KR100877117B1 - Guidance control system of maglev lift - Google Patents

Abstract

A guidance control system of maglev lift is provided to maintain the magnetic gap between left and right regardless of the change of a guide rail constant by using a local and global corner gap signal through a proportional-integral control. A guidance control system of maglev lift(23) is driven according to the control signal of the local control system(20). A sensor(25) senses the gap current of the magnetic levitation lift. A local control system is fed back to the gap current. A local control system comprises the local gap controller(21) and global gap controller(24). The output of the global gap controller and global gap controller are added in the adder(26), and the output of the adder is amplified through the chopper(22). The output of sensor is fed back to the bidirectional of the global gap controller and global gap controller.

Description

Guidance Control System of Maglev Lift

1 is an overall block diagram showing a conventional guide control method of a conventional magnetic levitation lift,

2 is a conventional guide control block diagram of a conventional magnetic levitation lift,

3 is a block diagram showing an extended guide control method of the magnetic levitation lift of the present invention;

4 is a block diagram of a local gap controller in the extended guide controller of the present invention;

5 is a block diagram of a global gap controller of the extended guide controller of the present invention;

6 is a conceptual view showing the disturbance generated in the rail during vertical movement of the magnetic levitation lift

7 is a gap response waveform diagram for rotational torque disturbance about the x-axis when a conventional guide control method is used.

8 is a gap response waveform diagram for rotational torque disturbance about the x-axis when the extended guide control method of the present invention is used;

9 is an embodiment showing a state in which the guide control system of the present invention is applied to the magnetic levitation lift,

10 is an embodiment showing a state in which the guide control system of the present invention is applied to the magnetic levitation train.

<Description of Symbols for Main Parts of Drawings>

1: Local guide control system (conventional) 2, 10: Local gap controller (conventional)

3, 22: chopper 4, 23: magnetic levitation lift

5, 25: sensor

11a, 12a, 13a, 14a, 15a, 16a, 17a, 18a: proportional and integral controllers (for existing local gap controllers)

11b, 12b, 13b, 14b, 15b, 16b, 17b, 18b: differential controller (for existing local gap controller)

11c, 12c, 13c, 14c, 15c, 16c, 17c, 18c: current controller (for existing local gap controller)

20: extended guide control system 21, 30: local gap controller

24, 40: global gap controller

31a, 32a, 33a, 34a, 35a, 36a, 37a, 38a: proportional controller (for local gap controller)

31b, 32b, 33b, 34b, 35b, 36b, 37b, 38b: differential controller (for local gap controller)

31c, 32c, 33c, 34c, 35c, 36c, 37c, 38c: current controller (for local gap controller)

41, 42, 43, 44, 45, 46, 47, 48: proportional and integral controllers (for global gap controllers)

50a, 50b, 61a, 61b: guide rail

51a, 51b: gap reference line of the local gap controller (conventional)

52a, 52b: gap reference line of the global gap controller

53a, 53b, 53c, 53d, 63a, 63b, 63c, 63d: gap sensor

54a, 54b, 54c, 54d, 62a, 62b, 62c, 62d, 62e, 62f, 62g, 62h: magnet

55, 60: cage of lift (for maglev lift)

64: extended guide control system 65: drive motor

66: rope 70: bogie frame (for maglev train)

71a, 71b, 71c, 71d: magnet 72a, 72b, 72c, 72d: gap sensor

73a, 73b: rail 74: extended floating control system

The present invention relates to a magnetic levitation lift, and more particularly, in a magnetic levitation lift carrying loads between layers in a semiconductor and LCD process, a rail caused by force disturbance or a change of position of a guide rail due to uneven load during vertical movement. A guide control system for a magnetic levitation lift capable of preventing disturbances and the like.

Maglev lifts are used to transport cargo in factories, and in particular, they are widely used to transport cargo between multiple layers in semiconductor and LCD processes. The structure consists of a system as shown in FIGS.

That is, the magnetic levitation lift 4 is configured to be driven in response to a control signal of the local control system 1, and the local control system is connected by connecting a sensor 5 for detecting a gap current of the magnetic levitation lift 4. It is configured to feed back to (2).

In addition, the local control system 1 is configured such that the output of the local gap controller 2 is amplified and output through the chopper 3.

Here, the conventional guide control system 1 implements the local gap controller 2 using only the local corner feedback signal, as shown in FIG. 1, and has a local corner gap and current signal as shown in FIG. 2. The local gap controller 2 implemented by the state feedback method using the gap, velocity, and current signals is used. The driving principle can be expressed by the following equations (1) to (8).

는 각각 위치 이득, 적분 이득, 속도 이득 및 전류 이득이고,

은 8개의 마그네트에 대한 로컬 갭 제어기의 제어 전압이며,

는 마그네트 갭,

는 기준 공극,

는 속도,

는 전류이다. 이 제어전압은 초퍼(3)에 의해 증폭되어 자기부상 리프트(4)에 가해지고, 갭과 전류 신호는 센서(5)에 의해 감지되고 있다.here

Are position gain, integral gain, speed gain, and current gain, respectively,

Is the control voltage of the local gap controller for the eight magnets,

Magnet gap,

Is the reference void,

Speed,

Is the current. This control voltage is amplified by the chopper 3 and applied to the magnetic levitation lift 4, and the gap and current signals are sensed by the sensor 5.

은 1번 마그네트의 신호만을 이용하되, 다른 마그네트의 신호는 포함하지 않는 구조를 갖고 있다. 이는 다른 마그네트의 제어전압

도 마찬가지로 로컬 신호만을 이용하고 있는 것으로 이 로컬 제어방식은 단일 마그네트로 구성된 단순한 자기부상 시스템에서는 효율적인 방안일지라도 다수의 마그네트로 이루어진 자기부상 리프트나 자기부상열차에서는 다른 코너로부터 자기 코너로 큰 영향을 줄 수 있고, 외부로부터 힘 또는 레일 등의 외란이 들어오면 제어성능이 떨어지는 문제가 있다.As can be seen from Equation (1), the control voltage of magnet 1

Has a structure that uses only the signal of the first magnet, but does not include the signal of the other magnet. This is the control voltage of the other magnet

Similarly, only local signals are used. This local control method can have a great effect from the other corner to the magnetic corner in the magnetic levitation lift or the magnetic levitation train composed of multiple magnets, even if it is an efficient solution in a simple magnetic levitation system composed of a single magnet. In addition, when a disturbance such as a force or a rail comes from the outside, there is a problem that the control performance is lowered.

1 and 2, when the magnetic levitation lift 4 is disturbed from the outside, a disadvantage of the local gap controller is that the gaps (gaps) of the four corners of the lift are different when the lift moves vertically along the guide rail during operation. Or vibration caused by torsion of the lift body.

In the vertical transfer of the lift, the gap controller operates to follow the guide rail while maintaining a constant gap in the magnet. When the gap between the two guide rails is changed, the magnet gap on the opposite side is different. In this case, the integrator of the local gap controller continuously increases the current because the current continues to increase to zero the error between the reference gap and the magnet gap, and eventually the lift vibrates.

Therefore, the limitation of this method is that in case of various disturbances, the magnet gaps of both sides cannot be made equal at the same time. In addition, when a force disturbance is applied to one corner, it affects the other corner, and eventually the gap of the entire lift is affected.

The present invention is to solve such a problem,

SUMMARY OF THE INVENTION An object of the present invention is to provide a guide control system for a magnetic levitation lift that can control the gap spacing between the magnet and the guide rail to be kept constant during guide control in the lift.

Another object of the present invention is to provide an extended guide controller capable of minimizing vibration while maintaining stability even when various disturbances of the lift occur in the guide control system of the magnetic levitation lift.

 In order to implement this, a local gap controller is composed of a gap and current signal of a local corner of the magnetic levitation lift, and a global gap controller using a gap signal of a global corner is additionally used.

The guidance control system of the magnetic levitation lift for achieving the above object of the present invention comprises a local gap controller and a chopper to control the driving of the magnetic levitation lift, and detects a gap current of the magnetic levitation lift. In the guide control system of the magnetic levitation lift composed of a sensor for feeding back the signal to the local gap controller,

It is configured to be controlled by the sum of the local gap controller and the global gap controller by configuring a global gap controller to which the signals of the adder and the sensor are fed back in the local control system, and the lift is configured to be located at the center between the two guide rails. We are doing

The local gap controller uses a gap and current signal at the local corner.

The output of the differential controller and the current controller is configured to be added or subtracted, and the output of the differential controller is added to be output as a guide control signal.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Even if the transverse position of the two guide rails changes or a force disturbance occurs in the maglev lift, the transverse position of the lift must always be in the center of the two guide rails.

In addition, in order to solve the vibration problem caused by the torsion of the vehicle body when the local gap controller is used, a global gap controller is further configured in the local gap controller, and the relationship is shown in FIG. 3.

3 is a block diagram showing an extended guide control method of the magnetic levitation lift of the present invention.

The magnetic levitation lift 23 is configured to be driven by receiving a control signal from the local control system 20, and is connected to a sensor 25 that senses a gap current of the magnetic levitation lift 23. ) Is configured to feed back.

In addition, the local control system 20 is composed of a local gap controller 21 and a global gap controller 24, and after the outputs of the local gap controller 21 and the global gap controller 24 are added in the adder 26, It acts to be amplified and output through the chopper 22.

Therefore, the output of the sensor 25 is configured to be fed back in both directions to the local gap controller 21 and the global gap controller 24 to one side and the other side.

The detailed circuit configuration of the local gap controller 21 is as shown in FIG.

FIG. 4 is a block diagram of a local gap controller in the extended guide controller of the present invention, and FIG. 5 is a block diagram of a global gap controller in the extended guide controller of the present invention.

As described above, the local gap controllers 21 and 30 are implemented in a state feedback manner using gaps, speeds, and currents, and the global gap controllers 24 and 40 are implemented by proportionally and integrating the difference between the local gaps and the global gaps. .

The relational expression for the local gap controller implemented as described above may be represented as (9) to (16).

은 8개의 마그네트에 대한 로컬 갭 제어기의 출력 전압이고,

는 마그네트 갭,

는 기준 공극,

는 속도,

는 전류이다. here

Is the output voltage of the local gap controller for 8 magnets,

Magnet gap,

Is the reference void,

Speed,

Is the current.

In addition, the relational expression for the global gap controller of FIG. 5 can be represented by equations (17) to (24).

은 8개의 마그네트에 대한 글로벌 갭 제어기의 출력 전압이고,

와

는 각각 글로벌 비례 이득과 글로벌 적분 이득이다. here

Is the output voltage of the global gap controller for 8 magnets,

Wow

Are the global proportional gain and the global integral gain, respectively.

은 로컬 갭 제어기 출력

와 글로벌 갭 제어기 출력

의 합이 되고, 이와 같은 합이 되는 출력을 사용하는 것이 본 발명의 특징이다.Finally, the control voltage calculated by the guide controller in FIG.

Is the local gap controller output

And global gap controller output

It is a feature of the present invention to use an output that is a summation and that summation.

는 경우에 따라서는 0으로 놓기도 하며, 적분기는 로컬 갭과 글로벌 갭의 차이를 적분하므로 정상상태에서 로컬 갭과 글로벌 갭은 같게 된다. At the global gap controller

In some cases, it is set to 0. Since the integrator integrates the difference between the local gap and the global gap, the local gap and the global gap are the same at steady state.

및

에 의해 정상상태에서 리프트 상위 갭

, 및

는 같게 된다. 그리고 식 (21)과 (22)에서 글로벌 갭 제어기

에 의해 정상상태에서 리프트 하위 갭

, 및

는 같게 된다.
다시말해서, 상기 설명을 도 9 의 각 마그네트 번호를 참조하여 설명하면 다음과 같습니다.
식 (17)에서 1번 마그네트의 제어전압은
Kgi * ∫( g1 - g2)dt가 g1과 g2의 오차가 +이면, 1번 마그네트의 전류를 증가시키고, -이면, 감소시킵니다. 또한,
Kgi * ∫( g1 - g3)dt가 g1과 g3의 오차가 +이면, 1번 마그네트의 전류를 증가시키고, -이면, 감소시킵니다.
결국 g1 = g2 = g3가 되도록 제어하는 것입니다.
그래서 상위의 왼쪽 앞과 뒤, 그리고 상위의 오른쪽 앞의 마그네트 갭을 같게 합니다.
마찬가지로, 식 (18)에서 2번 마그네트의 제어전압은
-Kgi * ∫(g1 - g2)dt가 g1과 g2의 오차가 +이면, 식 (17)과 반대로 2번 마그네트의 전류를 감소시키고, +이면 증가시킵니다.
Kgi * ∫( g2 - g4)dt가 g2과 g4의 오차가 +이면, 2번 마그네트의 전류를 증가시키고, -이면, 감소시킵니다.
결국 상위 왼쪽 뒤쪽의 2번 마그네트의 전류는 상위 왼쪽 앞쪽의 1번 마그네트 갭과는 반대로 움직이면서 정상상태에서는 같게 되고,
상위 오른쪽 뒤쪽의 4번 마그네트와도 반대 방향으로 움직이면서 정상상태에서는 같게 됩니다.
그리고, 식 (19)에서 3번 마그네트의 제어전압은
오른쪽 레일의 g3와 g4가 정상상태에서 같게 되고, g3가 왼쪽 레일의 g1과 같게 됩니다.
나머지 식도 마찬가지 입니다.
물론, 하위 갭을 제어하는 식(21) 내지 식(24)역시 이동방향만 다를뿐 상기 식(17) 내지 식(20)과 동일한 방식으로 제어됩니다.
결론적으로, 각각의 갭은 먼저 같은 레일을 마주보는 갭과 다른쪽 레일의 갭 모두와 정상상태에서 같게 됩니다. 그리고 한 쪽이 +이면 다른 쪽은 -가 됩니다.That is, the global gap controller in equations (17) and (18)

And

Lift upper gap from steady state by

, And

Becomes the same. And the global gap controller in equations (21) and (22).

Lift lower gap from steady state by

, And

Becomes the same.
In other words, the above description will be explained with reference to each magnet number in FIG.
In equation (17), the control voltage of magnet 1 is
Kgi * ∫ (g1-g2) dt increases the current in magnet 1 if the error between g1 and g2 is +, and decreases if-. Also,
Kgi * ∫ (g1-g3) dt increases the current in magnet # 1 if the error between g1 and g3 is +, and decreases if-.
Eventually g1 = g2 = g3.
So equalize the magnet gaps before and after the upper left and above the upper right.
Similarly, the control voltage of magnet 2 in equation (18) is
-Kgi * ∫ (g1-g2) dt decreases the current in magnet 2 as opposed to equation (17) if g1 and g2 have an error of +, and increases if +.
Kgi * ∫ (g2-g4) dt increases the current in magnet 2 when the error between g2 and g4 is +, and decreases when-.
Eventually, the current of magnet 2 in the upper left back moves in opposite direction to magnet gap 1 in the upper left front, and becomes the same under normal conditions.
It moves in the opposite direction to magnet 4 in the upper right and back, and becomes the same under normal conditions.
And, in equation (19), the control voltage of magnet 3 is
G3 and g4 on the right rail are equal in normal state, and g3 is equal to g1 on the left rail.
The same is true for the rest of the equation.
Of course, the equations (21) to (24) controlling the lower gap are also controlled in the same way as the above equations (17) to (20), except that the movement direction is different.
As a result, each gap is equal in steady state with both the gap facing the same rail first and the gap on the other rail. And if one side is +, the other side is-.

As a result, the difference between the integrator method of the conventional gap controller and the integrator method of the global gap controller in the present invention becomes an integrator input signal, and the advantage of the integrator method in the present invention over the conventional integrator method is that the lift of the lift in the steady state The gap between the left and right sides is always the same, which has the effect of having a stable gap characteristic regardless of disturbance.

및

와 같게 하는 것이 작동시 안정도 측면에서 중요하며, 만약 갭

이 갭

가 아닌 갭

와 같게 되면 즉, 식 (17)에서

가 아닌

가 되면 같은 가이드레일 쪽의 글로벌 갭 제어기는 레일 외란이 발생시 효과적인 제어를 할 수가 없게 된다.In addition, since the global gap controller may have different characteristics depending on the gap signal input to the proportional and integral controllers in the configuration, the gap at corner 1 in the equations (17) to (24) is a gap in a steady state.

And

Equaling is important in terms of stability in operation,

This gap

Gap

Is equal to, that is, in Eq. (17)

Not

In this case, the global gap controller on the same guide rail cannot effectively control the rail disturbance.

은 갭

및 갭

와 연결이 되어야만 한다.Therefore, the gap as shown in Figure 5

Silver gap

And gap

Must be connected to

FIG. 6 is a conceptual diagram illustrating rail disturbance during vertical movement of the magnetic levitation lift. When it is normal, it is assumed that the distance between two guide rails 50a and 50b becomes d1 and the distance when there is rail disturbance becomes d2.

Here, when the magnetic levitation lift 55 moves upward, if the gap value measured by the gap sensors 53a, 53b, 53c, 53d increases when the rail disturbance occurs, the magnets 54a, 54b, 54c, 54d of the lift It must move along the new gap reference lines 52a, 52b.

However, in the conventional local gap control method, since the reference input lines 51a and 51b become reference inputs, the entire gap of the magnet is not satisfied at the same time, resulting in saturation of the integrator. As a result, it is difficult to use an integrator in the existing guide control method, and eventually, an integrator-less guide controller must be configured.

Here, the control simulation is performed to verify the control performance of the existing local guide control method and the new extended guide control method without the integrator.

는 약 0.4mm의 정상상태오차가 발생하였다. 이 정상상태오차는 자기부상 리프트의 작동시 가이드롤러가 가이드레일에 접촉하기 때문에 문제가 될 수 있기 때문에 외란이 발생하더라도 정상상태오차는 없어야만 한다.7 is a gap response waveform for the rotational torque disturbance for the x-axis when using the conventional guide control method, Figure 8 is a gap response waveform for the rotational torque disturbance for the x-axis when using the extended guide control method Waveform. The magnitude of the torque disturbance was 20% of the total lift weight, and was applied in 1 second. Gap in FIG.

The steady state error of about 0.4mm occurred. This steady state error can be a problem because the guide roller contacts the guide rail during the operation of the magnetic levitation lift, so there should be no steady state error even if disturbance occurs.

Compared to FIG. 7, which is a result of applying a conventional guide controller, the extended global gap controller represented in FIGS. 5 and (17) to (24) shows a steady state error even when a force disturbance occurs, as shown in FIG. It can be seen that it shows good control performance without. Since the extended guide control method does not have a steady state error even when the rail disturbance of FIG. 6 occurs, it is possible to maintain good control performance in a steady state even if there is a force disturbance or a rail disturbance.

FIG. 9 is an embodiment showing a state in which the guide control system of the present invention is applied to a magnetic levitation lift, and FIG. 10 shows an embodiment showing a state in which the guide control system of the present invention is applied to a magnetic levitation train.

The magnetic levitation lift 60 is supported by the magnets 62a, 62b, 62c, 62d, 62e, 62f, 62g, 62h at four corners, and maintains a gap between the guide rails 61a, 61b and the magnet. It is the main purpose to keep it. At this time, the gap signal is measured by the gap sensors 63a, 63b, 63c, 63d. The extended guide control system 64 receives eight gaps and currents as inputs, calculates a control voltage, and then supplies current to the magnet by the chopper. The motor 65 and the rope 66 are used to drive the lift in the vertical direction.

The magnetic levitation train of FIG. 10 is composed of several bogies 70, and the gap between the magnets 71a, 71b, 71c, 71d and two rails 73a, 73b at four corners of the bogie is also constant. The purpose is to maintain. The gap is measured by the gap sensors 72a, 72b, 72c, 72d, and the gap is controlled by the extended flotation control system 74. As with the magnetic levitation lift, the floating controller at each corner can form a global gap controller in the form of a proportional and integral controller using the gap at the other corner.

As described above, the extended guide controller of the present invention is composed of a local gap controller and a global gap controller, and the local gap controller is implemented in a state feedback control method using a gap and a current signal of a local corner of the magnetic levitation lift. The gap controller implements the proportional and integral control method using the gap signals of the local and global corners so that the left and right magnet gaps of the magnetic levitation lift are the same in the normal state even when the load inequality or the position of the guide rail changes. It can maintain the guide control performance of the lift.

Therefore, the guide control performance is improved compared to the existing local gap controller alone, and it can be applied to a system such as a magnetic levitation lift, a magnetic levitation train or a magnetic bearing.

Claims (3)

A local control system 20 comprising a local gap controller 21 and a chopper 22 to control driving of the magnetic levitation lift 23, and detect a gap current of the magnetic levitation lift 23, and detect the local gap. In a guide control system for a magnetic levitation lift composed of a sensor 25 which feeds back a signal to a controller 21, The local gap controller 21 is configured such that the outputs of the differential controller and the current controller are added or subtracted using the gap at the local corner and the detected current signal input from the sensor; In the local control system 20 further includes a global gap controller 24 to which the output signal of the adder 26 and the signal detected from the sensor 25 installed outside the local control system 20 are fed back. A guide control system for a magnetic levitation lift, characterized in that the lift is configured to be controlled by the sum of the local gap controller (21) and the global gap controller (22), and the lift is located at the center between the two guide rails. The guide control system of claim 1, wherein the local gap controller is configured such that an output of the differential controller is added and output as a guide control signal. The global gap controller of claim 1, wherein the global gap controller configured as a guide controller comprises a gap signal of the local corner and a gap signal of the global corner.

And

Lift upper gap from steady state by

, And

Is configured to be the same, and the global gap controller

And

Lift lower gap from steady state by

And

The guide control system of the magnetic levitation lift, characterized in that configured to be the same.

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