Flexible closed loop transmission electromagnetic propulsion system and propulsion control method

Abstract

The application discloses a flexible closed-loop transmission electromagnetic propulsion system and a control method, wherein the system forms a flexible closed-loop driving chain with tension self-adaption through front and rear traction ropes and a traction drum, and four actions of acceleration propulsion, rapid braking, return and return braking of a traction vehicle are uniformly controlled by using a traction motor, so that the problems of multi-motor synchronization error and energy internal consumption are avoided. In cooperation with a hydraulic tensioning mechanism and a modular light rail, high-precision position and speed control and equipment safety protection are realized. In the energy storage aspect, a flywheel inertia or a super capacitor energy storage can be selected according to the scene, and five working modes are seamlessly switched and energy is fed back in combination with a four-quadrant converter. The application has the advantages of clear control logic, reliable operation, convenient transportation and installation and small maintenance quantity.

Description

Technical Field

[0001] This invention belongs to the field of ground electromagnetic propulsion technology, specifically relating to a flexible closed-loop transmission electromagnetic propulsion system and propulsion control method, which can be applied to rapid catapult takeoff of aircraft, jettisoning tests of cabin equipment such as aircraft seats, and accelerated impact tests of automobiles and their components. Background Technology

[0002] Catapult launches of aircraft, jettison tests of cabin equipment such as aircraft seats, and accelerated impact tests of automobiles and their components typically use compressed gas, hydraulic oil, or electromagnetic force as power sources. These systems instantaneously release energy from energy storage devices, converting it into mechanical kinetic energy to rapidly propel the aircraft or other equipment to a target speed. Currently, propulsion systems powered by compressed gas or hydraulic oil usually require complex power transmission mechanisms, tracks, and pulley systems, resulting in large system size and weight, high maintenance requirements, and difficulties in controlling thrust and speed during catapult launches or jettisons. These limitations make them unsuitable for the increasingly demanding needs of advanced equipment.

[0003] Electromagnetic propulsion technology, which uses electromagnetic force as its power source, features high thrust, high precision in speed and overload control, and low maintenance. Rotary electric motors, used as the electromagnetic force actuator, represent a power-concentrated electromagnetic propulsion technology. They convert the rotational motion of the motor into linear motion of the load-bearing mechanism using traction cables, sheave drums, and pulley systems. The motor and sheave drum rotate together, driving the traction cable and further propelling the trolley in either the forward or reverse direction. This technology is characterized by lightweight tracks, high power system efficiency, and small overall size. While this technology is theoretically feasible, in-depth research is needed on the connection topology between the motor (the propulsion system actuator), the frequency converter, and the energy storage device; how to efficiently transfer and convert energy among these three main power components; and how to reliably control them. These issues require further investigation before it can be applied to practical electromagnetic catapult or electromagnetic launching systems. In addition, how to connect the traction cable and the reel drum, how to utilize a power system including a rotating motor, frequency converter and energy storage device, a reel drum and traction rope to achieve four actions of towing acceleration ejection, rapid braking, rapid reset and reset braking, and how to ensure reliable operation are all problems that urgently need to be solved. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a flexible closed-loop transmission electromagnetic propulsion system and its propulsion control method, applicable to catapult takeoff of aircraft of different masses, jettisoning tests of cabin equipment such as aircraft seats, and accelerated impact tests of automobiles and their components.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A flexible closed-loop electromagnetic propulsion system includes a modular track, a traction vehicle, a traction drum, a front traction cable, a rear traction cable, a hydraulic tensioning mechanism, a front guide wheel, a middle front guide wheel, a rear guide wheel, a middle rear guide wheel, an energy storage device, and a four-quadrant converter. The traction vehicle is slidably mounted on the modular track. The traction drum is rotatably mounted on one side of the modular track. The front and middle front guide wheels are rotatably mounted on the side of the modular track near the launch exit end, spaced apart along the length of the track. The rear and middle rear guide wheels are rotatably mounted on the side of the modular track near the launch initiation end, spaced apart along the length of the track. One end of the front traction cable is wound around the traction drum, and the other end of the front traction cable passes sequentially around the middle front guide wheel and the front guide wheel before connecting to the front end of the traction vehicle. One end of the rear traction cable is wound around the traction drum, and the other end of the rear traction cable passes sequentially around the middle front guide wheel and the front guide wheel before connecting to the front end of the traction vehicle. After bypassing the middle and rear guide wheels, it connects to the rear end of the tractor. The hydraulic tensioning mechanism is located between the traction drum and the modular track. The hydraulic tensioning mechanism includes a tensioning wheel, the output of which is connected to the traction cable to adjust the tension of the front and rear traction cables. The tractor and traction drum are connected in series in a ring through the front and rear traction cables. The middle and front guide wheels, the front guide wheel, the middle and rear guide wheels, the rear guide wheel, and the tensioning wheel form a closed-loop drive chain with adaptive tension. The energy storage device is electrically connected to the traction motor that drives the traction drum through a four-quadrant converter. The four-quadrant converter is configured to realize bidirectional energy transfer between the energy storage device and the traction motor in acceleration and rapid braking modes. In return braking mode, the electrical energy fed back by the traction motor is stored in the energy storage device or switched to the energy-consuming resistor for discharge. In standby mode, the preset tension of the hydraulic tensioning mechanism is maintained.

[0007] This invention also provides a control method for a flexible closed-loop transmission electromagnetic propulsion system, which switches between the following five operating modes:

[0008] In the accelerated propulsion mode, the traction motor is controlled to drive the traction drum to rotate forward, and the traction vehicle is accelerated along the modular track through the front and rear traction cables. The four-quadrant converter supplies the energy storage device to the traction motor.

[0009] In the rapid braking mode, the traction motor is controlled to drive the traction drum to brake and stop. The traction vehicle is braked through the front and rear traction cables. The four-quadrant converter feeds back the regenerative braking energy of the traction motor into the energy storage device.

[0010] In return mode, the traction motor is controlled to drive the traction drum to reverse at a preset speed, thereby driving the tractor back to its original position.

[0011] In the return braking mode, the traction motor is controlled to perform regenerative braking when the tractor returns to the preset position. The four-quadrant converter stores the traction motor's feedback energy into the energy storage device or switches to the energy-consuming resistor for discharge.

[0012] In standby mode, the traction motor stops outputting power, and the hydraulic tensioning mechanism maintains the preset tension of the front and rear traction cables.

[0013] Beneficial effects:

[0014] 1. This invention proposes a flexible closed-loop transmission electromagnetic propulsion system and its propulsion control method, which consists of a front traction cable, a rear traction cable, a traction vehicle, a traction drum, a guide wheel, and a tension wheel, forming a flexible closed-loop drive chain with adaptive tension on the track. It has high control precision for the traction vehicle and reliable system operation.

[0015] 2. The system controller of the present invention controls the energy storage device, the converter and the traction motor to achieve unified control of five actions: energy storage or discharge of the energy storage device, acceleration and rapid braking of the traction vehicle, return to position and braking of the traction vehicle. The control logic is clear and efficient.

[0016] 3. The energy storage device, converter, traction motor, and traction drum of this invention, which are relatively heavy power equipment, are placed on a vehicle-mounted platform or other platforms or on the ground. The rails and linear guides only serve to support the traction vehicle. The rails are made of lightweight metal materials to form a frame structure, reducing the system weight. At the same time, the rails are designed with a modular structure, which facilitates folding for transportation and unfolding for operation, and allows for quick installation and dismantling. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a flexible closed-loop transmission electromagnetic propulsion system according to the present invention.

[0018] Figure 2 This is a diagram showing the relationship between the traction motor, traction drum, and traction cable of the present invention;

[0019] Figure 3 This is an electrical diagram of a flexible closed-loop transmission electromagnetic propulsion system based on inertial energy storage according to the present invention.

[0020] Figure 4 This is an electrical diagram of a flexible closed-loop transmission electromagnetic propulsion system based on supercapacitor energy storage according to the present invention.

[0021] Figure 5 This is a schematic diagram of the track for the present invention;

[0022] Figure 6 This is a schematic diagram of the guide wheel of the present invention;

[0023] Figure 7 This is an example of a vehicle-mounted platform solution for a flexible closed-loop transmission electromagnetic propulsion system according to the present invention;

[0024] Figure 8 This is an example of a transportation scheme for a flexible closed-loop transmission electromagnetic propulsion system according to the present invention.

[0025] The attached diagram is labeled as follows: track 1, linear guide rail 2, front guide wheel 3, middle front guide wheel 4, middle rear guide wheel 5, rear guide wheel 6, front traction cable 10, rear traction cable 11, traction vehicle 12, system controller 20, energy storage device 21, converter 22, converter front module 22-1, supporting capacitor module 22-2, converter rear module 22-3, switch 23, traction motor 24, coupling 25, traction drum 26, drum right support frame 27, drum left support frame 28, rotary encoder 30, cable fixing buckle 34, cable fixing buckle 35, outer... Power supply 40, voltage regulator 41, energy storage and charging energy flow 42, propulsion and return energy flow 43, regenerative braking energy flow 44, signal and control cable 45, tractor position signal cable 46, hydraulic cylinder signal and control cable 47, front track support 50, rear track support 51, track ground support 52, No. 1 hydraulic swing cylinder 53, No. 2 hydraulic swing cylinder 54, platform chassis 60, hydraulic pump 61, hydraulic leveling outrigger 62, guide wheel axle 100, guide wheel bearing 101, guide wheel cover plate 102, hydraulic cylinder 105, piston rod 106, tension wheel 107. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] like Figure 1 As shown, a flexible closed-loop transmission electromagnetic propulsion system of the present invention includes at least a track 1, a linear guide rail 2, a front guide wheel 3, a middle front guide wheel 4, a middle rear guide wheel 5, a rear guide wheel 6, a front traction cable 10, a rear traction cable 11, a traction vehicle 12, a hydraulic tensioning mechanism, and an external power supply 40, a system controller 20, an energy storage device 21, a converter 22, a switching switch 23, a traction motor 24, a coupling 25, and a traction drum 26. The hydraulic tensioning mechanism includes a hydraulic cylinder 105, a piston rod 106, and a tensioning wheel 107.

[0028] The traction motor 24 is coaxially connected to the traction drum 26 via a coupling 25, driving the traction drum 26 to rotate forward or backward. One end of the front traction cable 10 is fixed to one side of the traction drum 26, and then it is wound forward along the groove on the surface of the traction drum 26. When it is wound to near the middle position of the traction drum 26, it leaves the traction drum 26 and is fixed to the front end of the tractor 12 along the upper side of the track 1 via the tension wheel 107, the middle front guide wheel 4, and the front guide wheel 3. One end of the rear traction cable 11 is fixed to the other side of the traction drum 26, and then it is wound backward along the groove on the surface of the traction drum 26. When it is wound to near the middle position of the traction drum 26, it leaves the traction drum 26 and is fixed to the rear end of the tractor 12 along the upper side of the track 1 via the middle rear guide wheel 5 and the rear guide wheel 6. The tractor 12 rolls forward along the linear guide rail 2 under the pull of the front traction cable 10 or rolls backward under the pull of the rear traction cable 11. Energy storage device 21 is connected to the left output terminal of converter 22 via a power cable. The right output terminal of converter 22 is connected to the left output terminal of switch 23 via a power cable. The right output terminal of switch 23 is connected to the stator winding terminal of traction motor 24 via a power cable. System controller 20 is connected to energy storage device 21, converter 22, switch 23, and traction motor 24 via signal and control cables 45, receives the status information of the above devices, and controls the above devices. System controller 20 receives the position signal of tractor vehicle via position signal cable 46 and controls the speed of tractor vehicle. System controller 20 is connected to hydraulic cylinder 105 via hydraulic cylinder status signal and control cable 47 and controls hydraulic cylinder 105. External power supply 40 is connected to the right output terminal of switch 23 via a power cable and stores energy in energy storage device 21 through converter 22. The tractor 12 and traction drum 26 are connected in series in a ring via a front traction cable 10 and a rear traction cable 11. Through a front guide wheel 3, a middle front guide wheel 4, a middle rear guide wheel 5, a rear guide wheel 6, and a tension wheel 107, a physically continuous, end-to-end closed-loop drive chain with single energy transfer is formed. This chain includes the front traction cable 10, the rear traction cable 11, the tractor 12, the traction motor 24, and the traction drum 26, as well as the front guide wheel 3, the middle front guide wheel 4, the middle rear guide wheel 5, the rear guide wheel 6, and the tension wheel 107. Because the closed-loop drive chain uses flexible cables to pull the tractor 12, it avoids impacts on the tractor 12 and the equipment placed on it during rapid driving and braking, thus protecting the equipment's safety.

[0029] Preferably, the traction cable is divided into two sections: a front traction cable 10 and a rear traction cable 11. Based on the lengths of the front traction cable 10 and the rear traction cable 11 of the closed-loop drive chain, the natural vibration frequencies of the two traction cable sections, and the vibration mode lines connecting to form the closed-loop drive chain, the positions of the middle front guide wheel 4, the middle rear guide wheel 5, and the tension wheel 107 distributed on the track are determined to suppress the sagging deformation, self-vibration, shaking, and resonance with the track of the front traction cable 10 and the rear traction cable 11.

[0030] Preferably, the converter 22 includes a converter front module 22-1, a support capacitor module 22-2, and a converter rear module 22-3 arranged sequentially.

[0031] Specifically, such as Figure 1 and Figure 2 As shown, one end of the front traction cable 10 is fixed to the cable fixing buckle 34 on one side of the traction drum 26, and is wound in the forward direction along the groove on the surface of the traction drum 26. It is then fixed to the front end of the tractor 12 via the tension wheel 107, the middle front guide wheel 4, and the front guide wheel 3. One end of the rear traction cable 11 is fixed to the cable fixing buckle 35 on the left side of the traction drum 26, and is wound in the reverse direction along the groove on the surface of the traction drum 26. It is then fixed to the rear end of the tractor 12 via the middle rear guide wheel 5 and the rear guide wheel 6. The front traction cable 10, the rear traction cable 11, the tractor 12, the traction motor 24, and the traction drum 26 form a complete, physically continuous, end-to-end, single-energy-transfer, tension-adaptive closed-loop drive chain.

[0032] The traction motor 24 is connected to the traction drum 26 via a coupling 25. Support frames 27 and 28 at both ends of the drum support the traction drum 26, ensuring that the shaft of the traction drum 26 and the shaft of the traction motor 24 are aligned, guaranteeing smooth rotation of the traction drum 26 driven by the traction motor 24. The surface of the traction drum 26 is engraved with continuous grooves. One end of the front traction cable 10 is fixed to the cable fixing buckle 34 on the right side of the traction drum 26, and one end of the rear traction cable 11 is fixed to the cable fixing buckle 35 on the left side of the traction drum 26. The front traction cable 10 winds forward along the grooves on the surface of the traction drum 26, and the rear traction cable winds backward along the grooves on the surface of the traction drum 26.

[0033] The outer diameters of the traction cables 10 and 11 are circular, and they are wound up or unwound along the grooves on the surface of the traction drum 26. When the front traction cable 10 is wound up along the grooves on the surface of the traction drum 26, the rear traction cable 11 is unwound on the surface of the traction drum 26; conversely, when the rear traction cable 11 is wound up along the grooves on the surface of the traction drum 26, the front traction cable 10 is unwound on the surface of the traction drum 26.

[0034] A hydraulic tensioning mechanism is installed below track 1, including a hydraulic cylinder 105, a piston rod 106, and a tensioning wheel 107. The hydraulic cylinder is fixed to the lower part of track 1. Part of the piston rod 106 is located inside the hydraulic cylinder 105, and part is located outside the hydraulic cylinder 105. The tensioning wheel 107 is installed on the piston rod head located outside the hydraulic cylinder 105. The hydraulic cylinder 105 is powered by a hydraulic pump 61. The system controller 20 adjusts the extension length of the piston rod 106 by controlling the hydraulic pump 61, further adjusting the tension of the front traction cable 10, and thus adjusting the tension of the entire closed-loop drive chain. This reduces the elastic interference of the front traction cable 10 and the rear traction cable 11, ensuring the accuracy and reliability of the position and speed control of the tractor 12 during acceleration, braking, or return acceleration and braking.

[0035] Preferably, the front traction cable 10 and the rear traction cable 11 are made of high-strength high-molecular-weight polyethylene material, which has the characteristics of high tensile strength, good bending performance and low specific gravity, so as to avoid rigid impact on the tractor and the unmanned aerial vehicle and airborne equipment placed on the tractor during rapid propulsion and rapid braking.

[0036] Based on the natural vibration frequencies and lengths of the front traction cable 10 and the rear traction cable 11, a front guide wheel 3, a middle front guide wheel 4, a middle rear guide wheel 5, and a rear guide wheel 6 are distributed on the track 1. At least two guide wheels, namely the middle front guide wheel 4 and the middle rear guide wheel 5, are set between the front guide wheel 3 and the rear guide wheel 6. The angle α between the section of the front traction cable 10 between the traction drum 26 and the middle front guide wheel 4 and the section of the rear traction cable 11 between the traction drum 26 and the middle rear guide wheel 5 is not less than 90 degrees. At the same time, the ratio of the length of the front traction cable 10 from the front guide wheel 3 to the middle front guide wheel 4 to the projected length of the section of the front traction cable 10 from the middle front guide wheel 4 to the traction drum 26 on the track 1 is ≥1. The arrangement of the middle rear guide wheel 5 of the rear traction cable 11 is similar to the arrangement of the middle front guide wheel 4. This ensures that the front traction cable 10 and the rear traction cable 11 are subjected to reasonable forces while suppressing their sagging deformation, vibration, shaking, and resonance with the track.

[0037] Preferably, a position signal recorder is installed on the tractor 12 and the linear guide rail 2 to record the position x1 of the tractor; at the same time, a rotary encoder 30 is installed on the traction drum 26 to detect the rotation position x2 of the traction drum.

[0038] The position x1 of the tractor and the rotation position x2 of the traction drum are sent to the system controller 20. The system controller 20 compares the position x1 of the tractor 12 with the rotation position x2 of the traction drum 26, and calculates the speed v1 of the tractor 12 by comparing the position x1 of the tractor 12 with the speed v2 of the traction drum 26 calculated by the rotation position x2 of the traction drum 26. Based on this, the tension of the closed-loop drive chain is determined. The system controller 20 dynamically adjusts the extension length of the piston rod 106 of the hydraulic tensioning mechanism to keep the tension of the adaptive closed-loop drive chain within a reasonable range.

[0039] The tractor 12 and traction drum 26 are connected in series in a ring via a front traction cable 10 and a rear traction cable 11. A tension-adaptive closed-loop drive chain is formed by a front guide wheel 3, a middle front guide wheel 4, a middle rear guide wheel 5, a rear guide wheel 6, and a tensioning wheel 107. The system controller 20 controls the operation of the traction motor 24, driving the traction drum 26 to perform forward acceleration, forward rapid braking, reverse acceleration, and reverse rapid braking. This achieves unified control of the tractor 12's forward acceleration, rapid braking, and return and return braking, realizing intelligent flexible control of the closed-loop drive chain. The tension-adaptive closed-loop drive chain integrates position, speed, and stress sensing, execution, and control into a closed-loop intelligent flexible control chain. It effectively avoids the problems of traction cable breakage caused by speed or position synchronization errors in two or more multi-motor systems, and system energy consumption caused by uncoordinated torque of multiple motors. It also avoids the problem of energy conflict and consumption when some motors are traction and others are braking in two or more multi-motor systems. At the same time, it eliminates the difficulties of complex mutual communication and complex coordination control logic of two or more multi-motor systems.

[0040] The flexible closed-loop transmission electromagnetic propulsion system of the present invention includes four actions:

[0041] First action: Propulsion acceleration. The converter 22 controls the traction motor 23 to drive the traction drum 26 to rotate forward at an accelerated speed through the coupling 25. The front traction cable 10 winds and takes in the cable along the groove on the surface of the traction drum 26, while the rear traction cable 11 releases the cable on the surface of the traction drum 26. The front traction cable 10 drives the tractor 12 and the load such as the unmanned aerial vehicle placed on the tractor 12 to accelerate along the track module.

[0042] The second action is rapid braking. When the tractor 12 carrying the unmanned aerial vehicle accelerates to the target speed or the predetermined position on track 1, the converter 22 controls the traction motor 24 and the traction drum 26 to brake rapidly. The unmanned aerial vehicle and the tractor 12 are automatically unlocked. The rear traction cable 11 drives the tractor 12 to brake rapidly and stop. The unmanned aerial vehicle and other loads are separated from the tractor 12 by inertial force and then continue to fly.

[0043] Third action: The tractor returns to its original position. The system controller 20 controls the traction motor 24 and the traction drum 26 to run in reverse. The rear traction cable 11 is wound up along the groove on the surface of the traction drum 26, and the front traction cable 10 is unwound on the surface of the traction drum 26. The closed-loop drive chain drives the tractor 12 to run in reverse along the linear guide rail 2.

[0044] Fourth action: return braking. After the tractor 12 returns to the starting position of the linear guide rail 2, the controller 20 controls the traction motor 24 and the traction drum 26 to brake quickly, and the tractor 12 stops at the starting point of the linear guide rail 2.

[0045] For scenarios requiring frequent charging and discharging and rapid continuous propulsion (such as launch or throwing intervals of less than 5 minutes), energy storage device 21 adopts a supercapacitor-based energy storage device. For scenarios not requiring rapid and frequent charging and discharging and continuous propulsion (such as launch or throwing intervals of not less than 5 minutes), a flywheel inertial energy storage device is adopted. When using a flywheel inertial energy storage device, the converter adopts a four-quadrant back-to-back topology converter, including a converter front module 22-1, a support capacitor module 22-2, and a converter rear module 22-3. The system controller 20 controls the four-quadrant back-to-back topology converter to achieve seamless and rapid switching between five modes: rapid energy storage, propulsion acceleration, rapid braking, traction vehicle return, and return braking.

[0046] This invention also provides a control method for a flexible closed-loop transmission electromagnetic propulsion system, which corresponds to five operating modes of the system and includes the following steps:

[0047] Step 1: Energy Storage Mode. The AC power from the external power source 40 is transmitted through the voltage regulator 41, the position P2 of the switching switch 23, and the converter 22 to drive the flywheel of the energy storage device to rotate and store energy. The converter 22 operates in the second quadrant, that is, the module 22-1 before the converter operates in the inverter state and the module 22-3 after the converter operates in the rectification state.

[0048] Step 2: Acceleration mode. The energy storage device 21 rapidly releases electrical energy, which controls the traction motor 26 to run through the position P1 of the converter 22 and the switching switch 23. The converter 22 operates in the first quadrant, that is, the module 22-1 before the converter operates in the rectification state and the module 22-3 after the converter operates in the inverter state. The traction motor 24 rotates forward to accelerate.

[0049] Step 3: Rapid braking mode. Traction motor 24 is in generator mode. The kinetic energy of tractor 12 and traction motor 24 is converted into electrical energy of traction motor 24. Through the position P1 of switch 23, the inverter 22 is fed back to the energy storage device for rotational energy storage. Inverter 22 operates in quadrant II, that is, the module 22-1 before the inverter operates in inverter mode, and the module 22-3 after the inverter operates in rectification mode. Traction motor 24 rotates forward, decelerates and stops.

[0050] Step 4: Tractor Return Mode. Control the energy storage device 21 to release electrical energy, and control the traction motor 24 to run in reverse through the inverter 22 and the switch 23 to the off discharge position P1. The inverter 22 operates in the third quadrant, that is, the module 22-1 before the inverter operates in the rectification state, and the module 22-3 after the inverter operates in the inverter state. The traction motor 24 rotates in reverse to accelerate.

[0051] Step 5: Return Braking Mode. Traction motor 24 is in generator mode. The kinetic energy of tractor 12 and traction motor 24 is converted into electrical energy of traction motor 24. Through the discharge position P1 of switch 23, the converter 22 feeds back to the energy storage device for rotational energy storage. Converter 22 operates in quadrant VI, that is, the module before converter 22-1 operates in inverter mode and the module after converter 22-3 operates in rectification mode. Traction motor 24 reverses and decelerates to stop.

[0052] P0 is the neutral state of the switching switch.

[0053] Specifically, such as Figure 3 As shown, the energy storage device 21 is an inertial flywheel-based energy storage device. The energy storage device 21 is connected to the left output terminal of the converter 22 via a power cable. The right output terminal of the converter 22 is connected to the left output terminal of the switch 23 via a power cable. The right output terminal of the switch 23 is connected to the stator winding terminal of the traction motor 24 via a power cable. An external power supply 40 is connected to the right output terminal P2 of the switch 23 via a power cable, and stores energy in the energy storage device 21 through the converter 22. The switch 23 is a 3-position switch. During energy storage, the switch 23 is switched to the energy storage position P2; during propulsion acceleration, rapid braking, return, and return braking, the switch 23 is switched to the discharge position P1.

[0054] When the energy storage device adopts inertial flywheel-based energy storage, the converter adopts a back-to-back topology converter that can operate in four quadrants. By controlling the traction motor 24, the flexible closed-loop transmission chain is driven to move, realizing seamless and rapid switching of five working modes of the energy storage device: rapid energy storage, propulsion acceleration, rapid braking, acceleration return, and return braking.

[0055] When operating in different modes, the direction of energy flow is controlled as follows:

[0056] Energy flow 42 for energy storage and charging: The electrical energy from the external power source 40 passes through the voltage regulator 41, the charging position P2 of the switching switch 23, and the converter 22 to control the rotation of the energy storage device 21 for energy storage.

[0057] Propulsion and return energy flow 43: The electrical energy generated by the energy storage device 21 controls the operation of the traction motor 24 through the discharge position P1 of the converter 22 and the switching switch 23;

[0058] Regenerative braking energy flow 44: The kinetic energy of the tractor 12 and traction motor 24 is converted into electrical energy and fed back to the energy storage device 21 through the discharge position P1 of the switch 23, the converter 22.

[0059] Preferably, the external power source 40 is a diesel or gasoline generator set, and if conditions permit, a 380V power supply from the mains can be used.

[0060] like Figure 4 As shown, energy storage device 21 is an energy storage device based on supercapacitor bank. Converter 22 adopts a two-quadrant operation topology. Energy storage device 21 is connected to the left output terminal of converter 22 via a power cable. The right output terminal of converter 22 is connected to the left output terminal of switch 23 via a power cable. The right output terminal of switch 23 is connected to the stator winding terminal of traction motor 24 via a power cable. External power supply 40 is connected to energy storage device 21 via a power cable. Switch 23 is an AC circuit breaker. During the acceleration throwing, rapid braking, acceleration return, and return braking stages, switch tangential discharge position P1 is reached.

[0061] By controlling the traction motor 24 to drive the closed-loop drive chain, seamless and rapid switching between four actions—propulsion acceleration, rapid braking, acceleration return, and return braking—is achieved. During operation in different modes, the direction of energy flow is controlled as follows:

[0062] Energy storage charging energy flow 42: External power supply 40 directly charges energy storage device 21;

[0063] Propulsion and return energy flow 43: The energy storage device 21 generates electrical energy, which is discharged through the converter 22 and the switching switch 23 at the discharge position P1 to control the operation of the traction motor 24;

[0064] Feedback braking energy flow 44: The kinetic energy of the tractor 12 and traction motor 24 is fed back to the energy storage device 21 through the discharge position P1 of the switch 23 and the converter 22.

[0065] Preferably, the switching switch 23 is a 3-position switch. During the flywheel inertial energy storage stage, the switching switch is in the tangential energy storage position P2, and during the throwing, braking and return stages, the switching switch is in the tangential discharge position P1.

[0066] like Figure 5 As shown, linear guide rails 2 are installed on the left and right sides of track 1 to support the operation of the tractor 12. Hydraulic swing cylinders 53 (No. 1) and 54 (No. 2) at both ends are used to fix adjacent tracks, forming a long straight track after unfolding. The track has a modular structure. In non-working states such as transportation and storage, the modular track is folded up by the hydraulic swing cylinders; in working states, the modular track is unfolded into a long straight track by the hydraulic swing cylinders to meet the speed and acceleration requirements during catapult launch or throwing.

[0067] like Figure 6 As shown, Figure 1 The front guide wheel 3, the middle front guide wheel 4, the middle rear guide wheel 5, the rear guide wheel 6, and the tension wheel 107 are all designed as... Figure 6 The illustrated scheme includes guide wheel cover plates 102 installed on all guide wheels and tension wheels to prevent the front and rear traction cables from detaching from the guide wheels, ensuring safe and reliable operation. The outer edges of the guide wheels are grooved, within which the front and rear traction cables move. The front guide wheel 3, middle front guide wheel 4, middle rear guide wheel 5, rear guide wheel 6, and tension wheel 107 are all made of aluminum alloy. The guide wheel shaft 100 is fixed to the track 1. The outer edges of all guide wheels are grooved to constrain the front and rear traction cables 10 and 11. The guide wheel shaft 100 is equipped with a guide wheel bearing 101.

[0068] like Figure 7 As shown, the vehicle-mounted platform of the flexible closed-loop transmission electromagnetic propulsion system of the present invention includes a platform chassis 60, a hydraulic pump 61, and hydraulic leveling legs 62. Three modular track sections 1 unfold to form a long straight track. A front track support 50, a rear track support 51, and a track ground support 52 support the long straight track formed by the three track modules 1. All system equipment is placed on the platform chassis 60. The hydraulic leveling legs 62 level and fix the platform, and the hydraulic pump 61 provides power to all hydraulically actuated equipment.

[0069] like Figure 8 As shown, the flexible closed-loop transmission electromagnetic propulsion system of the present invention is in the state of transportation. The three modular track 1 is folded by hydraulic cylinder 1 53 and hydraulic cylinder 2 54, and the front support 50 of the track is folded up, which facilitates transportation.

[0070] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible closed-loop transmission electromagnetic propulsion system, characterized in that, The system includes a modular track, a traction vehicle, a traction drum, a front traction cable, a rear traction cable, a hydraulic tensioning mechanism, a front guide wheel, a middle front guide wheel, a rear guide wheel, a middle rear guide wheel, an energy storage device, and a four-quadrant converter. The traction vehicle is slidably mounted on the modular track. The traction drum is rotatably mounted on one side of the modular track. The front and middle front guide wheels are rotatably mounted on the side of the modular track near the launch exit end, spaced apart along the length of the track. The rear and middle rear guide wheels are rotatably mounted on the side of the modular track near the launch exit end, spaced apart along the length of the track. The modular track is located near the launch initiation point; one end of the front traction cable is wound around the traction drum, and the other end of the front traction cable passes through the middle front guide wheel and the front guide wheel in sequence before connecting to the front end of the traction vehicle; one end of the rear traction cable is wound around the traction drum, and the other end of the rear traction cable passes through the middle rear guide wheel and the rear guide wheel in sequence before connecting to the rear end of the traction vehicle; a hydraulic tensioning mechanism is located between the traction drum and the modular track, and the hydraulic tensioning mechanism includes a tensioning wheel, the output end of which is connected to the traction cable to adjust the tension of the front traction cable and the rear traction cable; The tractor and traction drum are connected in series in a ring via a front traction cable and a rear traction cable. A closed-loop drive chain with adaptive tension is formed by the middle front guide wheel, front guide wheel, middle rear guide wheel, rear guide wheel, and tension wheel. The energy storage device is electrically connected to the traction motor that drives the traction drum via a four-quadrant converter. The four-quadrant converter is configured to realize bidirectional energy transfer between the energy storage device and the traction motor in acceleration propulsion mode and rapid braking mode. In return braking mode, the electrical energy fed back by the traction motor is stored in the energy storage device or switched to the energy-consuming resistor for discharge. In standby mode, the preset tension of the hydraulic tensioning mechanism is maintained.

2. The flexible closed-loop transmission electromagnetic propulsion system according to claim 1, characterized in that, The hydraulic tensioning mechanism includes a hydraulic cylinder, an accumulator, and a tension sensor; the piston rod of the hydraulic cylinder is connected to the front traction cable or the rear traction cable, the rodless chamber of the hydraulic cylinder is connected to the accumulator, and the tension sensor is installed on the hydraulic cylinder, the front traction cable, or the rear traction cable.

3. The flexible closed-loop transmission electromagnetic propulsion system according to claim 1, characterized in that, It also includes an installation platform; modular tracks are laid on the upper surface of the installation platform, and the traction motor, traction drum and hydraulic tensioning mechanism are all installed on the installation platform.

4. The flexible closed-loop transmission electromagnetic propulsion system according to claim 3, characterized in that, The bottom of the installation platform is equipped with hydraulic leveling legs and anchoring interfaces. The hydraulic leveling legs are connected to the bottom surface of the installation platform, and the anchoring interfaces are located at the edge of the installation platform and are detachably connected to the external foundation.

5. The flexible closed-loop transmission electromagnetic propulsion system according to claim 1, characterized in that, The modular track consists of multiple track segments that are spliced ​​together sequentially; each track segment is equipped with a linear guide rail and a limit stop, the tractor's wheels roll in cooperation with the linear guide rail, and the limit stop is located at the end of the linear guide rail.

6. A control method for a flexible closed-loop transmission electromagnetic propulsion system, applied to the flexible closed-loop transmission electromagnetic propulsion system according to any one of claims 1 to 5, characterized in that, Switch between the following five operating modes: In the accelerated propulsion mode, the traction motor is controlled to drive the traction drum to rotate forward, and the traction vehicle is accelerated along the modular track through the front and rear traction cables. The four-quadrant converter supplies the energy storage device to the traction motor. In the rapid braking mode, the traction motor is controlled to drive the traction drum to brake and stop. The traction vehicle is braked through the front and rear traction cables. The four-quadrant converter feeds back the regenerative braking energy of the traction motor into the energy storage device. In return mode, the traction motor is controlled to drive the traction drum to reverse at a preset speed, thereby driving the tractor back to its original position. In the return braking mode, the traction motor is controlled to perform regenerative braking when the tractor returns to the preset position. The four-quadrant converter stores the traction motor's feedback energy into the energy storage device or switches to the energy-consuming resistor for discharge. In standby mode, the traction motor stops outputting power, and the hydraulic tensioning mechanism maintains the preset tension of the front and rear traction cables.

7. The control method according to claim 6, characterized in that, The four-quadrant converter automatically switches the charging and discharging direction of the energy storage device according to the operating status of the tractor.

8. The control method according to claim 6, characterized in that, In the acceleration mode, rapid braking mode, and return mode, the hydraulic tensioning mechanism adjusts the tension of the front and rear traction cables in real time to keep them within the preset tension range.

9. The control method according to claim 6, characterized in that, In acceleration mode, rapid braking mode, and return mode, the controller collects the actual position and speed of the tractor, compares them with the target position and speed, and generates speed and torque control commands for the traction motor to achieve closed-loop regulation.

10. The control method according to claim 6, characterized in that, The controller automatically and seamlessly switches between the five working modes based on the position signal, speed signal and charge status signal of the tractor and the energy storage device, without the need for manual intervention.

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