WO1991019621A1 - Underwater linear transport system - Google Patents
Underwater linear transport system Download PDFInfo
- Publication number
- WO1991019621A1 WO1991019621A1 PCT/JP1991/000831 JP9100831W WO9119621A1 WO 1991019621 A1 WO1991019621 A1 WO 1991019621A1 JP 9100831 W JP9100831 W JP 9100831W WO 9119621 A1 WO9119621 A1 WO 9119621A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- track
- linear induction
- buoyancy
- underwater
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/10—Combination of electric propulsion and magnetic suspension or levitation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/08—Sliding or levitation systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H19/00—Marine propulsion not otherwise provided for
- B63H19/08—Marine propulsion not otherwise provided for by direct engagement with water-bed or ground
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
Definitions
- the present invention relates to an underwater transportation system in water or liquid.
- the present inventors have proposed a concept to make the vehicle run underwater or underwater near S.
- a track is laid underwater or in the sea, and a recreational motor car is to be run along this track.
- Japanese Unexamined Patent Application Publication No. Hei 1-26805 and Japanese Unexamined Patent Application Publication No. Hei 12-38405 disclose the following problems. A method of propelling a moving element using a linear motor is disclosed.
- the levitation force is composed of separate elements such as a magnet
- the propulsion force is composed of separate elements, such as a linear motor. Therefore, the structure of the device becomes complicated and the cost increases.
- a first object of the present invention is to take into account that a vehicle is traveling underwater or in the sea, to offset most of its own weight by buoyancy, and to obtain propulsion by a linear motor.
- a second object of the present invention is to provide an underwater transportation system that generates a force that offsets the difference between the vehicle's own weight and buoyancy simultaneously with propulsion.
- an underwater linear transport system According to the present invention, •
- the vehicle has a slight difference in its own weight from the buoyancy of the track provided underwater.
- the track is located on the track.
- the feature is that wheels are provided to support the track.
- the wheels • To further reduce the difference between the weight of the vehicle and the buoyancy, the electromagnetic force corresponding to the difference between the weight • of the vehicle and the buoyancy is generated by linear induction overnight. • Control means can be provided to allow the vehicle to travel without contact.
- the underwater linear transport system of the present invention also includes: • a track provided underwater; and the weight of the track has a slight difference 5 with respect to buoyancy.
- the secondary side of the linear induction motor which is arranged at a distance, a gap sensor for detecting a gap length between the secondary side conductor and the track, and a linear induction motor formed by the secondary side and the secondary side of the zero. It is characterized in that a control means for giving a flow command is provided so that the gap length becomes constant together with the propulsion force.
- FIG. 1 is a schematic diagram illustrating the principle of generation of propulsion and magnetic repulsion according to the present invention.
- Fig. 2 is a schematic diagram illustrating the principle of generation of propulsion and magnetic attraction according to the present invention.
- Fig. 1 is a cross-sectional view of a test device for a linear transport system underwater that uses magnetic levitation by magnetic repulsion as shown in Fig. 1.
- Fig. 4 shows an inverter.
- FIG. 5 is an explanatory diagram of a block operation of a linear induction motor
- FIG. 6 is a time chart of a current command pattern, a gap length, etc. in the first embodiment, and FIG.
- FIG. 1 is a cross-sectional view showing another test device of the underwater linear transport system applying magnetic levitation by magnetic repulsion in Fig. 1
- Fig. 8 is a block diagram showing the configuration of the control system of the device
- Fig. 9 is.
- FIG. 2 is a sectional view showing a second embodiment using magnetic attraction force
- FIG. 10 is a time chart of a flow command pattern, a gap length, etc. in the second embodiment
- FIG. 11 is FIG.
- FIG. 13 is a cross-sectional view showing another embodiment using the magnetic attraction force of the present invention.
- the vehicle's own weight is applied to the track as it is, so the magnetic levitation means to offset the own weight becomes large.
- the present invention aims at running underwater, and in that case, paying attention to the fact that buoyancy acts on the vehicle, a slight difference is provided between the self-weight of the vehicle and the buoyancy, and only the difference is applied to the wheels or Either supplement it with the magnetic repulsion or magnetic attraction of the linear induction motor, or give a current instruction to the linear induction motor so that the gear length is constant.
- Fig. 1 shows the principle of magnetic levitation in the present invention.
- a three-phase alternating current flows through the primary winding of a reductive induction motor
- an eddy current flows through a secondary conductor composed of a nonmagnetic conductor, and the vertical
- a magnetic repulsive force is generated in the direction of the moving magnetic field
- a propulsive force Fx is generated in the traveling direction of the moving magnetic field. It is expressed as a function of the face ridge S of the gear, the length g of the gear and the slip s.
- the magnetic repulsion F is used for the lift of the moving element, that is, the vehicle, and the propulsion F, is used for the propulsion of the vehicle.
- the vehicle's own weight is made smaller than the buoyancy and gear control is performed so that the difference between the buoyancy and the buoyancy is canceled by the suction force, the apparent weight becomes zero and the vehicle runs up and down on the track. It becomes possible.
- FIG. 3 is a cross-sectional view showing a test device of an underwater linear transfer system to which the magnetic levitation by magnetic repulsion of FIG. 1 is applied.
- the underwater linear motor is a little heavier than the buoyancy.
- the secondary side 6 of a linear induction motor made of a non-magnetic conductive S body such as a steel plate or an aluminum plate is connected to the primary side 4 of a linear induction motor arranged inside the track 2 in the vehicle body. They are arranged so that they face each other.
- it is equipped with wheels 7 for supporting the vehicle body when not on the sea and wheels 8 for guidance to prevent false running during levitation.
- vehicle 1 The size of vehicle 1 is Structural design and adjustment should be made so that the weight becomes slightly heavier than the buoyancy received from the body.
- the wheels 8 are provided diagonally because both sides of the track 2 are slanted, but this is divided into two parts, a vertical wheel and a horizontal wheel. And can be supported at two cylinders.
- the track 2 has an iron core 9 having a slot and a primary side 4 of a linear induction motor formed by arranging a three-phase winding 10 in the slot S and fixed thereto.
- the track 2 has a waterproof structure to protect the primary side 4 of the linear induction motor disposed inside from water or liquid.
- the support 3 supports the track 2 and has a hollow portion provided therein so that the winding of the linear induction motor ⁇ the signal of the sensor ⁇ can be wired.
- the controller 5 has an inverter 12 for supplying a current to the primary winding 10 of the linear induction motor arranged on the track 2 and a control circuit 13 for the inverter.
- FIG. 4 shows the control circuit 13 of the inverter 12.
- the control circuit 13 includes a frequency control unit 20 and an output current control unit 30.
- the frequency controller 20 is given a frequency index of a constant frequency
- the two-phase voltage control oscillator 21 generates a two-phase AC signal having a frequency corresponding to the magnitude of the frequency command.
- 2 to 3-phase converter 2 3 to convert it to 3-phase AC signal
- pulse-width modulation amplifier 24 to convert the phase
- inverter 12 to give linear induction motor Power is supplied to each of the phases to control the oven loop.
- the current amplitude calculation circuit 31 calculates the pressure corresponding to the amplitude of the secondary current vector of the linear induction motor, and the deviation from the current command is proportional to the integral controller. 3
- the above flow given to 2 Amplitude control is performed in the amplitude translator 22.
- the S-flow control unit 30 forms a current feedback loop.
- the power supplied to the primary winding of the linear induction motor is divided into a plurality of blocks when the track is long. Prepare multiple units of m and detect which block has vehicle 1 with a vehicle rain level g detector (not shown), and select which inverter to pass through the switch. Switch with m.
- the frequency of the inverter 1 2 is fixed to a certain value, and the pattern of the current command from when the vehicle 1 comes into contact with the track 2 by the wheels until the levitating gear reaches a certain command value Is obtained by simulation as shown in Fig. 6 (a), and based on the result, the frequency and the flow rate are given to the chamber 12 from the control circuit.
- a current flows from the inverter 12 to the primary winding 4 of the linear induction motor, and a levitation force and a propulsion force act on the vehicle 1 that has been in contact with the track 2 with the wheels 7, and a predetermined gear Ascend to the head and promote.
- Fig. 6 (0)) shows an example in which the ascent, speed, and travel distance of vehicle 1 at that time were obtained with respect to time.
- the primary side of Linear Induction 3 ⁇ 4 is set facing the lower surface of the track, and the secondary side provided in the vehicle is set to this primary side.
- the vehicle can be lowered in a prone state in which it is sucked from below when traveling by setting the vehicle's own weight slightly lower than the buoyancy by providing it on the lower surface opposite to it.
- FIG. 7 shows a test apparatus according to a second embodiment of the present invention.
- a gap sensor 16 for detecting a gear between the secondary conductor and the track 2 is provided. Is provided.
- the gap sensor 16 a magnetic induction type or an inductance detection type can be used.
- FIG. 8 is a block diagram showing the control system of the present embodiment.A signal corresponding to the gear detected by the gap sensor 16 is converted into a gap length by a gear sensor signal processing circuit 41, and the deviation from the gap command is calculated. It is input to the PID controller 42 and outputs a value corresponding to the deviation. The current value and the convection command pattern input are added and input to the inverter control circuit 13.
- the frequency of invertor 12 is fixed at a certain value, and the condition that vehicle 1 contacts track 2 with a vehicle until the levitating gear reaches a certain index value is reached.
- the pattern of the current command is obtained by simulation as shown in Fig. 6 (a), and based on the result, a frequency and current command are given to the inverter 12 from the control circuit.
- a current flows from the inverter 12 to the primary winding 4 of the linear induction motor, and a levitation force and a propulsion force act on the vehicle 1 that has been in contact with the track 2 with the wheels 7, so that a predetermined gap length is obtained. Emerge and promote. Fig.
- FIG. 6 (b) shows an example in which the ascent, speed, and travel distance of vehicle 1 at that time were obtained for time. If the gap length fluctuates, feedback control is performed so that the deviation from the gap command becomes zero. If it is necessary to hold the floating gap accurately, the differential use circuit 43 in Fig. 8 uses the differential of the signal of the gear sensor signal processing circuit 41 to output the output of the PID controller 42. Negative feedback.
- FIG. 9 is a cross-sectional view showing the test equipment S of the underwater linear transportation system using the magnetic attraction force of FIG.
- a magnetic yoke 15 is provided as a secondary core above the secondary side 6 of the linear induction motor, and the weight of the vehicle 1 is made slightly smaller than the buoyancy, so that the wheels 8 are usually mounted on the rails.
- the vehicle is brought into contact with Road 2, and the vehicle is driven by the propulsive force while the apparent weight of the vehicle body is reduced to zero by magnetic attraction during running. Since the magnetic attraction force in this case has a larger absolute value than the magnetic repulsion force in the case of FIG. 1, the weight of the vehicle 1 can be reduced to zero with a relatively small force.
- the primary side of the linear induction motor is provided facing the lower surface of the track, and the secondary side provided on the vehicle is opposed to the primary side. Furthermore, by providing the vehicle on its lower surface and making the vehicle's own weight slightly higher than the buoyancy, it is possible to lift the vehicle rain while lifting it from below during traveling. In this case, of course, a magnetic yoke is provided on the back surface of the secondary side.
- the force corresponding to the difference between the vehicle's own weight and the buoyancy is offset by the magnetic repulsive force or the magnetic attraction force of the linear induction motor, but such levitation control is not performed.
- the secondary induction motor is used only as a means for obtaining propulsion, and the force of the difference between the vehicle's own weight and buoyancy is supported by wheels, the same effect as in the present embodiment can be sufficiently expected, and the control unit can be controlled. S can also be significantly simplified.
- FIG. 11 is a cross-sectional view showing another test equipment S of the underwater transportation system using magnetic attraction shown in FIG.
- a magnetic yoke 15 is provided as a secondary iron core above the secondary side 6 of the linear induction motor, and the weight of the vehicle 1 is made slightly smaller than the buoyancy so that the wheels 8 are normally in contact with the track 2.
- the magnetic attraction force in this case is Since the absolute value is larger than the repulsion, the weight of vehicle 1 can be reduced to zero with relatively small power.
- Other configurations and control circuits are the same as those in the embodiment of FIG.
- linear transportation of the vehicle underwater can be performed with a light load or non-contact on a track, and friction can be achieved. Efficient transportation can be performed without energy loss.
- linear transportation of the vehicle underwater can be performed without contacting the track, and efficient transportation can be performed without energy loss such as friction.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
- Non-Mechanical Conveyors (AREA)
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP91910839A EP0487744B1 (en) | 1990-06-20 | 1991-06-20 | Underwater linear transport system |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2/163475 | 1990-06-20 | ||
JP16347690 | 1990-06-20 | ||
JP2/163476 | 1990-06-20 | ||
JP2163475A JP2986854B2 (ja) | 1990-06-20 | 1990-06-20 | 水中リニア輸送システム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1991019621A1 true WO1991019621A1 (en) | 1991-12-26 |
Family
ID=26488901
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1991/000831 WO1991019621A1 (en) | 1990-06-20 | 1991-06-20 | Underwater linear transport system |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP0487744B1 (ja) |
WO (1) | WO1991019621A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4413899A1 (de) * | 1994-04-21 | 1995-10-26 | Magnetbahn Gmbh | Linearmotorfahrzeug mit permanentelektromagnetischer Regelung |
CA2580220C (en) | 2006-03-03 | 2016-08-09 | Hm Attractions Inc. | Linear motor driven amusement ride and method |
CN103813838B (zh) | 2011-06-30 | 2017-02-15 | 哈姆游乐设施股份有限公司 | 用于游乐乘坐装置的运动控制系统和方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS50122627A (ja) * | 1974-03-16 | 1975-09-26 | ||
JPS52149712A (en) * | 1976-06-09 | 1977-12-13 | Toshiba Corp | Magnetic floating and propelling device |
JPS6377305A (ja) * | 1986-09-19 | 1988-04-07 | Fujitsu Ltd | リニアモ−タカ−の走行制御方式 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR1497555A (fr) * | 1966-08-02 | 1967-10-13 | Cabine sous-marine guidée par monorail | |
JPS61112501A (ja) * | 1984-11-02 | 1986-05-30 | Sumitomo Electric Ind Ltd | 磁気浮上車の浮上制御装置 |
EP0224617A1 (en) * | 1985-10-25 | 1987-06-10 | Fuji Electric Co., Ltd. | Rail for use in magnetic propulsive levitation apparatus |
-
1991
- 1991-06-20 EP EP91910839A patent/EP0487744B1/en not_active Expired - Lifetime
- 1991-06-20 WO PCT/JP1991/000831 patent/WO1991019621A1/ja active IP Right Grant
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS50122627A (ja) * | 1974-03-16 | 1975-09-26 | ||
JPS52149712A (en) * | 1976-06-09 | 1977-12-13 | Toshiba Corp | Magnetic floating and propelling device |
JPS6377305A (ja) * | 1986-09-19 | 1988-04-07 | Fujitsu Ltd | リニアモ−タカ−の走行制御方式 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0487744A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP0487744B1 (en) | 1995-09-06 |
EP0487744A4 (en) | 1992-12-02 |
EP0487744A1 (en) | 1992-06-03 |
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