JPS5889002A - Halting method at predetermined position of linear synchronous motor - Google Patents

Abstract

PURPOSE:To enhance the halting accuracy of a vehicle at the prescribed position by controlling a propulsion current by the phase difference between the synchronous sinusoidal wave synchronized with the travelling of the vehicle and the sinusoidal wave pattern generated from the travelling pattern predetermined in synchronism with an absolute position signal provided before the stopping point. CONSTITUTION:When an absolute position of a detector 11 provided before the stopping point of a vehicle is inputted to a travelling pattern 12, a sinusoidal wave pattern 16 of the constant peak value of the deceleration matched to the pattern 12 is generated in synchronism with the absolute position. A phase difference detector 19 outputs a phase difference delta between the synchronous sinusoidal wave S synchronized with the actual travel of the vehicle and the pattern 16. A propulsion current arithmetic unit 13 outputs a propulsion current (i) corresponding to the phase difference by considering the output from a load detector 20, multiplies the current (i) by the pattern 16 and outputs a current pattern 14.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a linear synchronous motor used in a floating railway vehicle, and more particularly to a method for stopping a linear synchronous motor in a fixed position.

FIG. 1 is a schematic diagram of a conventional linear non-chronous motor used in a floating vehicle.

The propulsion winding (L
8M) 1 are arranged in a polyphase arrangement on the ground. In the figure, three phases are taken as an example, and the symbol UVW indicates each phase. A field (SCJf) 3 is mounted on the traveling vehicle 2, and three position detectors (PD) 4 for synchronizing the field 3 and the propulsion winding 1 are also mounted. Further, detection plates (PDR) 5 detected by these position detectors 4 are arranged on the ground in units of ball pitches. Each of the three position detectors 4 corresponds to each phase, and if the position detector is configured with, for example, a light emitter and a light receiver, a light emitting plate is used as the detection target plate 5. Therefore, when the vehicle 2 moves, the position detector 4 outputs a three-phase square wave that changes in ball pitch units.

Normally, a commercial power source is used as the AC power source that energizes the propulsion winding 1, and the commercial frequency is converted by a conversion device such as a cycloco/bar 2 to a frequency that matches the speed of the vehicle. - However, due to the influence of waveform distortion and harmonics of the cycloconverter, etc., the output frequency for energizing the propulsion winding 1 must be used at one-third or less of the input frequency. Therefore, the ball pitch τ of this type of linear 7-inch motor has the relationship given by the following equation.

That is, if a 60Hz power source is used as a commercial power source, the output frequency of the power converter is V, which is the maximum speed of the f1 running vehicle 2 (for example, 138 m/s), and the output frequency is 20Hz, which is one-third of 60Hz. , becomes.

Note that the position detector 4 shown in FIG. 1 is an example of a method in which a detection target plate 5 on the ground is detected by an optical position detector on a vehicle, but a transmitter may be provided on the traveling vehicle 2. , methods such as installing crossing guide lines on the ground have also been put into practical use.

FIG. 2 is a block diagram of a control device showing a conventional method for stopping a Linear 7-inch motor at a fixed position. Position signal (PDS) 6 of the position detector 4 input for each ball pitch
is input to the synchronization control section (8YC) 7 and the speed calculation section (v) 8. In the speed calculation section 8, the input position signal 6
The speed V of the traveling vehicle 2 is calculated, and this speed V is input to the synchronization control section 7 and the adder (ADD) 9. Synchronization [In the first part 7, a synchronous sine wave (constant peak value) S of a frequency matching this speed V is generated from the position signal 6 and the vehicle speed V as the position signal P.
The generated synchronous sine wave S is generated in synchronization with multiplier 1.
o is input.

Position P at which the traveling vehicle 2 is stopped. Absolute position detection (POS) 11 is provided at multiple locations in the front.The detection signal of this absolute position detection 11 is based on the driving pattern
) 12, and serves as the starting point of the speed command output for the position of the travel pattern 12. That is, in the driving pattern 12, the position of the vehicle is determined from this absolute position detection 11 and the position signal 6, and the speed of the traveling vehicle 2 corresponding to this position (
(pattern speed) is determined, and this pattern speed is input to the adder 9. This adder 9 calculates the difference ΔV between the actual speed of the vehicle 2 obtained by the speed calculator 8 and the putter/speed.
is calculated, and this ΔV is input to the propulsion current calculation section (I 2 ) 13. The propulsion current calculating section 13 calculates a propulsion current l that matches the deviation from the deviation ΔV and outputs it to the multiplier 10. In the multiplier 10, the synchronous sine wave S and the propulsion current 1 are multiplied to form a current pattern 14. This current butter 714 is input to the power conversion device 15.

In the power converter #15, this current pattern of 14 currents is applied to the propulsion winding (LSM) 1, and the running vehicle 2 is stopped by the electromagnetic force generated between the propulsion winding l and the field 3. do.

FIG. 3 is an explanatory diagram of one case in which conventional stop control is performed in the control device shown in FIG. 2. The position signal 6 is inputted to the speed calculating section 8 at every ball pitch of -3, 45 m.

The time t1 for the traveling vehicle 2 to pass through each input position signal 6, that is, for each ball pitch...i
5 is calculated, and the velocity V is calculated from this passing time.・・・・・・
C4 is required. In other words, this speed Vo...C
4 is the actual speed of the traveling vehicle 2.

Actual speed V of this traveling vehicle 2. . . . V, and the pattern speed obtained from the running pattern 12 are added to the adder 9.
are compared. After that, the above-mentioned energization control is performed, and finally the speed of the traveling vehicle 2 at the fixed position becomes zero and it stops. Note that 1. −1° indicates the distance traveled by the traveling vehicle 2 from the point P2.

However, in the conventional fixed-position stopping method described above, the position of the traveling vehicle 2 is known only every ball pitch (3,45 m), so even if the actual speed of the traveling vehicle 2 changes between ball pitches, Regardless, the actual speed must be one ball pitch earlier, which has the disadvantage that it is not possible to accurately stop at a fixed position. That is, if the ball pitch is about 3.45 m, an error of about several meters plus or minus will inevitably occur, and it is impossible to stop the ball at about several tens of meters minus the fixed position.

SUMMARY OF THE INVENTION An object of the present invention is to eliminate the above-mentioned drawbacks and provide a method for stopping an ilinear synchronous motor in a fixed position with high precision.

The present invention generates a sine wave pattern from a predetermined travel pattern in synchronization with absolute position detection provided in front of the vehicle when it stops, and synchronizes this sine wave pattern with the actual travel of the vehicle. Find the phase difference with the sine wave, control the propulsion current to reduce this phase difference, create a current pattern 9, apply the current of this current pattern to the propulsion winding, and stop the running vehicle. It is something that makes you

An embodiment of the method for stopping a linear non-chronous motor in a fixed position according to the present invention will be described below with reference to the drawings, using the same reference numerals for the same parts as in the conventional example.

FIG. 4 is a block diagram showing an example of a fixed position stop control device to which the method for stopping a linear nonchronous motor in a fixed position according to the present invention is applied. When a vehicle stops at a station or the like, an absolute position detector 11 is provided p before the stopping point to detect the absolute position of the vehicle. When this absolute position detection 11 is input to the running pattern 12, a sine wave pattern 16 with a constant peak value of deceleration matching the running pattern 12 is generated in synchronization with this absolute position. The frequency of this sine wave pattern 16 is the speed, and the number is the distance (position).

Next, the synchronous sine wave generator 17 generates a synchronous sine wave S that is synchronized with the actual running of the vehicle. There are various ways to generate this synchronous sine wave S. A thin slot is provided on the detection plate arranged at the core pitch, and the slot signal detected by the position detector from this slot is synchronized with the conventional position signal for each ball pitch from the detection plate. One example is to use the sine wave generated by the sine wave generator 17. That is, the synchronous limited wave S used here
includes the position and current speed of the vehicle within the ball pitch. For this purpose, a synchronized sine wave created from the position signal for each ball pitch obtained from the conventional detection board and the pulse from the speed generator installed on the axle of the vehicle used at low speeds is used. Alternatively, a crossing guidance line may be provided on the ground and a sine wave generated by this crossing guidance may be used.

FIG. 5 is a block diagram showing a method of generating synchronous sine waves using a speed generator. Position signals 6 for each ball pitch obtained from detection plates arranged on the ground in units of ball pitches and a position detector mounted on a traveling vehicle are sent to a synchronous sine wave generator 17 and a speed calculator 8. is input. Further, pulses from a speed generator 18 attached to the axle of the vehicle used when the vehicle is running at low speeds are input to the synchronous sine wave generator 17 and the speed calculator 8. The speed calculating section 8 calculates the current speed of the traveling vehicle within the ball pitch from the pulse from the speed generator 18, and converts this current speed into the synchronous sine wave generating section 17.
Enter. In this synchronous sine wave generator 17, the position signal 6
From the position within the ball pitch obtained from the speed generator 18 and the current speed of the speed calculation unit 8, a synchronous command wave S is generated that is synchronized with the position signal, that is, completely synchronized with the progress of the traveling vehicle.

Returning again to FIG. 4, the synchronous sine wave S generated by the above method is detected by the phase difference detection section 19 as the sine wave pattern 1.
6, and the phase difference δ between the two is detected. This phase difference δ is detected continuously, and the detected phase difference δ
is input to the propulsion current calculation section 13. This propulsion current calculation unit 13 calculates the propulsion current i corresponding to the phase difference δ by taking into account the vehicle weight and various running resistances etc. from the load detection device 20.
is calculated. That is, this propulsion current i is calculated so as to eliminate the phase difference δ. Further, a limiter is provided for this propulsion current 1, and the current is set to zero above a certain point to prevent overrun of the traveling vehicle. The propulsion current i calculated by the propulsion current calculation section 13 is input to a multiplier 10, and the multiplier 10 multiplies the propulsion current l by the input sine wave pattern 16 and outputs a current pattern 14. This current pattern 14 is input to a power converter (not shown), and in this power converter, this current pattern 1
4 currents are applied to the propulsion winding of the linear 7/chronous motor, and the running vehicle is stopped at a fixed position with 12 currents being applied in the running pattern.

According to this embodiment, the sine wave pattern 16 created from the running pattern 12 and the synchronized sine wave S synchronized with the running state of the actual running vehicle are compared, the phase difference δ between the two is detected, and the phase difference δ between the two is detected. By calculating the propulsion current i based on δ and stopping one running vehicle based on this propulsion current, the running control until stopping is performed using continuous phase difference δ. In order to control the vehicle, the fixed point stopping error is reduced and the traveling vehicle can be stopped with high precision.

FIG. 6 shows another example of a fixed position stop control device to which the method for stopping a linear synchronous motor according to the present invention is applied.

In this embodiment, the synchronous sine wave S generated by the synchronous control section 17
is input to the multiplier 10 and the phase difference detection section 19. The phase difference detection section 19 receives the sine wave pattern 16 created based on the running butter/''12, and continuously detects the phase difference δ between this sine wave pattern 16 and the synchronized sine wave S. This detected phase difference δ is input to the propulsion current calculation unit 13, and a propulsion current l that eliminates this phase difference δ is input to the multiplier 1O. The current is multiplied by the propulsion current l to output a current patter/14, and then the running vehicle is run and stopped in the same way as in the previous embodiment.

In this embodiment, only the positions of the synchronized sine wave S and the sine wave pattern 16 are changed, so that the same effect as in the previous embodiment can be obtained.

As described above, according to the method for stopping a linear nonchronous motor in a fixed position according to the present invention, it is possible to provide a highly accurate method for stopping a linear synchronous motor in a fixed position.

[Brief explanation of the drawing]

Figure 1 is a block diagram showing the outline of a linear synchronous motor used in a conventional floating railway vehicle, Figure 2 is a block diagram of fixed position stop control of the linear nonchronous motor shown in Figure 1, and Figure 3. is an explanatory diagram of the fixed-point stop control in FIG. 2, and FIG. 4 is a block diagram showing an example of a fixed-position stop control device to which an embodiment of the fixed-position stopping method for a linear nonchronous motor of the present invention is applied. Fig. 5 is a block diagram for generating the synchronous sine wave shown in Fig. 4, and Fig. 6 shows a fixed position stop control device to which an embodiment of the method for stopping a linear nonchronous motor in a fixed position according to the present invention is applied. FIG. 7 is a block diagram showing another example.

Claims (1)

[Claims] 1. Actual speed and position of a traveling vehicle driven by a linear 7/chronous motor in which one of the propulsion winding and the field is installed on the traveling vehicle, and the other is installed on the track. A fixed position stop of a linear non-chronous motor that detects and stops running by applying a current to the propulsion winding that eliminates the deviation between the pattern speed corresponding to the position and the actual speed from a predetermined travel pattern. In this method, a sine wave pattern synchronized with an absolute position signal provided in front of a stopping point is generated from a traveling pattern, and the phase difference between this sine wave pattern and a synchronized sine wave synchronized with the current speed and position of the traveling vehicle is determined. A method for stopping a linear 7-inch linear motor in a fixed position, characterized in that a current is applied to a propulsion winding to reduce this phase difference, and a running vehicle is stopped in accordance with a running pattern. 2. A current pattern is created by multiplying the propulsion current according to the phase difference between the sine wave pattern and the synchronous sine wave by the sine wave putter 7, and a current according to this current pattern is applied to the propulsion winding. A method for stopping a linear non-chronous motor at a fixed position according to claim 1. 3. A current pattern is created by multiplying the propulsion current according to the phase difference between the sine wave pattern and the synchronous sine wave by the synchronous sine wave, and a current according to this current pattern is applied to the propulsion winding. A method for stopping a linear non-chronous motor at a fixed position according to claim 1.