JPH04101603A - Underwater linear transportation system - Google Patents

Abstract

PURPOSE:To improve the transportation efficiency by disposing the primary and the secondary of a linear induction motor, respectively, on an underwater rail and a vehicle having watertight structure while opposing to each other and driving the vehicle with the difference between the net weight of the vehicle and the buoyancy thereof being set at a low value. CONSTITUTION:A rail 2 is laid on the top of a support 3 planted on the bottom of a water tank 11. The rail 2 is constructed in waterproof structure having reverse trapezoidal cross section in which the primary 4 of a linear induction motor comprising a slotted core 9 applied with a three-phase winding 10 is disposed in the longitudinal direction of the rail 2. A unit controller comprising an inverter 12 and a control section 13 feeds the rail 2 with power through the hollow section of the support 3 and further communicates control signals therewith. Secondary 6 of the linear induction motor composed of a nonmagnetic body such as a copper board or an aluminum board is disposed oppositely to the primary 4 in the body of the vehicle 1. The vehicle 1 comprises an axle 7 supporting the body during stoppage and guide wheels 8, and the weight thereof is set slightly larger than the buoyancy thereof. According to the constitution, transportation efficiency is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an underwater linear transportation system in water or in a liquid.

[Conventional technology]

Recently, the inventors of the present invention have proposed a concept of driving a vehicle underwater or under the sea.

Specifically, the idea is to lay a track underwater or under the sea, and run a linear motor car along this track.

In a conventional magnetically levitated linear motor car on the ground, the force for levitating and propelling the movable element or movable element is constituted by independent elements.

For example, JP-A-1-206805 and JP-A-1-2
Japanese Patent No. 38405 discloses a method in which a moving element is levitated by the attractive force of an electromagnet or a repulsive force of a magnet, and the moving element is propelled using various linear motors.

However, in such a system, the levitation force is composed of separate elements such as an electromagnet and a propulsion force near motor, which complicates the structure of the device and increases costs.

[Problem to be solved by the invention]

The present invention takes into consideration the fact that the vehicle travels underwater or under the sea, and aims to offset most of the vehicle's own weight using buoyancy and obtain propulsive force using a linear motor.

[Means to solve the problem]

In order to achieve this objective, the underwater linear transportation system of the present invention has a track installed underwater and a closed structure whose self-weight has a slight difference in buoyancy compared to the buoyancy, and which is constructed so as to be freely movable along the track. A vehicle, a primary side of a linear induction motor arranged on the track, a secondary side of a linear induction motor provided on the vehicle and arranged opposite to a primary side of the linear induction motor, and their primary sides. The present invention is characterized in that the vehicle is provided with travel control means for applying propulsive force by a linear induction motor formed by a secondary side of the vehicle, and wheels that support the difference between the vehicle's own weight and buoyancy with respect to the track.

In this case, in order to further reduce the difference between the vehicle's own weight and the buoyancy force applied to the wheels, the linear induction motor generates an electromagnetic force corresponding to the difference between the vehicle's own weight and the buoyancy force, and the vehicle runs without contact with the track. It is also possible to provide control means for causing the

[Effect]

When a linear motor car is a ground vehicle, the weight of the vehicle is directly applied to the track, so magnetic levitation means is required to offset the weight.

The purpose of the present invention is to drive underwater, and in that case, focusing on the fact that buoyancy acts on the vehicle, a slight difference is created between the vehicle's own weight and buoyancy, and only that difference is applied to the wheels or linear This is supplemented by the magnetic repulsion or magnetic attraction force of the induction motor.

The magnetic repulsion force and magnetic attraction force caused by the linear induction motor will be briefly explained.

Figure 1 shows the principle of magnetic levitation according to the present invention. When a three-phase alternating current is passed through the primary winding of a linear induction motor, an eddy current flows through the secondary conductor made of a non-magnetic conductor, and the eddy current flows in the vertical direction. A magnetic repulsion force F, and a propulsive force F8 are generated in the traveling direction of the shifting fJJ m field. This magnetic repulsion force F and propulsive force F.

is expressed as a function of the current I, the number of turns N1 of the negative winding, the surface vIS of the air gap, the gear length g1, the slip S, etc.

This magnetic repulsion force F8 is used for the floating force of the moving element, that is, the vehicle, and the propulsive force F is used for the propulsive force of the vehicle. This magnetic repulsion force is too small to levitate a vehicle in the air, but if the vehicle's own weight is slightly greater than the buoyancy force in water, it becomes possible to levitate the vehicle even with a small levitation force. .

Furthermore, if a magnetic yoke is provided on the back side of the secondary conductor as shown in Figure 2, an attractive force F, /
A propulsive force F8' is generated.

Therefore, if the weight of the vehicle is made smaller than the buoyancy force and the difference between the buoyancy force and the buoyancy force is offset by the attraction forces F and L, the apparent weight becomes zero and magnetic levitation occurs.

〔Example〕

Hereinafter, the present invention will be specifically explained based on Examples.

FIG. 3 is a sectional view showing a test device for an underwater linear transportation system to which magnetic levitation using magnetic repulsion of FIG. 1 is applied.

The underwater linear motor is composed of a vehicle 1 designed and manufactured to have a weight slightly heavier than the buoyancy, a track 2, a support 3, and a controller 5 that supplies current to the primary winding 4 of the linear induction motor placed within the track. has been done. The vehicle 1 is arranged and fixed such that the secondary side 6 of a linear induction motor made of a non-magnetic conductor such as a copper plate or an aluminum plate faces the primary side 4 of a linear induction motor placed inside the track 2 in the vehicle body. has been done. In addition, wheels 7 are provided to support the vehicle body when the vehicle is not floating, and wheels 8 are provided to prevent yawing during floating motion, and for guiding purposes. The size of the vehicle 1 is designed and adjusted to the extent that it is slightly heavier than the buoyant force it receives from the liquid. In this embodiment, the wheels 8 are provided diagonally because both sides of the track 2 are oblique, but they are divided into two, a vertical wheel and a horizontal wheel, and the track also has a vertical part and a horizontal part. It is also possible to provide support at one location.

A primary side 4 of a linear induction motor is arranged and fixed on the track 2, and is configured by an iron core 9 having a slot and a three-phase winding 10 disposed within the slot. Further, the track 2 has a waterproof structure to protect the primary side 4 of the linear induction motor disposed inside from water or liquid.

The support column 3 supports the track 2, and has a hollow section inside thereof, into which the windings of the linear induction motor and the signal lines of the sensor can be wired.

The controller 5 has an inverter 12 that supplies current to a primary winding 10 of a linear induction motor arranged on the track 2 and a control circuit 13 thereof.

The inverter 120 control circuit 13 is shown in FIG. This control circuit 13 includes a frequency control section 20 and an output current control section 30. A frequency command with a constant frequency is given to the frequency control unit 20, and a two-phase voltage controlled oscillator 21 generates a two-phase AC signal with a frequency corresponding to the magnitude of the frequency command, which is given to the current amplitude regulator 22, It is converted into a 3-phase AC signal by the 2-phase to 3-phase converter 23, phase-converted by the pulse width modulation amplifier 24, and supplied to the inverter 12 to supply power to each phase of the linear induction motor to control the oven loop. will be done. On the other hand, the current control section 3
0, the current amplitude calculation circuit 31 calculates a voltage corresponding to the amplitude of the primary current vector of the linear induction motor, the deviation from the current command is given to the proportional/integral controller 32, and the current amplitude regulator 22 calculates the amplitude. Control takes place. This current control section 30 forms a current feedback loop.

In addition, when the track is long, the power supplied to the primary winding of the linear induction motor is divided into multiple blocks, so the power is supplied to the inverter 12 as shown in FIG.
-1 to 12-m are prepared, and in which block is the vehicle 1
A vehicle position detector (not shown) detects whether there is a
Switches 14-1 to 14- determine which inverter is energized.
Switching is performed by m.

In order to levitate and run the vehicle 1, the frequency of the inverter 12 is fixed at a certain value, and a current command pattern is set from the state where the vehicle 1 contacts the track 2 with its wheels until the levitation gap reaches a certain command value. As shown in FIG. 6(a), frequency and current commands are given to the inverter 12 from the control circuit based on the results. As a result, current flows from the inverter 12 to the primary winding 4 of the linear induction motor, and levitation force and propulsion force act on the vehicle 1, which was in contact with the track 2 with its wheels 7, so that it levitates to a predetermined gap length and is propelled. . An example in which the levitation, speed, and moving distance of the vehicle 1 at that time are determined with respect to time is shown in FIG. 6 et al.

In addition, as another method of utilizing the magnetic repulsion shown in Fig. 1, the primary side of the linear induction motor is provided facing the lower surface of the track, and the secondary side provided on the vehicle is opposite to this primary side and further lower surface. By providing a buoyancy system that makes the vehicle's own weight a little lighter than the buoyancy, it is possible to lower the vehicle while it is being sucked in from below while driving.

FIG. 7 is a sectional view showing the testing device for the underwater linear transportation system using magnetic attraction shown in FIG.

In this system, a magnetic yoke 15 is provided as a secondary iron core on the upper part of the secondary side 6 of the linear induction motor, and the weight of the vehicle 1 is made slightly smaller than the buoyancy, so that the wheels 8 are normally in contact with the track 2, and the vehicle is running. At times, magnetic attraction is used to reduce the apparent weight of the vehicle to zero, allowing it to travel with propulsion. Since the magnetic attraction force in this case has a larger absolute value than the magnetic repulsion force in the case of FIG. 1, the weight of the vehicle 1 can be reduced to zero with a relatively small amount of electric power. The other configurations and control circuits are the same as those in the previous embodiment, so their explanations will be omitted.

FIG. 8(a) shows the current command pattern in this system, and FIG. 8(b) shows an example of the levitation, speed, and moving distance of the vehicle 1 versus time.

In addition, as another method of utilizing the magnetic attraction shown in Fig. 2, the primary side of the linear induction motor is provided facing the lower surface of the track, and the secondary side provided on the vehicle is opposite to this primary side and further lower surface. By making the weight of the vehicle slightly heavier than the buoyancy, it is possible to levitate the vehicle by lifting it from below while driving. In this case, it goes without saying that a magnetic yoke is provided on the back surface of the secondary side.

In the above embodiments, the magnetic repulsion or magnetic attraction force of the linear induction motor is used to offset the force corresponding to the difference between the vehicle's own weight and the buoyancy force. Even if the induction motor is simply used as a means of obtaining propulsive force, and the difference between the vehicle's own weight and buoyancy is supported by the wheels, the same effects as in this example can be expected, and the control device is also significantly simpler. can be converted into

[Effect of Hathu]

As explained above, according to the present invention, by utilizing the buoyancy force exerted on the vehicle underwater, linear transportation of the vehicle underwater can be performed with a light load or without contact with the track, thereby reducing friction etc. Efficient transportation can be achieved by eliminating energy loss.

[Brief explanation of drawings]

Figure 1 is a schematic diagram illustrating the principle of generation of propulsive force and magnetic repulsive force of the present invention, Figure 2 is a schematic diagram illustrating the principle of generation of propulsive force and magnetic attraction force of the present invention, and Figure 3 is a schematic diagram illustrating the principle of generation of propulsive force and magnetic attraction force of the present invention. Figure 4 is a cross-sectional view showing a test device for an underwater linear transportation system that applies magnetic levitation using magnetic repulsion, Figure 4 is a block diagram showing an example of the configuration of an inverter control circuit, and Figure 5 is a block diagram of a linear induction motor block operation. An explanatory diagram, FIG. 6 is a time chart of the current command pattern, gap length, etc. in the first embodiment, FIG. 7 is a sectional view showing the second embodiment using the magnetic attraction force of FIG. 2, and FIG. It is a time chart of a current command pattern, gap length, etc. in a 2nd example. 1: Vehicle 2: Track 3: Strut 4: Primary side of linear induction motor 5: Controller 6 Near. 10: 12: 15: Secondary side of linear induction motor 8: Wheel 9 Primary core primary winding 11: Water tank inverter 13: Control circuit 1 to 14-m: Switch magnetic yoke Patent applicant Anyo Electric Manufacturing Co., Ltd. Rihito Kobori Masu Diagram Diagram Tsubo Kannagi's Progress Tm Diagram Chiku 6 Diagram 1 Ro Close (Network) +1)) 11 MI 1 sec) Chikuzu

Claims (1)

[Scope of Claims] 1. A track provided in water, a vehicle with a closed structure whose own weight has a slight difference from buoyancy, and which is installed so that it can run freely along the track, and a vehicle disposed on the track. a primary side of a linear induction motor provided on the vehicle and arranged opposite to the primary side of the linear induction motor; and a primary side and a secondary side of these linear induction motors. What is claimed is: 1. An underwater linear transportation system, comprising: travel control means for applying propulsion by a linear induction motor; and wheels that support the difference between the vehicle's own weight and buoyancy with respect to the track. 2. A track installed in the water, a vehicle with a closed structure whose own weight has a slight difference from the buoyancy force, and is built so that it can run freely along the track, and a primary linear induction motor placed on the track. a secondary side of a linear induction motor provided on the vehicle and arranged opposite to the primary side of the linear induction motor, and a linear induction motor formed by these primary and secondary sides. An underwater linear transportation system characterized by further comprising a control means for generating an electromagnetic force corresponding to the difference between the vehicle's own weight and buoyancy to cause the vehicle to travel without contacting the track. 3. In the underwater linear transportation system according to claim 2,
This underwater linear transportation system is characterized by making the vehicle's own weight slightly larger than its buoyancy, and applying levitation force to the vehicle using a linear induction motor. 4. The underwater linear transportation system according to claim 2,
An underwater linear transportation system that makes the vehicle's own weight slightly smaller than its buoyancy and uses a linear induction motor to provide the vehicle with the force to descend.