JPH04121006A - Magnetic levitation train and attitude control method and device therefor - Google Patents

Abstract

PURPOSE:To prevent nodding of a head vehicle by providing the head vehicle of a magnetic levitation train, in which the vehicles are levitated by means of vehicle mounted electromagnetic coils and the coils on the track, with an independent field generating unit for supplementing the levitation force of the vehicle. CONSTITUTION:Cases 3 housing a set of a plurality of superconducting coils 2 are fixed to the lower parts on the opposite sides of a body 1. In a head vehicle, the cases 3 are fixed at the front of the body 3 and at the joint to a second vehicle. A case 7 housing a superconducting coil 6 is further fixed in front of the head case 3. Levitation coils 5 are laid on a track and an excited superconducting coil 2 is subjected to repulsion when it passes thereover. When the coil 2a passes over the coil 5a, the coil 2a is subjected to a high repelling force because the coil 5a is previously fed with a small quantity of induction current from the coil 6. According to the constitution, a nodding phenomenon of the head vehicle can be prevented without requiring auxiliary blade and attitude control can be carried out stably even under a bad weather.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a magnetic levitation train in which the body of a railway vehicle is levitated using the repulsive force of a magnet, and a method and apparatus for controlling its attitude.

[Conventional technology]

In magnetic levitation trains, which use the repulsive force of magnets to levitate the car, there are levitation coils on both sides of the car that generate levitation force, and propulsion that receives propulsive force from the polarity changes of electromagnetic coils installed on the ground track. Two types of guide coils can be installed.

The principle of levitation is that when the excited coil on the vehicle body side passes over the levitation coil installed on the ground, an induced current flows through the coil on the ground side, creating a repulsive force between the two coils. The idea is to do so.

In an actual vehicle, levitation and propulsion guide coils are installed discretely at regular intervals.

Further, the coils on the ground orbit are also arranged discretely. Therefore, the electromagnetic force that the car body receives becomes vibratory.

An example of means for maintaining stability during running of a magnetically levitated train is described in Japanese Patent Application Laid-Open No. 136018/1983. The configuration of this example is that front wings are rotatably provided on the left and right sides of the front head of the leading vehicle of the floating vehicle via rotary shafts that protrude on both sides of the vehicle, and the front wings are rotated according to the running speed of the vehicle. By making adjustments, the idea is to enable the floating vehicle to travel while always maintaining a horizontal attitude.

[Problem to be solved by the invention]

However, magnetic levitation trains using such a levitation method have the following problems.

In other words, since both the coils attached to the car body and the coils installed on the track are arranged in a discrete manner, the levitation force applied to the car body becomes vibratory.Especially for the lead car, the first levitation coil is placed on the ground. Even if it passes over the coil, there may be a time delay before the induced current begins to flow into the ground coil, so there is a risk that sufficient levitation force will not be obtained.

In addition, the following problems arise in a structure that uses ailerons to stabilize the vehicle's posture while traveling. This system places wings in the airflow around the car body and adjusts the lift generated by them to keep the car body stable, but if the airflow suddenly changes, the force generated on the wings can also suddenly change. This may actually disturb the posture of the vehicle.

Unlike conventional railway vehicles, magnetic levitation trains travel while floating above the ground, so they are thought to be more susceptible to sudden changes in wind during bad weather. An attitude control method that adjusts lift by changing the angle of attack of the wings depending on the wind speed and direction is also considered, but this would be impractical as the system would be complicated and the vehicle would be heavy.

Additionally, attaching wings to the car body changes the dimensions of the car body, and these wings are expected to get in the way when driving in tunnels or when stored at a depot.

Furthermore, even if you try to maintain stability by attaching wings only to the leading vehicle, you will not be able to stabilize the middle part of the connected vehicles.

The first object of the present invention is to create a magnetically levitated train that can maintain stable running conditions by installing a device in the lead car that makes the levitation force equal to that of other cars without using lift. It is about providing.

A second object of the present invention is to provide an attitude control method and device that is equipped with a device that enables fine adjustment of the levitation force of each connected vehicle and that ensures stability during running of an intermediate vehicle. There is a particular thing.

[Means to solve the problem]

The above first objective is achieved by the following means.

In a magnetic levitation train in which a current is passed through a coil attached to a vehicle to generate a magnetic field, and a repulsive force is generated between this coil and a coil installed on the track to levitate the vehicle, the first of the vehicles is A magnetic levitation train, characterized in that the vehicle is provided with a magnetic field generating device that assists the levitation force of the vehicle, in addition to the magnetic field that levitates the vehicle.

In addition, a permanent current is passed through a coil made of superconducting material attached to the vehicle to generate a magnetic field, and this excited coil causes an induced current to be generated in an unexcited coil installed on the orbit, and both coils are In a superconducting magnetic levitation train that levitates the vehicle by generating a repulsive force between the two, the generation of a magnetic field that assists the levitation force of the vehicle in the first vehicle of the vehicles, in addition to the magnetic field that levitates the vehicle. A magnetic levitation train characterized by being equipped with a device.

Moreover, the above second objective is achieved by the following means.

In the attitude control method for a magnetically levitated train, the vehicle is levitated by applying a current to a coil attached to the vehicle to generate a magnetic field, and generating a repulsive force between the coil and a coil installed on a track to levitate the vehicle. A sensor that detects the inclination of the vehicle is installed, the sensor detects the inclination of each vehicle that is connected to the vehicle, performs calculation processing to correct the inclination, and adjusts each vehicle based on the calculation processing value. 1. A method for controlling the attitude of a magnetically levitated train, characterized in that running stability of the vehicle is ensured by operating an attitude control means attached to the vehicle.

Further, in an attitude control device for a magnetically levitated train, which causes a current to flow through a coil attached to a vehicle to generate a magnetic field, and generates a repulsive force between this coil and a coil installed on a track to levitate the vehicle, An electromagnetic coil for controlling the attitude of each vehicle of the magnetically levitated train, a sensor for detecting the attitude of each vehicle, and a current to which one of the electromagnetic coils is excited based on a signal from the sensor. a channel selection machine that connects a cable that selects the coil to be excited based on the signal from the computer and conducts the current to be supplied to the coil; An attitude control device for a magnetic levitation train, comprising a current regulator that changes a current value.

[Effect]

According to the configuration of the above invention, the levitation and propulsion guide coils attached to the body of the magnetically levitated train are excited before departure, and the coils can be used in a superconducting state, so that the coils can be used in a superconducting state. When a current is passed through it, it can become a persistent current. In this way, the same condition is created as if a permanent magnet were attached to the car body. During this excitation work,
Superconducting coils attached to the left and right sides of the forehead of the leading vehicle, for example, are also energized.

When the train starts running, an induced current is generated in the levitation coil on the ground track. Because there is a time delay between the time the superconducting coil passes and the current starts flowing, the first levitation coil in the lead vehicle cannot receive sufficient levitation force.

For example, a superconducting coil attached to the left and right sides of the forehead first passes through the levitation coil on the ground, which generates an induced current, and when the first levitation coil on the vehicle body passes, there is a time delay. Without t.

It acts to give sufficient levitation force to this.

For example, the distance between the superconducting coil attached to the front head of the leading vehicle and the superconducting coil for vehicle levitation and propulsion guidance is determined by the magnitude of the magnetic flux density of the five coils at the running speed of the train.

Further, according to the configuration of the second invention, for example, small electromagnetic coils are attached to the left and right sides of the front and rear parts of each connected vehicle, and the magnitude of the current flowing through the coils is determined by the crew member.
This can be made variable using signals from a ground control station or a control device mounted on the train.

If the levitation force acting on the train becomes unbalanced due to some reason (for example, bad weather and strong winds) while the train is running, the system detects the disturbance in the posture of each car and attaches it to the left and right sides of the front and rear. By exciting one of the electromagnetic coils and changing the strength of the magnetic field, it is possible to adjust the repulsion between the coil and the coil in orbit on the ground.

An attitude sensor attached to the car body constantly detects the inclination of the car body while the train is running, and sends the data to a computer. Based on the data sent from the sensors, the computer determines which parts of the car body are lacking in levitation force. and,
Decide which coil should be energized and send a signal to the channel selector. In addition, the current regulator uses the signal from the calculator,
Change the current flowing through the coil. By doing so, the attitude of the running magnetically levitated train can be controlled to be stable.

〔Example〕

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

(First Embodiment) A first embodiment of the present invention will be described with reference to FIGS. 1, 2, and 3.

FIG. 1 is a schematic diagram of the lead car of a superconducting magnetic levitation train equipped with a levitation force assist system according to this embodiment. FIG. 2 shows the relationship between the levitation force applied to the vehicle body and the coil position on the vehicle body side. FIG. 3 is a detailed view of section A in FIG. 1.

In these figures, a plurality of superconducting coils 2 are housed in one case 3 in a body 1 in different set numbers. The case 3 is attached to the lower left and right sides of the body 1. For the leading vehicle, case 3 covers the front part of body l and 2
It is attached to the connecting part between both eyes.

A levitation coil 5 is attached to the ground track 4, and when the excited superconducting coil 2 passes above it, it is excited for the first time and generates a repulsive force.

In FIG. 2, the vertical axis represents the levitation force exerted on the coil 2a in FIG. 1, and the horizontal axis represents the position of the coil 2a.

At the moment when the leading coil 2a passes the levitation coil 5a on the ground, there is a time delay in the rise of the induced current, so levitation force has not yet been generated. This is shown by the dashed line in FIG.

In FIG. 1, a superconducting coil 6 is attached to the front of the first case 3. The coil 6 is housed in a case 7. In FIG.
The inside is kept in a vacuum.

A tank 10 for storing liquid helium for coil cooling and a refrigerator 11 are attached to the upper part of the outer tank 9. The superconducting coil 6 is also surrounded by an inner tank 12 and an outer tank 13, and the inside is kept in a vacuum. A helium tank 14 and a refrigerator 15 are attached above the outer tank 13.

Before train operation, coil 2 and coil 6 are cooled with helium. Current is then passed through each coil through persistent current switches 16,17. Helium that vaporizes due to the rise in temperature of the coil while running is stored in the refrigerator 11.1.
It is liquefied again at 5.

While traveling, the coil 6 always passes over the levitation coil 5 on the ground side in advance of the coil 2, and an induced current is generated there. Therefore, when the coil 2a passes the ground-side coil 5a in FIG. 1, a small amount of induced current is passed through the coil 5a by the coil 6 in advance, so the repulsive force received by the coil 2a is the same as that of the coil 6. larger than the case. Figure 2 shows how the levitation force changes when this coil 6 is present.By installing the coil 6, it is possible to prevent the head-down phenomenon of the vehicle body due to insufficient repulsive force received by the leading coil of the leading vehicle.

(Second example) FIG. 4 shows a second embodiment of the invention.

In this embodiment, a superconducting coil 6 for inducing levitation force is placed inside the case 3. By doing this, the inner tank 12. There is no need to create an outer tank 13° helium tank 14 and refrigerator 15, which is effective in terms of space utility and weight reduction.

(Third example) A third embodiment of the present invention will be described below with reference to FIGS. 5 and 6.

This will be explained using FIGS. 7 and 8.

FIG. 5 is an overview diagram of this embodiment, showing a portion of several connected vehicles. FIG. 6 is a detailed view of section B in FIG. 5, FIG. 7 is an explanatory diagram of the operation of this embodiment, and FIG. 8 is a flowchart regarding operation control of this embodiment.

In FIG. 5, connected vehicles 18a, 18b, 18
Cases 19a and 1 containing superconducting coils are connected to the connection part c.
9b is attached and receives levitation and propulsion force. Small electromagnetic coils 20 are attached to the lower portions of both left and right sides of the front and rear parts of each vehicle.

In FIG. 6, the electromagnetic coil 20 is made of ordinary copper wire, and the end of the copper wire is connected to a current regulator 21. A cable 22 for supplying current to the coil 20 and a signal line 23 from a control system are connected to the current regulator 21 . The control system consists of a sensor 24 for detecting the posture of six vehicles, a computing device 25, and a channel switching device 26, which are comprised of the following devices.

The operation of this embodiment will be explained with reference to FIG. 7(a).

Suppose that the car body leans backwards for some reason while the train is running. A sensor 24 provided at the center of the vehicle body detects this amount of inclination, and sends the value to a computer 25.

Inside the computer 25, calculation processing is performed to calculate at which position on the vehicle body the levitation force should be changed to make the vehicle horizontal. If the vehicle is leaning backwards, the calculation will try to increase the levitation force at the rear of the vehicle. In this way, the channel switching device 26 operates so that current flows through the coils 27 on both the left and right sides of the rear portion of the vehicle body.

The amount of current flowing is also changed by sending a signal from the computing device 25 to the current regulator 21.

By passing a current through the coil 27, the strength of the generated magnetic field changes, and the repulsive force acting between it and the levitation coil 5 on the ground side can be adjusted. This repulsive force lifts the rear part of the car and moves it in a horizontal direction.

The tilt of the vehicle body is constantly monitored by the sensor 24, and the tilt of the vehicle body is controlled in real time.

As shown in FIG. 7(b), when the vehicle body leans to the left, the coils 28 at the left front and rear portions of the vehicle body are excited using the same operating principle as described above. The levitation force on the left side of the vehicle increases, causing the vehicle to move horizontally.

FIG. 8 shows a flowchart of the vehicle body attitude control described above.

The sensor 24 is attached to the center of the bottom of the vehicle body, and measures the inclination θwe in the front-rear direction and the inclination θ□ in the left-right direction of the vehicle body. θ
6. When it is determined that the absolute value of has exceeded the allowable value, it is then determined whether the front of the vehicle body is trending downward or the rear is trending downward, and if the front is trending downward, the coils 31 and 32 are energized.

θ. Similar control is also performed for. First, when it is determined that the absolute value of θl exceeds the allowable value, it is then determined whether the left and right surfaces are trending downward or the left surface is trending downward. If it is determined that the right side surface is moving downward, the electromagnetic coils 29 and 31 attached to the right side surface are immediately excited to finely adjust the levitation force.

According to this embodiment, even if the connected vehicles are blown by a gust of wind during bad weather and the vehicle body tilts irregularly, the floating force of each part of the vehicle body is immediately finely adjusted, allowing stable running.

〔Effect of the invention〕

As explained above, according to the present invention, it is possible to compensate for the lack of levitation force of the leading car while the superconducting magnetic levitation train is running, so it is possible to obtain a magnetic levitation train that is effective in preventing the head-down phenomenon of the leading car. can.

Furthermore, since an electromagnetic coil built into the vehicle body can be used as a levitation force assisting means, unlike levitation force assistance using two ailerons, it is not affected by wind. Therefore, posture control can be performed stably even in bad weather.

Furthermore, the attitude control method or device according to the present invention allows the attitude of each connected vehicle to be independently detected while the vehicle is running, and the electromagnetic coils on the front, rear, left and right sides of each vehicle can be excited to correct the attitude. Irregular posture fluctuations of each vehicle while traveling can be stabilized independently.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram of the lead car of a superconducting magnetically levitated train showing an embodiment of the present invention, Fig. 2 is a diagram showing the relationship between the levitation force applied to the car body and the coil position on the car body side, and Fig. 3 is the same as that of Fig. 1. A detailed diagram,
FIG. 4 is an overview of the second embodiment of the present invention, FIG. 5 is an overview of the third embodiment of the invention, FIG. 6 is a detailed view of section B in FIG. 5, and FIG. FIG. 8 is an explanatory diagram of the operation of the third embodiment.
2 is a control flowchart of an embodiment of the present invention. 6. Superconducting coil 20 (for levitation force correction)... Electromagnetic coil 21 (for attitude control)... Current regulator 24... Attitude sensor 25... Calculator 26... Channel switching machine representative Tatsuyuki Unuma Fig. Fig. 9a 2゜b Cable Fig. (O) 2□, 28 (for j Seiwa 1t5Jl) Coil ゝ・I Fig. A (b) Section

Claims (1)

[Claims] 1. A magnetic levitation train in which a current is passed through a coil attached to a vehicle to generate a magnetic field, and a repulsive force is generated between this coil and a coil installed on a track to levitate the vehicle. A magnetic levitation train according to claim 1, wherein a magnetic field generator for assisting the levitation force of the vehicle is disposed in the first vehicle of the vehicles, in addition to the magnetic field for levitating the vehicle. 2. A persistent current is passed through a coil made of superconducting material attached to the vehicle to generate a magnetic field, and this excited coil causes
In a superconducting magnetic levitation train in which an induced current is generated in a non-excited coil installed on the track and a repulsive force is generated between these two coils to levitate the vehicle, the first vehicle among the vehicles is A magnetic levitation train, characterized in that a magnetic levitation train is provided with a magnetic field generating device that assists the levitation force of the vehicle, in addition to the magnetic field that levitates the vehicle. 3. The magnetic levitation train according to claim 1 or 2, wherein the magnetic field generator for assisting the levitation force is attached to a side surface of the front head of the leading vehicle. 4. The magnetic levitation train according to claim 1 or 2, wherein an electromagnetic coil is used as a magnetic field generator for assisting the levitation force. 5. A magnetic levitation train attitude control method in which a magnetic field is generated by passing a current through a coil attached to a vehicle, and a repulsive force is generated between this coil and a coil installed on a track to levitate the vehicle, A sensor for detecting the inclination of the vehicle is disposed in the vehicle, the sensor detects the inclination of each vehicle connected to the vehicle, the inclination is corrected, and the arithmetic processing is performed to correct the inclination, based on the arithmetic processing value. 1. A method for controlling the attitude of a magnetically levitated train, characterized in that running stability of the vehicle is ensured by operating an attitude control means attached to each vehicle. 6. The method according to claim 5, wherein a magnetic field generator capable of changing the strength of the generated magnetic field is used as the attitude control means. 7. The method according to claim 6, wherein the magnetic field generator is attached to the left and right sides of the front and rear parts of each vehicle. 8. The method according to claim 6, wherein an electromagnetic coil is used as the magnetic field generator. 9. The method according to claim 5, wherein the attitude control means controls the attitude of each vehicle by changing the excitation state of an electromagnetic coil attached to each vehicle. Posture control method. 10. An attitude control device for a magnetically levitated train that causes a current to flow through a coil attached to a vehicle to generate a magnetic field, and generates a repulsive force between this coil and a coil installed on a track to levitate the vehicle, An electromagnetic coil for controlling the attitude of each vehicle of the magnetic levitation train, a sensor for detecting the attitude of each vehicle, and a current to which one of the electromagnetic coils is applied to excite it based on a signal from the sensor. a channel selection machine that connects a cable that selects the coil to be excited based on the signal from the computer and conducts the current to be supplied to the coil; An attitude control device for a magnetic levitation train, comprising a current regulator that changes a current value.