JPS63148804A - Attraction type magnetic levitation guiding apparatus - Google Patents

Abstract

PURPOSE:To broaden the stable range of a control by using a rail of H-shaped section in which the legs of both ends become the elements to be attracted, projecting poles for generating attracting forces upward and downward toward the rail and oppositely disposing the levitation electromagnets coupled by a yoke. CONSTITUTION:A rail 11 of H-shaped section in which legs 11a of both ends become elements to be attracted is used as a rail. Poles 12b, 13b for generating attracting forces are projected above and below the rail 11 toward the rail 11 and levitation electromagnets 12, 13 into which coils 12a, 13a are wound on a core are oppositely disposed through an air gap. The electromagnets 12, 14 are mechanically and magnetically coupled by a yoke 14 on one side of the rail 11. Further, the interval W of the legs 11a, and intervals W1, W2 between the poles of the electromagnets 12, 13 are set to different values. The coils 12a, 13a, 15 are controlled in response to the outputs of a levitation gap sensor 3 and a guide gap sensor 8.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a magnetic levitation guide device for an attraction type magnetic levitation traveling system.

[Conventional technology]

In attraction type magnetic levitation type railways and goods conveyance equipment, etc.
FIG. 3 shows an example of a conventional method when guiding control is performed simultaneously with levitation. In the figure, 1 is a rail made of ferromagnetic material such as iron, 2 is a levitation electromagnet, 2a is a coil, 3 is a levitation gap sensor that detects the distance (gap) between rail 1 and electromagnet 2, and 4 is a levitation gap sensor. A levitation control circuit, 5 is a power amplifier, and a levitation system that includes these as essential elements is as follows:
The feedback signal from the gap sensor 3 is processed by the control circuit 4, further amplified by the amplifier 5, and the current flowing through the coil 2a of the magnet 2 is controlled to keep the gap between the rail 1 and the electromagnet 2 constant. .

In this levitation system, in order to reduce power consumption, the electromagnet 2
In some cases, a permanent magnet 6 is attached to the magnetic pole surface of the magnet, and part or most of the load is borne by the attractive force of the permanent magnet 6.

On the other hand, since the above-mentioned levitation system cannot generate a horizontal guiding force in the left-right direction, an electromagnet 7 having the same structure as the levitation system, that is, a coil 7a wound thereon, is placed on one side of the rail, facing the side of the rail. A guide control system consisting of a gap sensor 8, a control circuit 9 for processing its feedback signal, and an amplifier 10 for the processed signal is provided, and the attraction force of the electromagnet 7 is used to control the guide side. 11
I do.

In the conventional control method as described above, since the levitation electromagnet 2 generates only an attractive force, it is inevitable that the stable control range becomes narrow and the control response becomes poor. For example, the gap magnetic field due to the permanent magnet 6 (magnetic flux density at the gap) is B, and the gap magnetic field due to the electromagnet 2 is ±b(
(corresponds to the direction of the current), then the attractive force F is proportional to the square of the gap magnetic field, so it is shown as F QC(B±b)''≧Q, and as seen from this equation, the repulsive force Since this does not occur at all, the above-mentioned problem arises.

Also, in the guide system, for the same reason, the electromagnet 7 only generates an attractive force, so in order to obtain the guide function, it is necessary to
It is necessary to install the guide devices in opposite directions on the left and right sides of the floating vehicle by providing strips or the like.

The present invention is an attraction type magnetic levitation guide device proposed as a solution to such problems.

[Means for solving problems]

The device of the present invention is a device that performs levitation and guidance control using at least a feedback signal from a gap sensor.
As shown in FIG. 1, a rail 11 with an H-shaped cross section is adopted in which the leg portions 11a at both ends are the attracted parts, and above and below the rail 11, magnetic pole surfaces 12b and 13b that generate an attractive force protrude toward the rail side.
In addition, levitation electromagnets 12 and 13, in which coils 12a and 13a wound around an iron core are connected in series or parallel to each other and connected to a power source capable of switching the direction of current flow, are arranged opposite to the rail with a gap in between, and Each electromagnet 12, 13 is mechanically and magnetically coupled by a yoke 14 on one side of the rail 11, and furthermore, a coil 15 constituting a guiding electromagnet is independently wound around the center of the yoke 14. Furthermore, it is characterized in that the distance W between the rail leg portions 11a, the distance W1 between the magnetic pole surfaces of the electromagnet 12, and the distance W2 between the magnetic pole surfaces of the electromagnet 13 are set to different values.

In addition, the gap sensor, control circuit, and amplifier are levitation system,
Since the guide system is also the same as that in FIG. 3, the same reference numerals are given and the explanation will be omitted.

[Effect]

Now, as shown in FIG. 1, the electromagnet 12.13 is not shifted laterally with respect to the rail 11.
When the center of is on the rail central axis C, the magnets including the permanent magnet 6 are excited in the directions shown by the magnetic fluxes Q9 and Qt, but at this time the coil 15 is not energized. , the yoke 14 is not energized.

In this case, by exciting the B1 coil 12a, the magnetic field in the gaps G+, G+' caused by the permanent magnets 6 is converted into a new magnetic field generated in the same gap by bI.

Gap G2゜02 by exciting coil 13a
If the magnetic field in ' is bf, then the rail 11 and the electromagnet 12.
The suction force F acting between the
l, then F (X: B ” ±2 B b , −・−・−
+21 Therefore, in the levitation system, the coils 12a, 13
By controlling the magnitude and polarity (direction) of the current applied to a, it is possible to generate not only an upward force but also a downward force. For this reason, compared to the conventional control method in which only upward floating blades can be generated and downward force is counteracted by gravity, the stable control range is expanded and control responsiveness is improved.

Next, the principle of guidance control will be explained based on FIG. This figure shows a state in which the electromagnet is shifted to the left with respect to the rail 11. This lateral shift is detected by the gear sensor 8, and the feedback signal from there passes through the control circuit S and the amplifier circuit 10, causing current to flow through the coil 15 of the guide electromagnet, which causes the excited yoke 14 to pass through the second yoke 14. A magnetic flux Q is generated in the direction shown in the figure. As a result of this magnetic flux Q3 being added to or subtracted from the already existing magnetic fluxes Q+ and Qz, the magnetic field of the gap 01G8' becomes stronger, and the magnetic fields of G+' and Gt become weaker.

Here, according to the present invention, the interval W between the rail legs 11a
Since the spacing W between the magnetic pole surfaces of the electromagnet 12 and the spacing Wt between the magnetic pole surfaces of the electromagnet 13 are different from each other, each gap magnetic field also acts on a force that causes the electromagnet to shift laterally in addition to the levitation blade. When the electromagnet and rail are in the normal relationship shown in Figure 1, this force is generated by the gaps G+ and G, which are in opposite directions.
The force on the t part and the forces on the G+' and Gt' parts cancel each other out and cancel each other out completely, but as mentioned earlier, if there is a difference in the magnetic fields on both sides, the force on the side that overcomes will cause a lateral shift. Determine the direction of the force you want to apply. In the case of FIG. 2, the force due to the magnetic fields in the gaps G+ and GZ' acts in a direction to correct the lateral shift, so that the relative positional relationship between the rail 11 and the electromagnet returns to the state shown in FIG.

Even if the electromagnet shifts to the right, the lateral shift can be corrected based on the exact same principle as above by controlling the excitation direction of coil 15 so that the magnetic flux of 03 is in the opposite direction to that shown in Figure 2. .

The attached diagram shows a case where the distance between the sides of the rail and the distance between the magnetic pole faces of the electromagnet form a relationship of W, >W>Wt, but it also applies when W, >W>W, etc. A similar effect occurs. Further, although the permanent magnet 6 is provided as necessary, the same control is possible even if this is omitted.

〔effect〕

As described above, according to the present invention, levitation electromagnets which are mechanically and magnetically coupled by a yoke on an example part side of the rail are arranged oppositely above and below an H-shaped rail, and A guiding coil is wound around the iron, and the spacing between the sides of both ends of the rail and the spacing between the magnetic pole faces of the levitation electromagnet are set to different values, so the levitation system generates forces in both the up and down directions. This expands the control range and improves responsiveness.

In addition, in the guide system, by controlling the direction and magnitude of the current applied to the coil wound around the yoke, a single guide electromagnet can generate guiding force in both left and right directions, simplifying the control system. can realize cost reduction.

In addition, if a permanent magnet is attached to the magnetic pole surface of the lower levitation m1 stone, at least a part of the levitation blade can rely on the attraction force of the permanent magnet, so power consumption can be reduced. The effect mentioned above can be obtained.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing the basic structure of the device of this invention, Fig. 2 is a diagram showing the basic structure of the device of the present invention;
The figure is a diagram showing the principle of generating the guiding force, and FIG. 3 is a diagram showing a conventional floating guide device. 3... Gap sensor for levitation, 4...
Levitation control circuit, 5... Power amplifier, 6...
...Permanent magnet, 8...Gap sensor for guidance, S...For guidance? tJf in circuit, 10...
...Power amplifier, 11...Rail, lla
... Legs, 12.13 ... Levitation electromagnets, 12a, 13a ... Coils, 12b, 13
b...Magnetic pole surface, 14...Yoke, 15.
...The coil of the guiding electromagnet. Patent Applicant Sumitomo Electric Industries Co., Ltd. Agent Kama 1) Letter 2 10 Figure 2 Figure 3 Procedural Amendment Form) % Formula % 2. Name of the invention Attraction type magnetic levitation guide device 3. Person making the amendment Relationship to the incident Patent applicant address 5-15 Kitahama, Higashi-ku, Osaka Name (Name 1 (213) Sumitomo Electric Industries, Ltd. 5゜Showa Date Month/Date (shipment date) As shown in the attached sheet) Contents (1) Details Correct "Keep constant" in line 2 of page 3 of the book cylinder to "keep it at 1 or a value that does not deviate from a certain range" by 1. (2) Line 4 of page 8 of book cylinder, line 10 of page 9. Correct each "magnetic pole surface" of the eye to "in the magnetic path". (3) Correct "bl" in the second line of page 6 of the book cylinder to "±b1". (4) Correct the number in the attached drawing. Figure 1 will be corrected as shown in the attached sheet (addition of code 11a).

Claims (2)

[Claims] (1) In both the levitation system and the guide system, the distance between the ferromagnetic rail and the electromagnet is detected by a gap sensor,
In an attraction-type magnetic levitation guide device that performs levitation and guidance control based on the feedback signal, the rail has an H-shaped cross section with legs at both ends serving as attracted parts, and magnetic poles are placed above and below the rail to generate an attraction force. The surface protrudes toward the rail,
In addition, levitation electromagnets, in which coils wound around an iron core are connected in series or parallel to each other and connected to a power source that can switch the direction of current flow, are arranged facing each other with an air gap between them, and the upper and lower levitation electromagnets are connected to one side of the rail. The yoke is mechanically and magnetically coupled by a yoke, and the coil of the guide electromagnet is independently wound around the yoke, and the spacing between the legs of the rail and the magnetic pole surfaces of the upper and lower levitation electromagnets are A suction type magnetic levitation guide device characterized in that each interval is set to a different value. (2) A permanent magnet is attached to the lower electromagnet so as to exist in a magnetic path formed by the rail, the levitation electromagnet located below the rail, and the air gap. An attraction type magnetic levitation guide device according to claim (1).