power consumption of the levitating electromagnets 21 of the six carts is not quadrupled as a whole, and the instantaneous power is only increased to several tens of percent at most.
[0044]
In addition, until it is confirmed in the above that the brake devices 22 of all the carts are in the brake release state, the start of the landing control can be prohibited, thereby forcing the landing with the brake applied. It is possible to prevent the malfunction of the exciter and the like due to the resulting overcurrent.
[0045]
On the other hand, when levitation control of each cart 2 in the landing state is performed, the excitation by the driving device of each levitation electromagnet 21 is sequentially levitated at intervals of, for example, 0.5 seconds in the order of No. 1 to No. 6 as described above. If controlled, when the sixth carriage starts to rise, the instantaneous power only increases to about several tens of percent as compared to the normal rise.
[0046]
(2) Ascent control on a slope (by group) (flow in Fig. 5)
It is confirmed that the brake devices 22 of all the trolleys 2 of the vehicle in the landing state are in a released state, and the brake devices that are not released are released.
[0047]
In this state, the levitation electromagnets 21 of the No. 1, No. 2, No. 5, and No. 6 carts 2 are simultaneously excited to float the cart, and after completion of the levitation, the brake device 22 of the No. 1, No. 2, No. 5, No. 6 cart 2 is operated. Put it in a state.
[0048]
After that, after confirming the brake release of the brake device of the No. 3 and No. 4 cart 2 and releasing the brake when necessary, the levitation electromagnet 21 is simultaneously excited to lift the cart and complete the levitation.
[0049]
In this way, no braking by the brake device is applied at all until the trucks No. 1, No. 2, No. 5, and No. 6 are lifted from the initial landing state and the brake devices are reactivated. The frictional force caused by landing on the rail does not cause unnecessary forward or backward movement even if the vehicle is in a gradient section.
[0050]
(3) Landing control on a slope (by group) (flow in Fig. 6)
In the case of landing control, for example, when a vehicle stop is detected by a traveling state detection sensor or the like that detects relative movement with respect to the rail, the brake devices 22 of the trucks No. 1, No. 2, No. 5, and No. 6 are operated to operate the vehicle. Ensure braking.
[0051]
In this state, after confirming the brake release of the brake devices of the No. 3 and No. 4 carts 2 that are not braked and releasing the brakes when necessary, the floating electromagnets 21 of the No. 3 and No. 4 carts 2 are released. At the same time to land the carriage.
[0052]
Thereafter, braking of the brake devices 22 of the trucks No. 1, No. 2, No. 5, and No. 6 is released, and then the levitation electromagnets 21 of these carriages 2 are simultaneously landed to land the carriage to complete the landing control. .
[0053]
In this way, the vehicle is unnecessary due to the frictional force of the No. 3 and No. 4 trucks 2 that have landed first, even in a state where the brakes of No. 1, No. 2, No. 5, and No. 6 modules are in a slope section such as a slope. Never move forward or backward.
[0054]
When the slope is very steep and the landing friction force of the No. 3 and No. 4 carts 2 cannot sufficiently brake the movement of the vehicle, the brake devices of these carts 2 are activated after the No. 3 and No. 4 landings. Of course, you can make it.
[0055]
(4) Ascent control on the slope (flow in Fig. 7)
In the control (2), after the levitation electromagnets 21 of the trolleys 2 of No. 1, No. 2, No. 5, and No. 6 are simultaneously energized to lift the trolley, these brake devices 22 remain in the brake released state.
[0056]
The levitation electromagnets 21 of the No. 3 and No. 4 trolleys 2 are simultaneously energized to float the trolleys, and at the same time as the levitation starts, thrust is generated by the linear motors of the trolleys 2 to prevent the vehicle from sliding down on a slope. To do.
[0057]
In this way, it is possible to perform vehicle levitation control without operating the brake device even on a slope.
[0058]
Note that the present invention is not limited to the control methods described above by way of example, and it is possible to set the drive control of the levitation electromagnet or the operation linkage with the brake device for each of the necessary patterns. In particular, if these are set in advance as a sequence program, appropriate ascent / landing control is automatically performed by linking appropriate sensors for detecting the state of the vehicle, such as a vehicle speed detector and a reverse detector. It becomes possible to do.
[0059]
【The invention's effect】
According to the present invention, the following effects are exhibited in the levitation / landing control of the attraction type magnetically levitated vehicle.
[0060]
(B) Attraction-type magnetic levitation vehicles supported by multiple trolleys require instantaneous power that is four times the maximum normal levitation when floating or landing at the same time. Concentration of power can be avoided by deviating from the target.
[0061]
Therefore, the burden on the necessary power device is reduced.
[0062]
(B) When a mechanical brake device is used, it is possible to prevent excessive excitation current caused by ascent and landing in the brake operation state by always releasing the brake device at the start of ascent and landing. It is possible to avoid the possibility of causing an excitation device failure due to overcurrent.
[0063]
(C) When controlling levitation and landing on a slope, the levitation electromagnet and brake device of each truck are linked and controlled to prevent the vehicle from sliding down (forward or backward) on the slope. it can.
[0064]
(D) Appropriate ascent and landing control according to a preset sequence program can be automated and realized by using an appropriate sensor or the like for detecting the state of the vehicle.
[Brief description of the drawings]
FIG. 1 is a diagram showing an example of a schematic configuration of a control circuit of the present invention configured to perform levitation / landing control in an attraction type magnetically levitated vehicle having a plurality of trolleys (trolleys 2).
FIG. 2 is a diagram showing a positional relationship between a trolley (cart 2) and a rail of a suction type magnetically levitated vehicle to which the present invention is applied when landing and ascending.
FIG. 3 is a diagram showing a relationship between a cart (cart 2), a vehicle body, a levitation device, a control device, and the like of an attraction type magnetic levitation vehicle to which the present invention is applied.
FIG. 4 is a flowchart of levitation / landing control in a brake device non-operating state.
FIG. 5 is a flowchart of ascent / start control on a slope.
FIG. 6 is a flowchart of stop / landing control on a slope.
FIG. 7 is a flowchart of ascent / start control on a slope.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Vehicle body, 2 ... Bogie, 3 ... Rail, 4 ... Spring, 5 ... Control device, 21 ... Levitation electromagnet, 22 ... Brake device, 51 ... Ascent control bus, 52 ... Brake control bus.

Claims (5)

A method for controlling the levitation / landing of an attraction type magnetically levitated vehicle comprising a vehicle body and a plurality of carriages having levitating electromagnets suspended on the vehicle body and acting with a magnetic attraction force between the vehicle body and a fixed rail on the ground side. A method for controlling the ascent and landing of an attraction type magnetically levitated vehicle, characterized in that, in all or a part of the plurality of carriages, a time lag is given to an ascending start operation from the rail or a landing operation on the rail. 2. The mechanical brake device according to claim 1, wherein at least one of the plurality of carriages includes a mechanical brake device that applies a mechanical braking force to the rail. A method for controlling the ascent and landing of an attraction type magnetically levitated vehicle, wherein the braking action of the device is released. The attracting magnetic levitation at the start of hill as claimed in claim 2, wherein the trolley that finally starts levitation is a trolley equipped with a mechanical brake device, and the driving force of the vehicle propulsion device is applied simultaneously with the start of levitation. Vehicle levitation / landing control method. 2. The operation according to claim 1, wherein at least one of the plurality of carriages includes a mechanical brake device that applies a mechanical braking force to the rail, and the vehicle starts to float from the rail when the mechanical brake device is applied. A method for controlling the ascent and landing of a suction type magnetically levitated vehicle, characterized in that A plurality of carriages having levitation electromagnets that are suspended by the vehicle body and suspended by the vehicle body and that exert magnetic attraction between the ground-side fixed rails, and rails provided on at least one of the carriages A mechanical brake device that applies a mechanical braking force, a power device that supplies an excitation current to the levitation electromagnet of each carriage, and an excitation current for starting and / or landing the levitation from the power device to each carriage. In the control means for controlling the timing to supply the levitation electromagnet, and the attraction type magnetic levitation vehicle,
The control means is configured to control the supply timing of excitation current for the start and / or landing of the levitation so as to be shifted in time between a plurality of carriages. Landing control device.

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