JPS61112501A - Leviation controller of magnetic levitating train - Google Patents

Abstract

PURPOSE:To increase the efficiency and power factor of a linear induction motor by controlling a power source of a leviating electromagnet to generate an action for canceling a vertical force generated from the motor by the electromagnet. CONSTITUTION:A calculator 21 inputs a gap Gb between a levitating electromagnet 3 and iron rails 7, a gap set value Gr and the elevational acceleration Ac of the magnet 3, and controls the exciting current In of the magnet 3 to hold the gap at the set value. The calculator further inputs the primary current Ip of a linear induction motor 5, a power source frequency fv and a slip frequency (f), and controls the exciting current Im of the magnet 3 to cancel a vertical force generated by a linear induction motor S. Thus, the operation with high power factor and high operating frequency can be performed.

Description

[Detailed description of the invention] [Industrial application field] This invention makes the car body levitated by magnetic force linear.

This invention relates to a levitation control device for a magnetic levitation vehicle propelled by an induction motor.

[Conventional technology]

Magnetic levitation vehicles, which can propel the vehicle body without rolling friction between wheels and rails, can reach speeds of over 300 km/h, or even over 500 km/h in regular operation, making it the next generation of high-speed ground transportation. Research and development toward practical application is progressing rapidly.

There are two types of magnetic levitation vehicles, one is an attraction type and the other is a repulsion type.To explain the principle using an attraction type magnetic levitation vehicle as an example, as shown in FIG. A pair of electromagnets 3 and 4 are fixed on both sides of the center line of the vehicle body 2 at the same distance from each other, and a linear induction motor 5 is fixed on the lower center surface of the bottom plate 2, and a track fixed on the ground is fixed. A suction levitation iron rail 7.8 and a reaction plate 9 are fixed to the girder 6 at positions corresponding to the electromagnets 3, 4 and the linear induction motor 5, respectively.
When the linear induction motor 5 is operated with the vehicle body 1 floating due to the reaction of the electromagnetic attraction force exerted on the vehicle body 1, a propulsion force is applied to the vehicle body 1 due to the magnetic reaction with the reaction plate 9.

In such a magnetically levitated vehicle, the smaller the gap 10.11 between the electromagnets 3, 4 and the iron rail 7.8, the stronger the attraction force acting between them. and iron rail 7.8 will stick together,
The size of the gap 10.11 and the car body 1 (electromagnet 3,
4) The floating blade is controlled by detecting the acceleration of the vertical movement and controlling the current of the electromagnets 3 and 4 by a control circuit having the basic configuration as shown in Fig. 3 based on the detection signal. , the gap 10.11 is kept constant. Since the electromagnets 3 and 4 are controlled in exactly the same way, the control of the electromagnet 3 system will be mainly described below.

In the circuit shown in FIG. 3, the excitation current Im of the electromagnet 3 that levitates the vehicle body 1, that is, the output of the power supply device 12, is controlled by the control voltage VC supplied from the arithmetic circuit 13. The arithmetic circuit 13 is made up of arithmetic elements such as an integrator, an adder, and a half-rotation amplifier, and uses the output of a gap setter 14 in which a desired gap value is set as a reference input, and an accelerometer 15 that moves up and down together with the electromagnet 3. Feed 7 the output of the gap sensor 16 that detects the size of the gap 10
By adjusting the control voltage VC as a short input,
It operates to maintain the gap 10 at the size set by the gap setting device 14.

[Problem that the invention seeks to solve]

In the conventional magnetic levitation vehicle as described above, the linear induction motor 5 generates not only a propulsive force but also a vertical force in the direction indicated by arrow A (FIG. 2).

This force is generated by the levitation system, namely the electromagnet 3. The floating blades that are occurring now act as a large disturbance that cannot be controlled by the control circuit described above, so the linear motor 5 is operated at a constant slip frequency such that the vertical force is zero. As a result, it is not possible to use operating frequencies with high efficiency and power factor, and the efficiency and power factor of the propulsion system are considerably sacrificed.

This invention was made in view of the above-mentioned circumstances, and its purpose is to levitate a magnetically levitated vehicle that enables the operation of a linear induction motor at an operating frequency that provides significantly higher efficiency and power factor than in the past. The purpose is to provide a control device.

[Means for solving problems]

In order to solve the above-mentioned problems, the present invention provides a system in which a desired gap value is set between the levitation electromagnet provided on the vehicle body side of the magnetic levitation vehicle and the levitation rail means provided on the track side. Using the output of the gap setting device as a reference input, and using the output of the gap sensor that detects the gap and the output of the accelerometer that detects the vertical acceleration of the levitation electromagnet as feedback input, a predetermined calculation is performed to set the gap as a gap. In a levitation control device for a magnetic levitation vehicle equipped with an arithmetic circuit that supplies a control voltage to control the power supply device of the levitation electromagnet to maintain the setting value of the setting device, the vertical magnetic force generated by the linear induction motor for propulsion The object of the present invention is to provide a levitation control device for a magnetic levitation vehicle, comprising means for detecting parameters for determining the parameters and inputting them to the arithmetic circuit.

[Function] The levitation control device for a magnetic levitation vehicle of the present invention having the above-described configuration detects changes in parameters that determine the vertical force such as the primary current, operating frequency, and slip frequency of the linear induction motor, and performs levitation. The input is input to the arithmetic circuit of the system control device, and at the same time when the input of the linear induction motor becomes a state in which a vertical force is generated, the output of the arithmetic circuit causes the floating electromagnet to generate an action that cancels out the vertical force. It is designed to control the power supply. For example, in FIG. 2, when the input to the linear induction motor 5 generates a vertical force that causes the motor 5 to lower the vehicle body 1, the arithmetic circuit determines the input power of the linear induction motor 5 to determine such vertical force. Since a control voltage is supplied to the electromagnet power supply device to strengthen the attraction force of the levitation electromagnets 3 and 4 based on parameters such as secondary current, operating frequency, and slip frequency, the vehicle body 1
does not drop and the gap 10.11 remains constant.

In this way, the parameter determining the vertical force, which conventionally acted as a large disturbance that caused a sudden change in the output of the gap sensor 16%tb when generated from the linear induction motor, can be taken in as a control input for the levitation control system. This allows the normal forces generated by the linear induction motor and their changes to be compensated quickly and smoothly in the floating system, making it possible to use operating frequencies that give the linear induction motor the highest possible efficiency and power factor. Become.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a levitation control device for a magnetic levitation vehicle according to the present invention will be described in detail below with reference to FIGS. 1 and 4.

In the levitation control device for the magnetic levitation vehicle of the illustrated embodiment, the arithmetic circuit 21 calculates the desired gap of the gap 10 (see FIG. 2) between the levitation electromagnet 3 and the iron rail 7, which is set in the gap setting device 22. While the value Gr is input, an acceleration signal AC from an accelerometer 15 that detects the vertical acceleration of the levitation electromagnet 3 and a gap sensor 16 that detects the size of the gap between the electromagnet 3 and the iron rail 7 are input. The output gap signal Gb is fed back. Furthermore, the arithmetic circuit 21 is connected to current-voltage (A/V) converters 24 from current transformers CT+ and Cr2 provided in the input system 23 of the linear induction motor 5, respectively.
, a primary current signal 1p and a power supply frequency or operating frequency signal fr of the linear motor 5 are inputted via a frequency-voltage (F/v) converter 25, and a slip frequency signal Δf is inputted from a slip frequency detection circuit 26. ing. This slip frequency signal Δf can be obtained in the slip frequency detection circuit 26 as follows.

A cross-type guided radio channel 27 is laid along the track of the magnetically levitated vehicle, and the on-board antenna 28 of the magnetically levitated vehicle receives signals such as pulse trains from the guided radio channel 27 by electromagnetic induction coupling, and detects speed. Supplied to circuit 29. Speed detection circuit 2
9 converts the signal supplied from the on-vehicle antenna 28 into a speed signal (2) representing the speed of the magnetically levitated vehicle, and supplies it to the slip frequency detection circuit 26. Slip frequency detection circuit 26
The operating frequency signal fr output from the F/v converter 25 is also input to the slip frequency detection circuit 2.
6 calculates the running frequency f■ from the speed signal ■ using the following formula (■), and calculates the slip frequency (this is actually the pole pitch of the near induction motor) using the following formula (■) from this traveling frequency fv and the above-mentioned operating frequency signal fr.Δf= =fr−fv・・・・・・・・・・・・・・・
...... ■The arithmetic circuit 21 is the gap setting device 22
The control voltage vc of the electromagnet power supply device 12 is adjusted according to the setting, thereby controlling the excitation current Im of the electromagnet 3 so as to maintain the gap between the levitation electromagnet 3 and the iron rail 7 at the above set value Gr, and -Next current signal I
p, operating frequency signal fr and slip frequency signal Δ[
When a vertical force is generated from the linear induction motor 5 by inputting , a predetermined calculation is performed based on these inputs, and a compensated control voltage supply.Therefore,
Even if a vertical force is generated from the linear induction motor 5, the gap does not change and is maintained at the set value Gr.

As the arithmetic circuit 21 having the above-mentioned functions, for example, a circuit having a configuration as shown in FIG. 4 can be used. In FIG. 4, the gap signal Gb from the gap sensor 16 is input to the adder 31 via the sign inversion circuit 30, and the deviation from the set gap value Gr is Δc=cr−Gb.
is calculated. This deviation signal ΔG has a coefficient of +,
A proportional-integral-derivative (PID) operation circuit consisting of coefficient multipliers 32, 33 and 34 consisting of potentiometers for setting 2 and 3, a differentiator 35 and an integrator 36 allows proportional input P, differential input power and integral input power I The signal is supplied to the output adder 37 as a signal. Furthermore, the acceleration signal AC from the accelerometer 15 is also input to the output adder 37 via a coefficient multiplier 38 whose coefficient is set to 4.

On the other hand, the negative current signal Ip is output by a squaring circuit 39 consisting of a multiplier.
The slip is squared and input to the multiplier 40, and the slip obtained by adding the inverted signal of the slip frequency signal Δf and the preset slip frequency Δfo at which the vertical magnetic force of the linear induction motor 5 becomes zero at the adder 41. The frequency deviation signal Δfo−Δf and the multiplication are combined. The output of the multiplier 4o (∆fo - ∆f) is the coefficient ks, k
A proportional differential (PD) operating circuit comprising coefficient multipliers 42 and 43 for determining K and a differentiator 44 supplies the proportional differential input to an adder 45 as a differential input. In addition, the aforementioned operating frequency signal fr is also input to the adder 45 via the coefficient multiplier 46 for setting the coefficient to 7, and based on the output of the multiplier 40 (1 hi <, Δfo - Δf) (proportional Input P'
and are added together with differential labor. In this embodiment, the signals 1p (Δfo - Δf) and fr are used as control inputs because, electromagnetically, the vertical magnetic force exerted by the linear induction motor is the square of the primary current 1p and the vertical magnetic force is zero. The slip frequency Δf.

This is because T is proportional to the deviation Δfo−Δf of the actual slip frequency Δf, and is also proportional to the operating frequency.By taking the signal values of these signals into consideration in the control of the levitation electromagnet 3, the linear induction motor 5 This is to compensate for the vertical magnetic force in the levitation system.

The output of the adder 45 is determined by the output adder 3 based on the deviation signal ΔG of the gap signal Gb (P).

4A (along with the D and I signals and the acceleration signal) is input to the electromagnet power supply 12 as the control voltage vc. Therefore, the control voltage vc is calculated based on the magnitude of the gap 10 and the acceleration of the vertical movement of the vehicle body 1. , the excitation current of the levitation electromagnet 3 is increased or decreased in response to the primary current, operating frequency, and slip frequency, which are the parameters of the vertical magnetic force exerted by the linear induction motor 5, so that the vertical magnetic force is generated from the linear induction motor 5. At the same time, the output of the levitation electromagnet 3 is adjusted so as to cancel out this vertical magnetic force.In this way, even if a vertical magnetic force is generated from the linear induction motor 5, the vehicle body 1 remains at a constant height with respect to the track. Therefore, the efficiency and power factor in the operation of the linear induction motor 5 can be increased.The coefficients kl to 8 are used to adjust the effect of each input on the control voltage vc. .

〔Effect of the invention〕

As explained in detail above, according to the levitation control device for a magnetically levitated vehicle according to the present invention, there is no need to suppress the vertical magnetic force of the linear induction motor to zero as in the conventional case.
It becomes possible to operate at an operating frequency with extremely high power factor and efficiency.

[Brief explanation of drawings]

Fig. 1 is a block diagram of an embodiment of a levitation control device for a magnetic levitation vehicle according to the present invention, Fig. 2 is a schematic cross-sectional view showing the structure of an example of an attraction type magnetic levitation vehicle, and Fig. 3 is a conventional magnetic levitation vehicle. FIG. 4 is a block diagram showing the configuration of an example of a vehicle levitation control device. FIG. 4 is a block circuit diagram of an example of an arithmetic circuit used in the above embodiment of the present invention. 1... Vehicle body, 3, 4... Levitating electromagnet, 5... Linear induction motor, 7.8... Iron rail, 9
... reaction plate, io, il... gap, 12... electromagnetic power supply device, 15... accelerometer,
16... Gap sensor, 21... Arithmetic circuit, 22
. . . Gap setting device, 26 . . . Slip/tub frequency detection circuit, 27 . . .

Claims (3)

[Claims] (1) The output of the gap setting device in which the desired gap value between the levitation electromagnet provided on the body side of the magnetic levitation vehicle and the levitation rail means provided on the track side is set is used as the reference input, and the above The output of the gap sensor that detects the gap and the output of the accelerometer that detects the vertical acceleration of the levitation electromagnet are used as feedback inputs to perform a predetermined calculation, and the levitation electromagnet maintains the gap at the set value of the gap setting device. In a magnetic levitation vehicle levitation control device that is equipped with an arithmetic circuit that supplies a control voltage to control an electromagnet power supply device, a parameter that determines the vertical magnetic force exerted by a linear induction motor for propulsion is detected, and the above arithmetic circuit is A levitation control device for a magnetic levitation vehicle, comprising a means for inputting information. (2) The levitation control device for a magnetic levitation vehicle according to claim 1, wherein the parameters are a primary current, an operating frequency, and a slip frequency of a linear induction motor. (3) The levitation control device for a magnetic levitation vehicle according to claim 2, further comprising means for detecting the slip frequency based on a speed signal obtained by a guided radio.