KR101329363B1 - Estimanted position apparatus of magnetic levitation train for phase control in propelled invertor of the train based by ls-lsm - Google Patents

Abstract

The present invention relates to an apparatus for monitoring a real-time track condition using a location sensor and an acceleration sensor of a magnetic levitation system. A train location estimation apparatus for controlling the phase of a propelling inverter in a magnetic levitation train based on LS-LSM has a great ripple effect according to the commercialization of a magnetic levitation train based on LS-LSM by providing, in the high-speed magnetic levitation train based on LS-LSM, the precise location information of the train to offer phase necessary for the propelling inverter in real time, and can reduce costs by replacing a high-performance and high-priced location detector required by the propelling inverter based on LS-LSM. The propelling inverter provides current necessary for a linear synchronous motor of the magnetic levitation train. The train location estimation apparatus computes a location estimation value in which the propelling torque of the propelling inverter is precisely estimated from an input value in order to acquire phase information having a cycle 2-5 times faster than a cycle necessary for the propelling inverter from absolute location information transmitted from a location detector of the magnetic levitation train at regular intervals such that the propelling inverter controls an amount of current for speed control based on a current speed of the magnetic levitation train. The train location estimation apparatus provides phase information required to control the output current of the linear synchronous motor using the computed location estimation value.

Description

Vehicle position estimator for phase control of propulsion inverter of LS-LMM-based magnetic levitation train TECHNICAL TECHNICAL FIELD FOR MASE

The present invention relates to a vehicle position estimating apparatus for phase control of an LS-LSM-based magnetic levitation train propulsion inverter. More specifically, the present invention relates to an LS-LSM-based LS-LSM based absolute position information of a magnetic levitation train transmitted at a predetermined period from a position detector. In order to obtain phase information of a period 5 to 10 times faster than the fixed period required for a propulsion inverter for driving a magnetic levitation train, a position estimation value obtained by estimating the propulsion torque of the propulsion inverter based on the absolute position information is calculated. The present invention relates to a vehicle position estimation apparatus for phase control of an LS-LSM-based magnetic levitation train propulsion inverter that provides phase information necessary for output current control using the calculated position estimation value.

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.

There are two ways to inflate a vehicle in a magnetic levitation train, depending on the force of the magnet. There are two methods of suction and repulsion using magnet attraction.

The suction-type magnetic levitation train has a structure in which an electromagnet installed in a train body is connected to the bottom of an iron rail, and the electromagnet sticks upward from an iron rail. When electric current flows through the electromagnet, a force to be attached to the iron plate, that is, a suction force is generated toward the rail, and the body of the maglev train rises together with the electromagnet to be lifted up.

Repulsive magnetic levitation trains usually consist of strong magnets mounted on a vehicle and coils placed continuously in a track. When a strong magnet moves on the upper side of the coil, the magnetic pole of the coil becomes the same pole as the moving magnet by the principle of electromagnetic induction, and a large repulsive force is generated between the two poles. The train which floats due to the repulsive force of the magnetic field by the induced current is called an inductive repulsion magnetic levitation train.

The repulsive magnetic levitation train automatically increases the repulsion force when the train and rail distance decreases, so it does not need to control the magnetic force, but a strong magnet is needed, and it cannot be injured at low speeds and requires a separate support mechanism.

But if you want a heavy object like a train to run fast in the air, you need a very strong magnet. It is difficult to make a magnet strong enough to hold a train, so it is difficult to make a permanent magnet, and an electromagnet using electromagnetic induction must be used. To make a strong electromagnet, a coil must be wound a lot or a current must be flowed. However, if the coil is wound a lot, the size becomes too large or heavy, and if a lot of current flows, a lot of heat is generated due to the resistance of the coil.

In order to solve this problem, a superconducting electromagnet is used. A superconducting electromagnet is an electromagnet using a superconductor. A superconductor is a material that completely eliminates the electrical resistance that interrupts the flow of electricity at very low temperatures. Without electrical resistance, a large amount of current can flow. Superconducting magnets use less electricity and are much more powerful than ordinary electromagnets.

The magnetic levitation train that is injured and operated on the same principle corresponds to the engine of an automobile and is towed using a linear motor. The linear motor is a motor that performs a linear movement, unlike a general electric motor that rotates, it has the advantage that the configuration of the device is very simple, easy maintenance, cost can be reduced, and precise position control. Such linear motors include a linear induction motor (LIM) and a linear synchronous motor (LSM).

The linear motor has a structure in which the rotary motor is cut in the axial direction and laid out flat for linear movement of the motor. It is divided into the method and the ground first method with the stator as the fixing part. The in-vehicle primary method, in which a stator coil is mounted on a vehicle to obtain propulsion, is called a linear induction motor (LIM) method, and the ground primary method in which a stator coil is installed on the ground is called a linear synchronous motor (LSM) method. In the stator coil arrangement, short stator (SS) and short stator (Long Stator) are installed in the vehicle. In the case of the linear synchronous motor system in which the stator coil is installed on the ground, the LS method is applied because it is installed along the track.

In the LS-LSM-based magnetic levitation train, in order to control the speed in the linear synchronous motor which is the propulsion body, it is determined by the current value supplied to the propulsion inverter on the ground made of the linear motor. By measuring, the speed can be calculated from the distance between the measured positions over a period of time, and the calculated speed determines the phase of the current supplied to the propulsion drive.

In order to more accurately measure the position of the magnetic levitation train, the conventional publication "contactless ground train position and speed detection apparatus and method for magnetic levitation trains" (Public Patent No. 10-2011-0024009) is fast and on the ground The location and speed of train can be continuously recognized, so the location and speed detection processing time can be minimized, and the intersecting interval of the cross-guided loop coil installed on the ground becomes resolution, so the high-precision train location can be checked, and the weather and surroundings Contactless ground train position and speed detection device for magnetic levitation train that can stably detect train position and speed even in other physical interference environment, and its method.

In addition, the conventional publicly disclosed "track vehicle position detection system" (Publication Patent No. 10-2011-0004936) is to detect the position of the track vehicle without the wheel, such as a track vehicle or magnetic levitation train, the material of the wheel is not metal It is a track vehicle position detection system using a detection sensor unit and a detection processor that outputs a position information signal.

However, the above-described vehicle position detecting apparatus and method have problems such as irregular signal processing time and delay in processing the position detection signal in the magnetic levitation train in providing the position information measured in the magnetic levitation train using communication means. It is not possible to provide the precise position control information required by the propulsion inverter on the ground, and it is necessary to provide the position information value which is provided in 200 sec period to determine the phase of the current supplied to the propulsion inverter. There is a problem that cannot be met.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems. Currently, the magnetic levitation train in a propulsion inverter provides a current required for the linear synchronous motor of the levitation train in order to provide a more comfortable ride in the LS-LSM based levitation train. In controlling the amount of current to control the speed based on the speed of the motor, the propulsion inverter needs phase information 5 to 10 times faster than the above period from the absolute position information transmitted from the position detector of the magnetic levitation train at a predetermined period. According to the LS-LSM-based magnetic levitation that calculates the position estimation value that accurately estimates the propulsion torque of the propulsion motor as an input value and provides the necessary phase information for output current control of the linear motor using the calculated position estimate value. A vehicle position estimation device for phase control of a train propulsion inverter is provided.

Vehicle position estimation device for phase control of the LS-LSM-based magnetic levitation train propulsion inverter of the present invention for achieving the above object,

A speed controller for controlling the speed of the magnetic levitation train at a speed commanded from a driver or a central controller driving the magnetic levitation train;

A current controller for controlling the amount of current supplied to the linear motor so that a load torque corresponding to the speed transmitted from the speed controller is generated;

A linear motor which generates a load torque by driving the linear motor by the amount of current controlled by the current controller;

A position detector installed in the magnetic levitation train and detecting absolute position information of the current magnetic levitation train at a predetermined period in an LS-LSM based magnetic levitation train;

After receiving the absolute position information of the current vehicle detected by the position detector, correct the position of the magnetic levitation train, and receives the load torque generated by the current controller from the absolute position information transmitted at regular intervals five times than the predetermined period. A phase detector for calculating a position estimate at a rate of 10 times or less and providing the current controller in the form of a phase; And

And a wireless communication device for wirelessly transmitting and receiving absolute position information of the magnetic levitation train during the phase detection period of the magnetic levitation train and the ground phase detection period.

The phase detector includes: a first summer subtracting an estimated position estimate value from a third summer from a position value of absolute position information transmitted from the position detector to a wireless communication device at a predetermined period;

An error compensator to compensate for a position error occurring in the first summer;

A second summer subtracting the torque value transmitted from the linear motor and the load torque value input from the current controller in a period five to ten times faster than the predetermined period;

Two integrators for converting the torque value transmitted from the second summer into a position value;

A third summer for calculating a position estimation value of the magnetic levitation train estimated by adding the position value calculated from the integrator to the position value calculated in the error compensator; And

And a position converter converting the position estimation value calculated by the third summer into a phase form and transmitting it to the current controller.

According to the present invention, the LS-LSM-based magnetic levitation by providing a precise position estimation value to overcome the problem of not providing accurate phase information through real-time position information to the propulsion drive in the LS-LSM-based super high-speed magnetic levitation train The ripple effect of the commercialization of the train is great, and it is possible to replace the high performance and expensive position detection device required by the LS-LSM type propulsion inverter, which has the advantage of reducing the cost.

1 is a block diagram of an apparatus for estimating a vehicle position according to an embodiment of the present invention;
2 is a block diagram of a phase detector in accordance with an embodiment of the present invention.

For a better understanding of the present invention, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. The embodiments of the present invention may be modified into various forms, and the scope of the present invention should not be construed as being limited to the embodiments described in detail below. This embodiment is provided to more completely explain the present invention to those skilled in the art. Therefore, the shapes and the like of the elements in the drawings can be exaggeratedly expressed to emphasize a clearer description. It should be noted that in the drawings, the same members are denoted by the same reference numerals. In addition, detailed descriptions of well-known functions and configurations that are determined to unnecessarily obscure the subject matter of the present invention are omitted.

Hereinafter, the configuration and operation of an embodiment of a vehicle position estimating apparatus for phase control of an LS-LSM-based magnetic levitation train propulsion inverter according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a vehicle position estimation apparatus according to an embodiment of the present invention.

As shown in FIG. 1, the LS-LSM based magnetic levitation train according to the present invention is a ground propulsion inverter 100 corresponding to an engine of a magnetic levitation train and a magnetic levitation train driven by the propulsion inverter 100. It consists of 200.

The vehicle position estimating apparatus for providing phase information of a propulsion inverter according to the present invention includes a speed controller 110 for controlling the speed of a magnetic levitation train and an amount of current supplied from the speed controller 110 to a linear motor so as to correspond to a specified speed. A phase detector for calculating a position estimation value by receiving a current controller 120 to control and a linear motor 130 driven by a current transmitted from the current controller 120 and a load torque generated from the current controller 120. 140 and the wireless communication unit 150 for receiving absolute position information of the magnetic levitation train between the magnetic levitation train 200 and the phase detector 140 on the ground.

The speed controller 110 may be configured according to the speed specified by the driver or the speed specified by the section at the beginning of the operation when the driver driving the magnetic levitation train 200 or the magnetic levitation train is operated by the control of the central control room. The speed of the magnetic levitation train 200 is controlled.

The current controller 120 controls the amount of current supplied to the linear motor 130 to match the specified speed from the speed controller 110.

The linear motor 130 generates torque required for propulsion of the magnetic levitation train by the amount of current controlled by the current controller 120.

2 is a block diagram of a phase detector according to an embodiment of the present invention.

As shown in FIG. 2, the phase detector 140 receives the absolute position information of the current vehicle detected by the position detector 210 installed in the magnetic levitation train 200, and has a magnetic field that the current phase detector 140 has. Correct the position estimate of the floating train.

The phase detector 140 receives the load torque to be generated from the current controller 120 and the torque generated from the linear motor 130, and determines the maglev train from the absolute position information transmitted from the position detector 210. The position estimation value is calculated and provided to the current controller 120 in the form of a phase.

The phase detector 140 includes a first summer 141 for calculating a position error value of the magnetic levitation train, an error compensator 142 for compensating for a position error generated in the first summer, and a torque value transmitted from the linear motor. The second integrator 143 subtracting the load torque value inputted from the current controller and two integrators 144 converting the position value from the torque value transmitted from the second controller and the position estimation value of the magnetic levitation train A third summer 145 for calculating and a position converter 146 for converting the position estimate calculated in the third summer into a phase form.

The first summer 141 receives the position value of the absolute position information detected by the position detector 210 through the wireless communication unit 150 in estimating the current position of the magnetic levitation train 200. The position error is calculated using the estimated position estimate from the third summer 145.

The error compensator 142 compensates for the position value of the conventional magnetic levitation train by using the position error calculated by the first summer 141.

The second summer 143 is a linear motor (5 times or more than 10 times faster than a predetermined period of receiving a position value of absolute position information from the position detector 210 in the first summer 141). An operation of subtracting the torque value transmitted from 130 and the load torque value input from the current controller 120 is performed.

The integrator 144 converts the position value from the torque value transmitted from the second summer 143 to calculate with the conventional position value for generating the position estimate value.

The third summer 145 calculates a position estimation value of the magnetic levitation train estimated by adding the position value calculated from the integrator 144 to the position value calculated by the error compensator 142.

The position converter 146 converts the position estimation value calculated by the third summer 145 into the form of a phase and transmits it to the current controller 120.

The wireless communication unit 150 wirelessly transmits and receives absolute position information of the magnetic levitation train between the position detector 210 and the phase detector 140 on the ground.

The magnetic levitation train 200 transmits the position detector 210 for detecting the absolute position information of the magnetic levitation train and the absolute position information detected by the position detector 210 to the propulsion inverter 100. )

The position detector 210 is installed in the magnetic levitation train 200 and detects absolute position information of the current magnetic levitation train at a predetermined period in the LS-LSM based magnetic levitation train.

Preferably, the vehicle position estimating apparatus for detecting the position of the magnetic levitation train currently in operation by using the number of protruding poles which are propellants installed on the ground for driving the magnetic levitation train 200 and the length of the poles.

In the present specification, a preferred embodiment of a vehicle position estimating apparatus for phase control of an LS-LSM based magnetic levitation train propulsion inverter 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: propulsion drive 110: speed controller
120: current controller 130: linear motor
140: phase detector 141: first summer
142: error compensator 143: second summer
144: integrator 145: third summer
146 position converter 150 wireless communication
200: Maglev train 210: Position detector

Claims (3)

In the vehicle position estimation device for phase control of LS-LSM based magnetic levitation train propulsion inverter,
A speed controller for controlling the speed of the magnetic levitation train at a speed commanded from a driver or a central controller driving the magnetic levitation train;
A current controller for controlling the amount of current supplied to the linear motor so that a load torque corresponding to the speed transmitted from the speed controller is generated;
A linear motor which generates a load torque by driving the linear motor by the amount of current controlled by the current controller;
A position detector installed in the magnetic levitation train and detecting absolute position information of the current magnetic levitation train at a predetermined period in an LS-LSM based magnetic levitation train;
After receiving the absolute position information of the current vehicle detected by the position detector, correct the position of the magnetic levitation train, and receives the load torque generated by the current controller from the absolute position information transmitted at regular intervals five times than the predetermined period. A phase detector for calculating a position estimate at a rate of 10 times or less and providing the current controller in the form of a phase; And
And a wireless communication unit for wirelessly transmitting and receiving the absolute position information of the magnetic levitation train during the phase detection period of the magnetic levitation train and the ground phase detection period. The method of claim 1, wherein the phase detector,
A first summer subtracting the estimated position estimate value from the third summer from the position value of the absolute position information transmitted from the position detector to the wireless communication device at regular intervals;
An error compensator to compensate for a position error occurring in the first summer;
A second summer subtracting the torque value transmitted from the linear motor and the load torque value input from the current controller in a period five to ten times faster than the predetermined period;
Two integrators for converting the torque value transmitted from the second summer into a position value;
A third summer for calculating a position estimation value of the magnetic levitation train estimated by adding the position value calculated from the integrator to the position value calculated in the error compensator; And
And a position converter converting the position estimation value calculated by the third summer into a phase form and transmitting the position estimation value to a current controller. The position detector according to claim 1 or 2,
And a position of the magnetic levitation train in operation using the number of protruding poles, which are propellants installed on the ground on which the magnetic levitation train is operated, and the length of the stimulation poles.

Images