KR101170883B1 - High Temperature Superconducting Hybrid Control Apparatus With High Bandwidth for Magnetic levitation - Google Patents

Abstract

The present invention relates to a superconducting hybrid floating control device of a magnetic levitation train. The analog control unit that needs to respond quickly to the floating control device of a magnetic levitation train composed of a conventional DSP consists of an analog controller, a PWM generator, and an FPGA. It is composed of computed A / D converter, DSP, D / A converter to improve control stability and increase control response against increase of nonlinearity of floating control device for generation and maintenance of air gap for magnetic injury. It is a superconducting hybrid floating control device of the magnetic levitation train.

Description

High Temperature Superconducting Hybrid Control Apparatus With High Bandwidth for Magnetic levitation

The present invention relates to a superconducting hybrid floating control device of a magnetic levitation train, and more particularly, an analog controller requiring rapid response to configure a high-bandwidth controller in power conversion for floating control of a magnetic levitation train comprises an analog controller. The digital control unit is composed of a digital signal processor (DSP) that handles a complex floating control part by a control operation algorithm. The superconducting hybrid floating control device improves the characteristics of the floating control device by a controller having a high bandwidth. will be.

Currently, the Korea Express Railway (KTX) was opened with the aim of developing public transportation to strengthen the nation's economic foundation.

The above-mentioned KTX is a wheel type, and in its operation, it reduces the contact to match the speed of the KTX, reduces the turning width of the train, and manufactures all methods from the track to the train, and the KTX control system is operated at high speed. . However, it is true that such a wheeled KTX has a limit in speed and does not meet the needs of consumers who demand higher speed trains. As a way to overcome this problem, maglev trains are a viable alternative, but the performance and reliability of maglev trains and various railway facilities should be secured.

In particular, in order to maintain the magnetic levitation among the magnetic levitation trains, development is needed to ensure high performance and reliability in the floating control device that controls the voltage supplied to the coil to maintain the rated air gap between the rail and the train. Do.

Referring to the conventional Patent No. 10-0626333, "floating control device and method of the magnetic levitation train" as an example shown in Figure 1,

A power supply unit 11 for supplying power to the floating control apparatus 10; A transformer unit 12 for transforming a supply voltage supplied from the power supply unit 11 to supply to a floating control device; A sensor (13) for sensing acceleration information of the air gap and the magnetic levitation train indicative of how long the air levitation train floats when the magnetic levitation train is injured; A filter (14) for removing noise of the air gap and acceleration information sensed by the sensor (13); A DSP (15) for performing the floating control by receiving the magnetic levitation train system information transmitted through the sensor (13) and the filter (14); A wireless controller 16 for controlling the sensor 13 to wirelessly detect and receive the gap value and the acceleration information; And a diagnostic board 17 analyzing the data calculated by the DSP 15 to check whether the maglev train is operating normally.

This sensor performs floating control program using DSP (15) consisting of 40MIPS operation speed, 16 A / D channels, 8 PWM (PulseWidth Modulation) PWM, 2.5K word data memory and 32Kbyte programmable memory. Provides a floatation control device and method that can efficiently manage the trouble, economic cost, and risk factors for the experiment of the floatation control device in the maglev train using only the DSP transmitted from the data. The purpose is to do that.

Referring to FIG. 2, the digital controller 20, which is composed solely of a DSP, which is a floating control device in another conventional magnetic levitation train, synchronizes the clock current generated from the pulse generator 21 with the magnetic flux current transmitted from the sensor. A digital proportional-differential control program is calculated by converting and collecting the digital value that can be processed by the arithmetic processing unit 23 through the / D converter 22 to generate a reference voltage value. The PWM generator 24 generates the PWM based on the result of the operation processor 23.

The conventional floating control device of the magnetic levitation train is a digital controller composed only of DSP, and is operated in program code units in synchronization with the CPU clock pulse to perform routines repeated in a control cycle within a limited time (50 uSec) within A / D conversion, digital processing, and reference. It is difficult to raise the control frequency by more than 20kHz due to the generation of the current value. Due to the limitation of the control frequency, the bandwidth of the floating control power converter is narrowed due to a large amount of time, which has problems of control stability and control response characteristics of the floating control device.

The present invention has been made to solve the above-mentioned problems, the analog controller that requires a quick response in the floating control device of the magnetic levitation train consisting only of the existing DSP consists of an analog controller, PWM generator, FPGA and the floating control algorithm is processed The digital control unit is composed of an A / D converter, DSP, D / A converter to provide a floating control device of the magnetic levitation train with improved control characteristics in the power conversion for controlling the magnetic levitation train.

Superconducting hybrid floating control device having a high bandwidth control characteristics of the present invention for achieving the above object,

Digital control unit that can easily handle floating control algorithm, analog controller that can perform high-bandwidth proportional-integral analog control, and voltage supply unit that supplies voltage to maintain rated air gap by PMW generated from the analog controller. It is composed.

The A / D converter converts the gap and acceleration analog values transmitted from the sensor into digital values that can be processed by the DSP, and the floating current control algorithm is easily processed with the values transferred from the A / D converter to calculate the reference current value. A digital controller comprising a DSP and a D / A converter for converting a reference current value generated from the DSP into an analog value so that a high bandwidth proportional-integral analog control can be performed, and the reference current value and the phase conduction coil transmitted from the digital controller. Analog controller to determine the PWM to generate the necessary voltage on the magnetic flotation by comparing the magnetic flux current detected from the PWM and PWM generator for generating a high frequency PWM by the value determined from the analog controller and generated during the initial operation of the analog controller Analog control consisting of FPGA to prevent malfunction And activates the PWM chopper 4 phase by generated from the analog control unit is characterized in that self-made, including the portion a voltage supply for supplying a voltage to the sustain gap necessary.

According to the present invention, a digital controller and an analog controller are provided to provide a float control device for voltage control having a wider bandwidth against an increase in nonlinearity of the float control device due to the maintenance of air gaps for magnetic injuries. By separating and improving the control stability and improving the control response characteristics, there is an advantage that can improve the performance and reliability not only in the flotation control device of the superconducting hybrid flotation control system but also in the flotation control device of the low-speed magnetic levitation train.

1 is a block diagram showing a configuration according to an embodiment of a conventional flotation control apparatus;
2 is a configuration diagram of a digital controller in a flotation control device composed of conventional DSPs only;
3 is a block diagram of a superconducting hybrid floating control device according to the present invention.

Hereinafter, a configuration and operation of an embodiment of a superconducting hybrid floating control device having a high bandwidth control characteristic according to the present invention will be described in detail with reference to the accompanying drawings.

The core of the present invention is the analog controller which needs quick response to overcome the problems of control stability and control response according to low bandwidth in the levitation control device of the magnetic levitation train composed of conventional DSP only. The digital control unit is a floating control device of high-bandwidth magnetic levitation train composed of DSP for easier processing.

Referring to FIG. 3, the floating force for the load at the rated air gap of the floating control device of the magnetic levitation train according to the embodiment of the present invention is borne by the superconducting coil, and the auxiliary floating force required to maintain the rated air gap is phase conduction. The superconducting hybrid floating control device, which is generated by a coil and controls to maintain a predetermined void from the current detected from the sensor in the phase conduction coil for maintaining the rated void, includes a digital controller 100, an analog controller 200, It is made of a voltage supply unit (300). Here, the rated air gap means a distance that is sufficiently spaced apart so that mechanical friction with the rail does not occur when the magnetic levitation train is floated.

The digital control unit 100 is transmitted from the A / D converter 110 and the A / D converter 110 for converting an analog signal, which is a pore signal and a pore acceleration signal, transmitted from a sensor into a digital value for use in a DSP. The DSP 120 calculates the reference current value required for maintaining the air gap by the complex floating control algorithm using the state space control method from the signal, and the analog control unit having the high bandwidth of the digital reference current value calculated from the DSP 120 ( It consists of a D / A converter 130 to convert to an analog value for use in the 200). Since the floating space control algorithm of the state space control system is an unstable system in the open-loop control, it is difficult to control only the output variables (voids) of the floating system, so that the floating system can be stably controlled. It is necessary to estimate and control the state variable (pore acceleration signal), which is an internal variable of.

The analog controller 200 compares the reference current value transmitted from the digital controller 100 with the current detected from the phase conduction coil so as to realize a high control response characteristic. An analog controller 210 consisting of an OP-AMP to determine a PWM for generating a voltage by following a reference current value to a driving gate of the 300 and to the voltage supply unit 300 by a signal transmitted from the analog controller 210. Initial operation and phase shift of the PWM generator 220 and the analog controller 210 composed of a PWM dedicated IC for generating a high frequency PWM to determine a signal pulse width in an IGBT driving circuit performing a switching function for voltage generation. It consists of a digital FPGA 230 to prevent possible malfunctions.

The analog controller 210 preferably uses a proportional-integral analog controller (P-I controller) having a high bandwidth.

The FPGA 230 generates a dead time in the PWM to stabilize the PWM signal during the initial operation of the analog controller 210, and then receives the PWM drive signal from the DSP and transmits the PWM signal to the voltage supply unit. In addition, to prevent short circuit caused by tweeter current that occurs during phase transition of analog signal, DEAD TIME is generated in PWM for a specified time.

In the FPGA 230, a predetermined time for preventing short circuits during phase transition is 2 or 4.

The voltage supply unit 300 receives a PWM generated from the analog controller 200 according to the reference current value calculated by the digital controller 100 and uses a switching element that performs a switching function to follow the reference current value. A voltage is supplied to the phase conduction coil from the accommodating four quadrant chopper. The switching element may be one of a transistor, a MOSFET, and an IGBT. The high-frequency four-quadrant chopper controls a DC average voltage by interrupting a DC power supply having a constant voltage, and rated air gap for magnetic levitation in a phase-conducting coil. Supply the voltage necessary to maintain.

In the present specification, a preferred embodiment of a superconducting hybrid floating control system having a high band control characteristic according to the present invention has been described, but the present invention is not limited thereto. The invention may be practiced in various ways within the scope of the claims and the accompanying drawings, which also belong to the scope of the invention.

100 Digital Control Unit 110 A / D Converter
120 DSP 130 D / A Converter
200 Analog controller 210 Analog controller
220 PWM Generator 230 FPGA
300 voltage supply

Claims (5)

In the superconducting hybrid floating control device of the magnetic levitation train,
A sensor for detecting the rated air gap and the air gap acceleration, which is a distance to be floated so that there is no mechanical friction between the rail and the guideway;
A digital control unit for calculating a reference current value required to maintain the air gap by a floating space control algorithm of a state space control method that estimates and controls the air space acceleration signal as a state variable from the air gap signal and the air space acceleration signal transmitted from the sensor;
An analog controller for generating a PWM necessary for generating a floating force by driving a driving gate of the voltage supply unit by comparing a reference current value transmitted from the digital controller with a current detected from a phase conduction coil, and a signal transmitted from the analog controller. An analog controller configured to generate a high frequency PWM by a PWM generator and an FPGA to block malfunctions that may occur during initial operation of the analog controller; And
Superconducting hybrid magnetic levitation, characterized in that it comprises a voltage supply for supplying a voltage to the phase-conducting coil in a high-frequency four-quadrant chopper for receiving the PWM generated from the analog controller to switch in the switching element to follow the reference current value Injury control device for trains. The method of claim 1,
The digital control unit A / D converter for converting the analog signal transmitted from the sensor to a digital value used in the DSP;
A DSP for calculating a reference current value by a floating control algorithm using the signal transmitted from the A / D converter;
And a D / A converter converting the reference current value calculated from the DSP into an analog value for use in an analog controller. delete The method of claim 1,
Floating control device of a superconducting hybrid magnetic levitation train, characterized in that the switching element is one of a transistor, a MOSFET, and an IGBT. The method of claim 1,
Floating control device of the magnetic levitation train, characterized in that the analog controller is configured as a proportional-integral analog controller.

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