KR101694240B1

KR101694240B1 - Two-phase and two-row linear motor propulsion system equipped with

Info

Publication number: KR101694240B1
Application number: KR1020150080112A
Authority: KR
Inventors: 이병송; 이준호; 박찬배; 김명룡; 이수길; 김재희; 정신명; 이승환; 백제훈; 이경표
Original assignee: 한국철도기술연구원
Priority date: 2015-06-05
Filing date: 2015-06-05
Publication date: 2017-01-11
Also published as: KR20160143992A

Abstract

The present invention relates to a two-phase, two-row linear pulse motor propulsion system, comprising: a moving body provided with wheels on both sides thereof and provided with a field portion for generating a magnetic field in two rows in the longitudinal direction; An electromagnet portion which is provided in a trajectory and generates a moving magnetic field by a power supply supplied from a power conversion device and generates driving force of a moving body by mutual action by two-phase synchronous signals provided in two columns corresponding to the two row sensor portions; Phase linear pulse motor propulsion system according to the present invention is a two-phase two-row linear pulse motor propulsion system, comprising: a plurality of solenoids arranged in a longitudinal direction of a running track between the two rows of armature portions; And a control unit for determining a position of the moving object, wherein the moving object is further provided with a second field portion provided between the two rows of the moving object, and the field portion provided below the moving object moves along the longitudinal direction of the moving object The front stage or rear stage is divided into two sections and each has a front stage section and a rear stage section. The front stage section and the rear stage section are respectively provided with two rows of column sections arranged parallel to the longitudinal direction of the moving body and a second column section fixedly installed between the two row sections. And the front step portion and the back step portion are spaced apart from each other at a predetermined interval, It is combined to provide a two-phase two-row linear pulse motor driving system that is provided with self-leveling holso, characterized in that rotation.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a two-phase, two-row linear pulse motor propulsion system,

The present invention relates to a two-phase, two-row linear pulse motor propulsion system, and more particularly, to a two-phase, two-row linear pulse motor propulsion system having position detection means using a hall device and a steerable field portion.

In general, the acceleration / deceleration performance of a railway car is set considering the weight of the vehicle and the performance of the propulsion unit. In the case of the station having a lot of stopping stations, the acceleration / deceleration performance improvement is a key to the operation of the vehicle and the reduction of the total travel time.

The general railway vehicle uses the wheel-on-rail type adhesive driving method, so there is a speed limit above the sticking limit (about 430 km / h).

The electric railway vehicle receives DC or AC power, drives the traction motor through the main power unit, and supplies the necessary electricity to the vehicle such as the air conditioning system, electric lamp and communication through the auxiliary power unit (SIV).

The torque generated by the traction motor is converted to mechanical energy of high torque and low speed through the reduction gear, which generates the driving force by the friction between the wheels of the train and the rail.

In particular, a large torque and a braking force are required in the acceleration or deceleration section, but only a lower torque is required in the actual running section. Therefore, the traction motor is generally designed and manufactured at a continuous rating required for actual travel.

At start-up, more current is applied than the continuous rating of the traction motor to generate the traction force, but the instantaneous rating is limited to 1.5 ~ 2 times.

Therefore, the conventional electric railway vehicle has a great difficulty in acceleration / deceleration performance due to the capacity limit of the propulsion device, the weight of the vehicle, the limit of the power supply, the adhesion limit, or the improvement of the high-speed driving.

For example, a large-capacity traction motor can be used to improve acceleration / deceleration performance, but the driving efficiency is lowered due to an increase in the weight of the vehicle in a normal driving section other than the acceleration / deceleration section.

In the case of using a traction motor having an increased output density to avoid this problem, the problem of increasing the weight of the vehicle can be solved, but it is difficult to apply the present invention due to the limitation of the power supply in the vehicle and the capacity of the catenary.

In addition, even if a large-capacity traction motor is used to improve the super-high-speed driving performance, there is a problem that the super-high-speed driving is impossible because the wheels slide due to the adhesion limit in the wheel-

Therefore, the applicant of the present invention improves the acceleration performance and the torque characteristic in the patent application No. 10-2012-0110169 (filed on April 10, 2012) (hereinafter referred to as "Prior Art Document 1"), , A two-phase, two-row linear pulse motor propulsion system capable of implementing a forward / backward direction switching function and compactly configuring a stator (armature side).

Referring to FIG. 1A, the two-phase, two-row, two-row linear pulse motor propulsion system of the prior art document 1 includes a magnet unit 11 and 12 for generating a magnetic field in two rows in the longitudinal direction at a lower portion of the moving body 10; (11) and (12) of the two rows, and are arranged in two rows so as to correspond to the two rows of synchronous signals, And an armature 21 (22) for generating an impelling force of the armature 21 (22).

The two rows of columnar portions 11 and 12 provided at the lower portion of the moving body 10 are provided to have a phase difference of 180 degrees from each other.

Each of the armatures 21 and 22 is made up of two rows, and each row 21 is wound so as to be twisted in a predetermined section in the longitudinal direction of the traveling track, and the adjacent sections have a- Phase coil section 21a and an b-phase coil section 21b which are configured to be identical to the a-phase coil section 21a and have a phase difference of 90 degrees in the longitudinal direction.

FIG. 1B shows only one row of the armature portion. The a-phase coil portion 21a is wound so as to be twisted by a predetermined length D, and a structure in which a constant unit section length d1 (d1 = 2D) When power is applied to the a-phase coil part 21a from the power conversion device, two neighboring areas with respect to the twisted position occur in opposite directions to each other.

The b-phase coil section 21b has the same structure as the a-phase coil section 21a, and the unit section length d2 is equal to the section length d1 of the a-phase coil section 21a, / 4) phase difference. The first thermoelectric part 21 and the second thermoelectric part 22 are structurally the same.

A DC pulse current, a square wave, or a sinusoidal AC current may be used as the power source of the armatures 21 and 22. A power source having a phase difference of 90 degrees between the a-phase coil part and the b- Power is supplied through the electric power conversion device to interact with the magnetic field of the corresponding magnetic element 11 by the moving magnetic field generated by the armatures 21 and 22 of each row to generate the driving force of the moving body 10. [

In the two-phase two-row linear pulse motor propulsion system of the prior art document 1 in the patent application No. 10-2012-0120420 (filed on October 29, 2012) (hereinafter referred to as "prior art document 2" A position detecting device capable of detecting the precise position of the moving object is added.

2A and 2B, in the two-phase, two-row, two-row linear pulse motor propulsion system of the prior art document 2, the position detecting device is disposed between two rows of column portions (not shown) provided at the lower portion of the moving body 10 (30); A search coil part (40) arranged side by side between the armature parts (21) (22) arranged in two rows and detecting an electromotive force induced by the field magnetic flux of the second magnetic field part (30); And a control unit (50) for receiving the signal detected by the search coil unit (40) and determining the position of the mobile unit (10).

The search coil portion 40 is disposed between the two rows of the armature portions 21 and 22 so that the second sector portion 30 can be separated from the second coil portion 30 without the necessity of adding a filter circuit for eliminating noise that may be generated in the armature portion. Only the induced electromotive force due to the generated field magnetic flux can be detected.

In the linear pulse motor propulsion system having a two-phase, two-row structure, the position detecting device thus configured is arranged in parallel in the longitudinal direction between the two rows of the armature portions to guide the induced electromotive force caused by the field flux of the second field portion, (40), converts a sinusoidal signal detected in a portion of the search coil into a pulse, and counts the pulse signal to calculate the position of the second magnet unit (30), that is, the position of the mobile unit A decision can be made.

2B, the a-phase coil portions 21a and 22a and the b-phase coil portions 21b and 22b constituting each of the armatures 21 and 22 are separately shown for the sake of understanding, The a-phase coil portions 21a and 22a and the b-phase coil portions 21b and 22b of the first and second phase coils 21 and 22 have an overlapping structure with a phase difference of 90 degrees (d / 4) (see FIG.

The power conversion device 60 includes a first power conversion device 61 for supplying power to the a-phase coil sections 21a and 22a of the respective columns, and a second power conversion device 61 for supplying power to the b-phase coil sections 21b and 22b of the respective columns And a second power conversion device (62).

The linear pulse motor propulsion system having a two-phase, two-row structure with such a position detecting device can determine the position of the moving body 110 by using the signal detected by the control section 200 in the search coil section 40, By controlling the power conversion device 60 that supplies power to the two rows of armatures 21 and 22 by using the position information of the moving object, it is possible to control the stop of the moving object and the switching of the forward and backward directions.

The present applicant also discloses a two-phase two-row structure including a position detecting device of the prior art document 2 in Patent Application No. 10-2012-0130059 (filed on November 16, 2012) (hereinafter referred to as "Prior Art Document 3" The linear pulse motor propulsion system was further improved to protect the field part mounted on the lower part of the mobile body and the optimal installation structure of the arm part and the search coil part installed on the ground was filed.

However, in the case of the curved section, the ground electrical part is also installed along the curved path. Thus, in order for the moving body on the track to obtain maximum thrust and be more fully controlled, a movable structure that conforms to the lower field curvilinear path is required so as to follow the armature attached by the curved path. It is also necessary to minimize the noise, vibration, and wheel wear caused by the contact of the wheel flange with the rails in the curve section, while enabling the variable portion of the field portion to be further increased.

On the other hand, the position detection can be performed because of the second field unit 30 and the search coil unit 40. However, in order to perform stable operation, more precise position detecting means needs to be studied, Is requested.

Patent Registration No. 10-1372426 (Registration date: Apr. 03, 2014)

Patent Registration No. 10-1498888 (Registered Date: February 27, 2015)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a motor vehicle having a movable structure conforming to a lower field curvilinear path so as to follow an armature attached with a curved path, Phase two-row linear pulse motor propulsion system including a moving body in which noise, vibration and wheel wear due to contact with a rail of a wheel flange are minimized, and a more precise position detection means.

In order to achieve the above object, according to the present invention, there is provided a two-phase, two-row linear pulse motor propulsion system,

A movable body provided with wheels on both sides thereof and provided with a field portion for generating a magnetic field in two rows in the longitudinal direction at a lower portion thereof; An electromagnet portion which is provided in a trajectory and generates a moving magnetic field by a power supply supplied from a power conversion device and generates driving force of a moving body by mutual action by two-phase synchronous signals provided in two columns corresponding to the two row sensor portions; Phase two-row linear pulse motor propulsion system,

A second phonetic portion provided between the two rows of columnar portions of the moving body; a second phonetic portion provided between the two rows of columnar portions of the mobile body; and a second phonetic portion formed of a plurality of phonemes arranged in the longitudinal direction of the trajectory between the two rows of phonetic portions, A position detector configured to detect a position of the moving body; And a controller for receiving a signal detected by the hall element and determining a position of the moving object,

Wherein the field portion provided at the lower portion of the moving body is divided into two portions along the longitudinal direction of the moving body to form a front stage and a back stage, and both the front stage and the rear stage are fixed between the two rows and the two rows And the front stage and rear stage steps are horizontally rotatable in the lower part of the moving object while being spaced apart from each other at a predetermined interval.

In this case, the field portion has two rows and has a phase difference of 180 degrees with respect to each other,

Wherein the armature portion is made up of two rows, and each row is wound so as to be twisted in a predetermined section in the longitudinal direction of the running track, and adjacent sections of the armature portion have mutually opposite magnetic field directions, And a b-phase coil part having the same configuration but having a phase difference of 90 degrees in the longitudinal direction.

Preferably, the hollow needle portion is provided between the two rows of the armature portions at regular intervals along the longitudinal direction of the running trajectory.

The first and second Hall element arrays are arranged in parallel with the first Hall element rows and are arranged to have a phase difference of 45 degrees from each other. .

Further, the control unit counts the detection signals received from the holographic unit to determine the position of the moving object, determines the forward / backward movement of the moving object by only one of the two-phase signals of the armature unit according to the stop position of the moving object do.

On the other hand, the moving body includes a wheel portion formed of a wheel box and a shaft box provided on both sides of the wheel, a main frame provided on both sides of the wheel portion, and a main frame fixedly coupled to the main frame, A front step portion and a rear step portion hinged to the bottom surface of the lower frame, and an interlocking portion that interlocks the shaft box of the wheel portion and the main frame and the front step portion or the rear step portion to be interlocked with each other.

The linkage portion includes an axle arm having one end hinged to an axle box on both sides of the wheel of the wheel portion, both side connecting arms connecting the other ends of both side connecting arms on both sides of the wheel, And an interlocking arm hinged to one side of one side of the two side connection arms and hinged to the other side of the front stage or rear stage.

Preferably, the front stage or rear stage is fixed on the upper surface, and the upper end is connected to the lower frame so as to variably connect the vertical stage to support the load of the front stage or rear stage,

And a horizontal arm is coupled to an upper end of the vertical variable supporter, and a rolling material is provided on a bottom surface of the horizontal arm to pressurize and vary the upper surface of the lower frame. do.

In particular, the vertical variable supporter includes a first vertical variable supporter disposed opposite to a central axis of the front stage and a rear stage, and a second vertical variable supporter hinged to the other stage of the interlocking arm.

The two-phase, two-row, two-row linear pulse motor propulsion system according to the present invention has the following advantages.

First, it is possible to detect the position of a railway vehicle without adding a separate device such as a beacon, balise, active tag, reader, and GPS, which is a separate position detecting device, The cumbersome process of transmitting using the device may be omitted.

Second, since the position detection by the Hall element is non-contact type, there is no fear of abrasion or breakage due to contact, and the maintenance cost of the system is remarkably reduced.

Third, since the Hall element is used as the position detection means, reliability due to continuous use is high and drift is small.

Fourth, since the Hall element has a high reliability and a wide temperature range, it can be used in a harsh outdoor environment without long-term replacement.

Fifth, since the width of the installation space is limited, the width of the armature can be further increased, and a higher driving force can be obtained.

Sixth, since the Hall element is provided in the position detecting unit, the cost is much lower than in the case where the position detecting unit is constituted by an encoder or resolver

Seventh, the field portion of the lower part of the moving body is divided into two parts, that is, the front end and the rear end, according to the traveling direction of the moving body, and is independently variable, so that it can be steered corresponding to the armature attached along the curved track, .

Eighth, the field part can be steered in accordance with the curved trajectory on the curved trajectory, so that the length of the field part can be extended longer than when it is not variable.

Ninth, the field portion can be steered and the length of the field portion can be made longer, so that it is possible to perform more stable control in the curve section and in the high speed traveling in the straight section.

In the tenth, since the wheels can also be independently steered for the operation of the field unit, the noise due to the contact between the flange and the track in the curved section and the wear of the flange can be prevented.

FIG. 1A is a conceptual diagram showing a conventional two-phase, two-row linear pulse motor propulsion system,
FIG. 1B is a view showing only a row of electrodes in FIG. 1A,
FIG. 2A is a diagram showing a configuration of a position detecting device of a two-phase, two-row linear pulse motor propulsion system according to the related art,
Fig. 2B is a block diagram of a position detecting apparatus of a two-phase, two-row linear pulse motor propulsion system according to the related art,
FIG. 3A is a conceptual diagram showing a two-phase, two-row linear pulse motor propulsion system according to the present invention,
Fig. 3B is a layout diagram showing the arrangement of the odd characters in the present invention by comparison with the magnet section and the arm section,
FIG. 3C is a diagram illustrating an output waveform of a hall element in the present invention,
FIG. 4 is a view showing an installation structure of an armature part and a grounding part of a ground in the two-phase, two-row, two-row linear pulse motor propulsion system according to the present invention,
5 is a perspective view showing a moving body of the present invention,
Fig. 6 is a side view of the moving body of Fig. 5,
7 is a partially enlarged view of Fig. 6,
Fig. 8 is a plan view of the moving object of the present invention,
9 is an internal perspective view of a moving body of the present invention,
10 is a plan view showing a configuration of an interlocking portion in a moving body of the present invention,
11 is a plan view showing the action of the linking portion in a curved track in the moving body of the present invention,
12 is a view showing the action of the linking portion divided into a straight section and a curved section in the moving body of the present invention,
13 is a conceptual diagram showing the positions of the front stage and rear stage in the curved section of the moving object of the present invention,

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

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, the overall configuration of the present invention will be briefly described.

A second procedure for explaining the detailed configuration of the present invention is as follows. First, the sensor units 11 and 12 are connected to the front-end unit 130a and the front- A stepped portion 130b and a movable body 10 which are mounted to be variable with respect to each other and a wheel 111 which is installed so as to be able to be steered individually in the moving body 10 and the interlocking portion.

First, the overall configuration of the present invention will be briefly described.

The two-phase, two-row linear pulse motor propulsion system equipped with the motor according to the present invention comprises the moving body 10, the armatures 21 and 22, the magnetic pole unit 40, and the control unit.

Here, the moving body 10 is provided with wheels 111 on both sides thereof, and is provided at its lower portion with two rows in the longitudinal direction to generate magnetic fields 11 and 12 for generating a magnetic field. Further, a second field portion 30 is further provided between the two rows of column portions 11, 12.

In this case, the threaded portions 11 and 12 provided at the lower portion of the moving body 10 are separated into two portions, that is, a front end portion and a rear end portion along the traveling direction of the moving body 10, It accomplishes.

The front stage portion 130a is disposed in front of the moving direction of the moving body 10 and the rear stage portion 130b is disposed behind the moving direction of the moving object. The front stage 130a and the rear stage 130b are disposed at regular intervals.

Each of the front stage 130a and the rear stage 130b is composed of two rows of column sections 11 and 12 and a second row section 30 fixedly installed between two rows of column sections 11 and 12.

The front stage 130a and the rear stage 130b are hinged to the bottom of the moving body 10 so as to be horizontally rotatable at the bottom of the moving body 10. [

The armatures 21 and 22 are installed in a traveling track, and a moving magnetic field is generated by a power source supplied from the power converter.

At this time, the armatures 21 and 22 are provided in two rows corresponding to the two rows of columnar sections 11 and 12 provided below the moving body 10, and generate the driving force of the moving body 10 by the interaction of the two- .

A plurality of helical portions (40) are provided between the two rows of armature portions (21, 22) in the longitudinal direction of the running trajectory. When the magnetic field is generated from the lower magnetic pole portions 11 and 12 of the moving body 10 when the magnetic pole portions 11 and 12 attached to the moving body 10 and moving together pass over the upper portion of the magnetic pole portion 40, So that the position of the mobile unit 10 can be read.

The notched portion 40 will be described later in detail.

Finally, the control unit receives the signal detected by the sonar unit 40 and determines the position of the mobile unit 10. In this case, the control unit may further include a power supply unit for supplying power to the hol resonator unit 40, and a device for receiving and converting electromotive force induced in the hall element by a magnetic flux generated by the second magnetic unit 30 through a separate power supply unit.

The present invention has been briefly described above, and the operation of each component and configuration of the present invention will be described in detail below.

First, the principle of detecting the position of the mobile unit 30 by the interaction between the phallic unit 40 and the second magnetic unit 30 will be described.

Holes are devices whose voltage varies with the intensity of the magnetic field. The Hall element is a device that inserts a conductor that conducts current in the middle of an iron core and uses a Hall effect, which is a voltage generated in a direction perpendicular to a magnetic field generated in a direction perpendicular to the current.

That is, when a magnetic field is applied to a conductor through which a current flows, the electric charge flowing in the conductor moves perpendicularly to the traveling direction. It is biased toward one side of the conductor.

At this time, a phenomenon that a potential difference is generated between the place where the charge is concentrated and the place where the charge is not caused due to the shift of the charge to one side is called a Hall effect, and the potential difference at this time is called a Hall voltage.

The measurement of the magnetic field applied to the Hall element and measurement of the direction can be performed by measuring the Hall voltage.

Since the hallowers are small, there is no need for a large installation space, and the magnetic field proportionality is good, so that it is possible to measure the magnetic field intensity to a minute degree. Therefore, the position of the moving object can be measured with a minimum error, and even more precise position detection can be performed without using other devices such as a beacon, balise, active tag, reader, GPS, and the like. In addition, a troublesome process of transmitting the detected position signal using an additional communication device is not necessary.

Next, the interaction between the phalanx portion 40 and the phaser portions 11 and 12, the phaser portions 21 and 22 and the second phaser portion 30 will be described.

In the background art, a field unit having a two-column structure is provided in a lower portion of the moving body 10 so that the moving body 10 can be driven by interaction with a moving magnetic field generated in the armatures 21 and 22. In FIG. 3, the two-row structure of the column portions 11 and 12 is not shown, but may be provided by a permanent magnet, a superconducting magnet at low or normal temperature, or an electromagnet, Are preferably arranged to have a phase difference of 180 degrees with respect to each other.

The second magnetic element 30 is provided between the two rows of the magnetic elements 11 and 12 which are the propelling magnets of the lower portion of the moving body 10 and is preferably provided on the lower magnetic element 40 And is disposed under the mobile unit 10 in correspondence with the vertically upper position of the mobile unit 10.

It is to be appreciated that the second field unit 30 may be provided by a permanent magnet, a superconducting magnet, an electromagnet, etc., and a power supply unit capable of supplying a necessary current when superconducting magnets or electromagnets are used have.

The armatures 21 and 22 are provided in two rows in correspondence with the two columnar sections 11 and 12 along the running trajectory on the ground. Power is supplied by the power conversion apparatus provided adjacent to the running track, Generates a moving magnetic field by a synchronous signal, and provides a driving force necessary for traveling the moving body 10 by interaction with the field units 11 and 12. [

At this time, the configuration of the power converter for supplying power to the armatures 21 and 22 in the present invention is the same as that in the prior art FIG. 2B.

3B, the first thermoelectromotive part 21 and the second thermoelectromotive part 22 are respectively wound so as to be twisted in a predetermined section in the longitudinal direction of the trajectory, A phase coil portions 21a and 22a which are opposite to each other and a phase b which is formed so as to have a phase difference of 90 degrees (d / 4) in the longitudinal direction and the same as the a phase coil portions 21a and 22a, And may be provided by the coil portions 21b and 22b. The first thermoelectric part 21 and the second thermoelectric part 22 are structurally the same.

In this case, the structure of the armatures 21 and 22 shown in FIG. 1B, which is a prior art drawing, is the same as in the present invention, so that the structure of the armatures 21 and 22 in the present invention can be understood have.

2B, the a-phase coil sections 21a and 22a and the b-phase coil sections 21a and 22a constituting each of the armature sections 21 and 22 are separately shown for the sake of clarity, The a-phase coil portions 21a and 22a and the b-phase coil portions 21a and 22a have a phase difference of 90 degrees (d / 4) and have a superposed structure as shown in Fig. 3A.

In particular, in the present invention, between the armature portions 21 and 22 of the two rows, there is provided a hollow portion 40 capable of detecting an electromotive force induced by the field magnetic flux generated in the second field portion 30 when the moving body 10 is moved As the main technical features.

In the present invention, the insulator portion 40 is located between the two rows of electromagnet portions 21 and 22, and is preferably disposed along the middle between the two rows of the electromagnet portions 21 and 22, It is possible to detect only the induced electromotive force due to the field magnetic flux generated in the field unit 30. [

This is because the magnetic fluxes generated by the main electric power are canceled each other at the position of the magnetic filed portion 40 due to the position of the magnetic filed portion 30 between the two filaments 21 and 22 in this case, This is because only the field magnetic flux generated in the second field portion 30 positioned on the upper portion acts on the magnetic domain portion 40.

Therefore, it is not necessary to add a separate filter circuit for eliminating the noise that may be generated in the armatures 21 and 22.

On the other hand, the holographic data 40 can be arranged in two rows for improved reliability.

As shown in FIG. 3B, one of the two Hall element rows is referred to as a first Hall element column 41, and the other one is referred to as a second Hall element column 42 as shown in FIG. 3B.

The first Hall element column 41 and the second Hall element column 42 are arranged in parallel to each other and have a phase difference of 45 degrees with respect to the armatures 21 and 22 as a reference.

3B, when the second field unit 30 passes through the upper portion of the dielectric element 40, the electromotive force induced in the dielectric element 40 forms a waveform shown in the lower part of FIG. 3B in a pulse form, The waveform signal is applied to the control signal of the main power to generate the propelling output current of the waveform as shown in Fig. 3C.

3B is transmitted to a control unit (not shown). The control unit converts the received analog signal into a digital converter, and calculates the position of the second field unit by counting using a position recognition algorithm.

The calculated position value of the second field part is converted into a voltage value, and the converted position value is converted into a digital signal again and applied to generation of the propelling output current.

Here, the controller may be provided with a microcontroller for receiving the output waveform signal of the hall sensor and converting the signal into a digital signal, and calculating the position of the second field unit 30 using a position recognition algorithm.

The control unit determines the forward or backward movement of the mobile unit 10 according to the calculated position of the second field unit 30.

That is, by using the positional information of the moving body 10 according to the position of the second field unit 30, the control of the power conversion apparatus that supplies the electric power applied to the two armature units 21, .

3B, the front and rear windings are determined by supplying power to the positive and negative poles on the phase b, and when the pole portions 11 and 12 are rotated in the direction B , The power is supplied to the positive and negative poles on a to determine the forward / backward direction.

That is, using the position information detected by the non-magnetic element 40, the controller controls the phases of the a-phase coil and the b-phase coil in accordance with the positions of the magnetic field portions 11 and 12, So that the moving body 10 can be stopped.

Next, before describing the structure of the moving body 10 in full, a description will be given of an embodiment in which the armature portions 21, 22 and the magnetic pole portions 40 provided in the ground track are provided in a housing 50 made of a non- .

It is preferable that the housing 50 be made of a nonmagnetic material that is not influenced by a magnetic field. Nonmagnetic metal materials such as well-known reinforcing plastics or typically SUS may be used as the nonmagnetic material. have.

As shown in FIG. 4, it is preferable that the armature portions 21 and 22 and the insulator portion 40 are provided in the housing 50 so as to be buried so as not to protrude to the road surface when they are installed on a new route or a road .

On the other hand, when the rail is installed on an existing rail, a fixing bolt B1 is disposed on a railway sleeper 1, and a lower panel 51 is provided with the fixing bolt B1 as a support. Next, the two rows of armature portions 21 and 22 and the small circular portion 40 are disposed and fixed on the upper portion of the lower panel 51, and then the upper cover panel 52 is covered with the upper portion of the lower panel 51 Lt; / RTI >

The upper cover panel 52 is provided with wings 52a horizontally bent at both ends thereof and the vanes 52a can be fixed by bolts B2 or screws.

The upper cover panel 52 may be formed with a plurality of ventilation holes 52b so that the heat generated in the armatures 21 and 22 in the housing 50 can be easily discharged to the outside.

Next, the threaded portions 11 and 12 attached to the lower portion of the moving body 10 are divided into a front stage portion 130a and a rear stage portion 130b with respect to the traveling direction of the moving body 10, and the front stage portion 130a And the rear stepped portion 130b are mounted on the moving body 10 so as to be variable, the structure of the moving body 10 in which the field portion can be steered will be described.

The two largest characteristics of the moving body 10 according to the present invention are that the first and second sector sections 11 and 12 are divided into two sections with respect to the traveling direction, The responsiveness of the propulsion and the position detection of the moving body 10 is improved because the followability of the armature portions 11 and 12 and the armature portions 21 and 22 and the insulator portion 40 provided on the traveling track of the second field portion 30 becomes high, And secondly, the wheels 111 provided on the moving body 10 can be independently steered without being interlocked with the opposing wheels 111, so that the followability of the wheel 111 with respect to the change in the angle of the traveling orbit The wear of the wheel 111 is significantly prevented, and noise in the curve section is prevented.

5 and 6, a moving body 10 according to the present invention includes a wheel portion 110, a main frame 120 provided on both sides of the front and rear of the wheel portion, 130b which are coupled to the lower portion of the lower frame and the wheel portion 110 and the main frame 120 and the lower frame 140 and the leg portions 130a, 130a, and 130b are interlocked with each other to vary the field portions 130a and 130b.

At this time, the instrument units 130a and 130b are divided into a front stage 130a provided at the front end and a rear stage 130b installed at the rear end with respect to the moving direction of the moving body 10. [

The interlocking portion variably connects the wheel portion 110 and the main frame 120 so that the wheel portion 110 can be steered by independently varying with respect to the main frame 120. The interlocking portion includes a front stage portion 130a, The front wheel section 130a or the rear wheel section 130b is connected to the wheel section 110 so that the wheel section 130b is independently operated and interlocked with the wheel sections 110 on both sides.

The connecting means between the wheel part 110 and the main frame 110 is constituted by an axle arm 151, an axle connecting arm 153 and a downward vertical axis 155.

The axle arm 151 is a rigid member having a predetermined length hinged to the axle box 112 on both sides of the wheel 111, respectively. At this time, the end portions of the both ends of the axle arm 151, which are not coupled to the axle box 112, are opposed to each other between the wheel portions 110 arranged in parallel to each other in the traveling direction.

5, the end portion of the axle arm 151 connected to the wheel portion 110 disposed at the rear end of the moving body 10 with respect to the traveling direction is directed to the wheel portion 110 disposed at the front end, The end portion of the axle arm 151 connected to the wheel portion 110 disposed at the front end of the moving body 10 faces the wheel portion 110 disposed at the rear end.

At this time, the axle connecting arms 153 horizontally connect the ends of the two axle arms 151 hinged to both sides of the one wheel portion 110. The axle connecting arm 153 is centered so that the wheel 111 can be contained therein, and both ends of the axle connecting arm 153 are hingedly coupled with the axle connecting arm 153, respectively.

The axle connecting arm 153 is connected to the main frame 120.

The axle box 112 located at the center of the wheel 111 is positioned below the main frame 120 as shown in FIG. 5, so that the axle connecting arm 153 is connected to the lower portion of the main frame 120. At this time, connecting the main frame 120 and the axle connecting arm 153 is a downward vertical axis 156 which is integrally fixed to the bottom surface of the main frame 120 and protrudes downward.

The center of the axle connecting arm 153 is hinged to the lower end of the downward vertical axis 156 so that the axle connecting arm 153 can be horizontally rotated around the connecting portion with the downward vertical axis 156. [

Referring to FIG. 6, the lower frame 140 is coupled to the main frame 120 at a predetermined interval on the bottom surface of the main frame 120. The main frame 120 and the lower frame 140 are fixedly coupled to each other and behave as one body.

The front frame 130a and the back frame 130b are coupled to the bottom surface of the lower frame 140. [

The front stage 130a and the rear stage 130b are arranged side by side with respect to the moving direction of the moving body 10. [ The front stage 130a and the rear stage 130b are respectively provided with a rotation shaft 161 for hinge coupling with the lower frame 140 at the center thereof.

However, even if the rotary shaft 161 exists, the front stage 130a and the rear stage 130b are not freely rotated.

This is because the front and rear stair parts 130a and 130b are spaced apart from each other but have a small spacing width. So that the wheel part 110 can be interlocked and varied as long as it is steered.

Since the rotary shaft 161 provided at the front stage 130a and the rear stage 130b is for varying the front stage 130a and the rear stage 130b, the front stage 130a and the rear stage 130b, The lower frame 140 is supported by the lower frame 140,

The first means is a first vertically adjustable support 163 disposed opposite to the center portion of the surfaces facing each other at the front stage 130a and the rear stage 130b and the second means comprises a front stage 130a and a rear stage 130b, 130b on both sides of the second vertical variable support base 165. [

The first vertical variable support 163 and the second vertical variable support 165 are both rigid members fixed upward from the upper surface of the front stage 130a and the rear stage 130b and the upper end is horizontally extended A horizontal extending portion is formed, and a bottom surface of the horizontal extending portion is located at an upper portion of the lower frame. At this time, a rolling member similar to a bearing ball or a roller is installed on the bottom of the horizontal extending portion, and the load of the front stage 130a and the rear stage 130b is supported by pressing the upper surface of the lower frame.

7 shows the first vertical variable support 163 and the principle of supporting the loads of the front stage 130a and the rear stage 130b due to the first vertical variable support 163. FIG.

Since the rolling material provided on the bottom surface of the upper end of the first or second vertical variable supports 163 and 165 can be formed on the upper surface of the lower frame 140, even if the front stage 130a and the rear stage 130b are variable, It can be supported.

On the other hand, one upper side of the second vertical variable supporter 165 is connected to one side of the axle connecting arm 153 by the interlocking arm 157. As shown in FIGS. 8 and 9, the axle connecting arm 153 and the second vertically variable supporter 165 are connected by the interlocking arm 157, so that the front stage 130a or the rear stage 130b is connected to the wheel And is changed in the horizontal rotation direction by interlocking with the steering angle.

Hereinafter, the principle that the brakes are varied at the time of curved traveling by the above-described structure will be explained by the organic action between the respective components.

Referring to the plan views of FIGS. 10 to 12, the direction of the wheel 111 is first changed along the trajectory during the curve running. At this time, the steering directions of the front and rear wheels are opposite to each other, and the front and rear ends of the respective components interlocked by the wheel are also symmetrical, so that the steering structure at the rear end of the vehicle 10 is omitted.

Assuming that the moving body 10 is in a stopped state, the variable form is as follows.

That is, the point of rotation in the place in Fig. 10 is a point 5a and 5b which are the centers of the wheel 111, points 3a and 3b where the axle connecting arm 153 is hinged to the downward vertical axis 155, ) Is coupled to the front stage 130a so as to be independently variable.

The remaining points 3a and 3b are interlocked with each other due to the one point. The axle box 112 fixedly coupled to both sides of the wheel 111 moves together with the wheels so that the axle arm 151 hinged to the axle box 112 is interlocked. In Fig. 10, since the center of curvature of the traveling orbit is on the right side, the points 2a and 2b, 5a and 5b and one point, which rotate in place, are all rotated clockwise. At this time, the movement of the remaining points is as shown in Fig.

Since the second vertical variable supporter 165 and the second vertical variable supporter 165 are fixedly coupled to the upper surface of the front stage 130a so as to connect the points 10a and 10b with the points 9a and 9b, As shown in FIG. The points 10a and 10b are not hinged but are free to roll because of the cloud material installed below the second vertical variable support 165. Therefore, since the cloud material is rolled on the upper surface of the wing-shaped portion formed on both sides of the lower frame 140, 10a and 10b are points where swing motion occurs rather than hinge connection. That is, the cloud material provided on the bottom surfaces of the lower frames 10a and 10b presses the upper surface of both sides of the lower frame 140 to roll.

On the other hand, the non-variable configuration is a lower frame 140 fixedly coupled to the main frame 120. At this time, the cloud material below the points 10a and 10b described above acts on both sides of the lower frame 140 to pressurize the both sides of the lower frame 140 with the cloud material, thereby matching the left and right balances of the front section 130a.

On the same principle, a rolling material (not shown) (see FIG. 7) provided on the bottom surface of the upper end of the first vertical variable support 163 swings in a curved section, matches the horizontal balance of the front stage 130a, (130a) is supported.

The first vertically variable support 163 and the second vertically adjustable support 165 are arranged in such a manner that the balance of the shear member 130a is balanced at three points and the load of the shear member 130a is supported . Accordingly, the load of the front stage 130a and the rear stage 130b is supported by the lower frame 140 at three points.

In the actual curved section, the degree of variation of the front stage 130a and the rear stage 130b is not so large as to be clearly distinguished from the naked eye. Therefore, although the front stage 130a and the rear stage 130b are not clearly distinguished from each other, Is varied at the time of running of the curve section. The lower frame 140 connected to the front stage 130a or the rear stage 130b by the rotation shaft 161 is integrally formed over the front and rear ends of the moving object 10 and is not deformed so that the front stage 130a, And the post step portion 130b are changed. The lower frame 140 may be seen to be variable along with the front stage 130a and the rear stage 130b. In practice, however, the lower frame 140 and the main frame 120 are not variable.

13, the front stage 130a and the rear stage 130b will be separated from each other when they are close to each other on the right side in FIG. 13. In the case of the front stage 130a shown in FIG. In other words, at the side where the center of curvature is located, the field sections at the front end and the rear end are close to each other and away from the opposite side.

A detailed variable view at each contact connected by a hinge can be referenced to the comparison of FIG.

The axle arm 151 connected to the wheel 111 and the axle box 112 and the axle connecting arm 153 connected to the axle box 112 are connected to each other by assuming that the moving body 10 is changed from a straight line section to a curved section, It can be seen that the point of rotation of the wheel 111 is the point 5b which is the center of the wheel 111 and the point 3b which is the center of the axle connecting arm 153. [ Although not shown in FIG. 14, the rotation axis 161 of the lower frame 140 also rotates in place, while the lower frame 140 itself is not variable.

12, the center of curvature of the curve section is on the right side, and the shear section 130a is changed to rotate clockwise about the rotation axis 161 in this case. Although not shown, the rear stepped portion 130b, which is symmetrical with respect to the front end 130a, is rotated counterclockwise.

Variations of the front stage 130a and the rear stage 130b start from the wheel 111 that varies independently without an axle and the wheel 111 is independently variable so that the trajectory follow-up power of the curve section is improved Noise due to orbital contact of the flange, which is likely to result from the curve section, and wear and additional vibration of the flange can generally be prevented.

13, the front stage 130a and the rear stage 130b are arranged so as to correspond to the installation density of the armature portions 21 and 22, which are inner and outer propulsion windings, in the curved section Is shown in a conceptual diagram.

The armature portions 21 and 22 on the outer side of the traveling orbit are in phase angle with the armature portions 22 and 21 on the inner side of the traveling orbit when viewed from the center of curvature of the curved portion. When the curved traveling orbit is unfolded, The armatures 21 and 22 outside the orbit are much longer.

Therefore, when the front stage 130a and the rear stage 130b are arranged in the arrangement as shown in FIG. 13, the magnets constituting the front stage 130a and the rear stage 130b are arranged on both sides of the armature 21 And 22, and thus a strong control of the moving body 10 is realized even in a curve section.

Since the front and rear terminal portions 130a and 130b are independently variable and steerable, the terminal portions 130a and 130b can follow the direction of the bottom portion 21 and 22 more closely As a result, not only the driving force is improved but also the control of the moving body 10 is facilitated, and the motor units 130a and 130b can be extended to one moving body 10, The noise in the curved section and the wear of the flange of the wheel 111 can be prevented.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions. It will be apparent to those of ordinary skill in the art.

F: Circle 10: Moving body
11 and 12: the counterparts 21 and 22;
21a, 22a: a phase coil part 21b, 22b: b phase coil part
30: second field part 40:
41: first Hall element column 42: second Hall element column
43a, 43b: signal transmission line 50: housing
51: lower panel 52: upper cover panel
52a: a wing 52b: a vent hole
110: wheel portion 111: wheel
112: Axis box 120: Main frame
124: coupling plate 130a:
130b: rear stage arm portion 140:
151: axle arm 153: axle connection arm
155: downward vertical axis 157: interlocking arm
161: rotating shaft 163: first vertical variable arm
165: second vertical variable support

Claims

A movable body provided with wheels on both sides thereof and provided with a field portion for generating a magnetic field in two rows in the longitudinal direction at a lower portion thereof; An electromagnet portion which is provided in a trajectory and generates a moving magnetic field by a power supply supplied from a power conversion device and generates driving force of a moving body by mutual action by two-phase synchronous signals provided in two columns corresponding to the two row sensor portions; Phase two-row linear pulse motor propulsion system,
A plurality of holes arranged in the longitudinal direction of the trajectory between the two rows of the armatures;
And a controller for receiving a signal detected by the hall element to determine a position of the moving object,
Wherein the moving body further comprises a second field portion provided between the two rows of column portions below the moving body,
Wherein the field portion provided at a lower portion of the moving body is divided into two portions along the longitudinal direction of the moving body to form a front stage and a rear stage and the front stage or rear stage is disposed parallel to the longitudinal direction of the moving body, And a second field section fixedly installed between the magnetic field section and the two row magnetic field sections, wherein the front magnetic domain section and the back magnetic domain section are spaced apart from each other at a predetermined interval and are hinged to the lower part of the moving body and horizontally rotatable. Two - phase, two - row linear pulse motor propulsion system.

The method according to claim 1,
Wherein the field portion has two rows and has a phase difference of 180 degrees with respect to each other,
Wherein the armature portion is made up of two rows, and each row is wound so as to be twisted in a predetermined section in the longitudinal direction of the running track, and adjacent sections of the armature portion have mutually opposite magnetic field directions, Phase two-row linear pulse motor propulsion system having the same configuration, wherein the b-phase coil portion has a phase difference of 90 degrees in the longitudinal direction.

The method according to claim 1,
Phase linear pulse motor propulsion system, wherein the holographic portion is provided between the two rows of the armature portions at regular intervals along the longitudinal direction of the traveling trajectory.

The method of claim 3,
Wherein the first and second Hall element rows are arranged at regular intervals and the second Hall element column is arranged in the same manner as the first Hall element column and arranged to have a phase difference of 45 degrees with respect to the first Hall element column Phase two-row linear pulse motor propulsion system.

The method according to claim 1,
The control unit converts the detection signal received from the holographic unit into a digital signal and then counts the digital signal to determine the position of the moving object. The control unit controls the position of the moving object based on only the phase power of the two- Phase linear pulse motor propulsion system further comprising a microcontroller for determining the forward / backward direction of the two-phase two-row linear pulse motor propulsion system.

The method according to claim 1,
A lower frame fixed to the main frame and separated from a bottom surface of the main frame and fixed to the main frame by fixing means; A front step portion and a rear step portion hinged to the bottom surface of the lower frame; and an interlocking portion for interlocking the shaft box of the wheel portion and the main frame and the front step portion or the rear step portion,
The linkage portion includes an axle arm having one end hinged to a shaft box provided on both sides of the wheel of the wheel portion, an axle connecting arm connecting the other ends of the axle arm to each other, and an axle connecting arm fixed to the bottom surface of the main frame, Phase linear pulse motor propulsion system in which the two-phase, two-row linear pulse motor propulsion system is provided with a downward vertical axis that is hinged to an axle connecting arm and one end of which is hingedly coupled and the other end is hinged to a front stage or rear stage.

delete

The method according to claim 6,
The front stage member or the rear stage stage member is fixed on the upper surface and the upper end is connected to the lower frame so as to be capable of varying so as to support a load of the front stage or rear stage stage,
The upper frame has a horizontal extension portion and a bottom portion of the horizontal extension portion is provided with a rolling material to press and change the upper surface of the lower frame. Phase two-row linear pulse motor propulsion system equipped with a solenoid.

9. The method of claim 8,
Wherein the vertical variable support is comprised of a first vertical variable support which is installed so as to face each other on the center axis of the front stage and rear stage and a second vertical variable support which is hinged to the other stage of the interlocking arm. Two-phase two-row linear pulse motor propulsion system.