Traction and suspension combined control method for embedded maglev train

Abstract

The invention discloses a traction and suspension combined control method for an embedded maglev train. The method comprises the steps that a traction sensor detects the speed v of a motor, the primary phase current i of the motor and the primary electric frequency omega s of the motor in real time; a suspension gap sensor detects a suspension air gap g in real time, namely a motor air gap; the suspension air gap g is input into the traction inverter; the traction inverter establishes a real-time linear motor model according to the received motor air gap value; the motor speed v, the motor primary phase current i and the motor primary electric frequency omega s are input into the suspension controller, and the suspension controller calculates the normal force Fy of the linear motor according to the received motor speed v, the motor primary phase current i, the motor primary current frequency omega s and the motor air gap g. According to the method, data of the suspension system and the traction system are fused, interference between the suspension system and the traction system is restrained, the suspension stability is improved, the traction performance is improved, and optimization of the suspension performance and the traction performance is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of maglev train control, and in particular relates to a traction and suspension combined control method for an embedded maglev train. Background Art

[0002] The embedded maglev train is a medium- and low-speed maglev train with a novel structure. The special embedded structure makes the train have the advantages of small suspension frame volume, light vehicle weight, strong driving ability and suspension ability. However, the special embedded structure makes the suspension performance of the train easily disturbed by the traction system; at the same time, the traction capacity will also fluctuate with the suspension performance.

[0003] Therefore, the joint control of the embedded maglev train suspension traction system can effectively adapt to this new embedded structure and maximize the advantages of the embedded maglev train. Summary of the invention

[0004] The purpose of the present invention is to overcome the problems of the prior art and disclose a method for combined traction and suspension control of an embedded maglev train, transmit the dynamic parameters of the traction system to the suspension system, and at the same time transmit the dynamic parameters of the suspension system to the traction system, perform suspension and traction system data fusion, suppress interference between the suspension system and the traction system, improve suspension stability while improving traction performance, and achieve optimization of suspension and traction performance.

[0005] The object of the present invention is achieved through the following technical solutions:

[0006] A method for controlling traction and suspension of an embedded maglev train, wherein the embedded maglev train comprises a suspension system and a traction system, wherein the suspension system comprises an electromagnet, a suspension controller and a suspension gap sensor, and the traction system comprises an inverter, a linear motor and a traction sensor.

[0007] Characterized in that, the embedded maglev train traction and suspension joint control method comprises:

[0008] The traction sensor detects the motor speed v, the motor primary phase current i, and the motor primary electrical frequency ω in real time. s ; The suspension gap sensor detects the suspension air gap g, which is also the motor air gap, in real time;

[0009] The suspension air gap g is input into the traction inverter; the traction inverter establishes a real-time linear motor model according to the received motor air gap value, so that the traction system outputs stable traction force and normal force;

[0010] Motor speed v, motor primary phase current i, motor primary electrical frequency ω s Input to the suspension controller, the suspension controller receives the motor speed v, motor primary current i, motor primary current frequency ωs And the motor air gap g, calculate the linear motor normal force F y .

[0011] According to a preferred embodiment, the suspension controller receives the suspension air gap value g detected by the suspension gap sensor, and the suspension air gap outer ring calculates the suspension command current i according to the motor normal force and the suspension air gap difference. ref The inner current loop modulates the chopping voltage through the PWM of the power unit to complete the command current tracking.

[0012] According to a preferred embodiment, the linear motor model is constructed based on the equivalent excitation inductance, primary leakage inductance, and secondary leakage inductance of the linear motor; the equivalent excitation inductance, primary leakage inductance, and secondary leakage inductance of the linear motor are obtained by real-time and accurate calculation based on the motor air gap.

[0013] According to a preferred embodiment, the magnitude of the slip frequency is controlled to form a frequency closed loop with the motor speed, and the command voltage u is outputted at both ends of the linear motor. ref .

[0014] According to a preferred embodiment, the current closed loop receives the command voltage u ref The inverter corrects the output voltage through a current closed loop, and finally modulates the PWM of the power unit to produce a variable voltage and frequency AC voltage to drive the linear motor.

[0015] According to a preferred embodiment, the traction system and the suspension system complete real-time and effective data interaction through the train-mounted high-speed communication network.

[0016] According to a preferred embodiment, the motor of the traction system and the electromagnet of the suspension system can be installed on the same side of the track or on different sides of the track. When the motor and the electromagnet are on the same side, the suspension air gap is the motor air gap; when the motor and the electromagnet are on different sides of the track, the motor air gap and the motor air gap add up to a fixed value.

[0017] The aforementioned main scheme of the present invention and its further options can be freely combined to form multiple schemes, all of which are schemes that can be adopted and claimed for protection by the present invention. After understanding the scheme of the present invention, those skilled in the art can understand that there are multiple combinations based on the prior art and common knowledge, all of which are technical schemes to be protected by the present invention, and they are not exhaustively listed here.

[0018] Beneficial effects of the present invention:

[0019] The method for controlling the traction and suspension of an embedded maglev train of the present invention adopts the design concept of integrated integration according to the principle of overall coordination, combines multiple modules of high-voltage power supply, suspension system, motor drive system, and train communication network, relies on the vehicle multi-network communication system, and uses a high-performance microprocessor chip as the computing core to transmit the dynamic parameters of the traction system to the suspension system, and at the same time transmit the dynamic parameters of the suspension system to the traction system, so as to fuse the suspension and traction system data. It is used to adapt to the suspension and traction requirements brought by the special structure of the embedded suspension train, suppress the interference between the suspension system and the traction system, improve the suspension stability while improving the traction performance, and realize the optimization of the suspension and traction performance.

[0020] The method of the present invention can obtain an accurate motor mathematical model in real time under different motor air gaps, and the traction system can output stable and smooth traction force and normal force, ensuring that the normal force can effectively supplement the suspension force. The normal force is introduced into the outer ring of the suspension controller air gap, which is beneficial to increase the stability of the suspension, reduce the suspension command current, reduce the loss of the suspension controller power module, and improve the working efficiency of the electromagnet.

[0021] The traction and suspension combined control method of the present application is not only applicable to embedded maglev trains, but is also applicable when the electromagnets and motors of other maglev trains have a fixed mechanical installation relationship, that is, when the electromagnet air gap value has a fixed relationship with the motor air gap value. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the operation flow of the method of the present invention. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0024] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the present invention should point out that in the present invention, if the specific structure, connection relationship, position relationship, power source relationship, etc. are not specifically written, the structure, connection relationship, position relationship, power source relationship, etc. involved in the present invention are all known to those skilled in the art based on the existing technology without creative work.

[0025] Embodiment 1:

[0026] refer to Figure 1 As shown, the figure shows a method for combined traction and suspension control of an embedded maglev train.

[0027] In the present invention, the suspension system includes an electromagnet, a suspension controller, and a suspension gap sensor; the traction system includes an inverter, a linear motor, and a traction sensor.

[0028] Preferably, during the operation of the train, the traction sensor detects the motor speed v, the motor primary phase current i, and the motor primary electrical frequency ω in real time. s The suspension gap sensor detects the suspension air gap g in real time. For the embedded structure, the suspension air gap is the motor air gap.

[0029] Furthermore, the present invention requires the suspension system and the traction system to realize the interaction of detection data. Through the train communication network, the suspension air gap is input into the traction inverter; the motor speed, primary phase current, and primary electrical frequency are input into the suspension controller.

[0030] The traction inverter establishes a real-time and accurate linear motor model based on the received motor air gap value to avoid motor model distortion and traction control link lag failure caused by changes in the suspension air gap, thereby ensuring the stability of motor control and enabling the traction system to output stable traction and normal force.

[0031] The suspension controller receives the motor speed v, motor primary current i, and motor primary current frequency ω. s And the motor air gap g, calculate the motor normal force F y .

[0032] At the same time, the suspension controller receives the suspension air gap value detected by the suspension gap sensor, and the suspension air gap outer ring calculates the suspension command current i according to the motor normal force and the suspension air gap difference. ref The inner current loop modulates the chopping voltage through the PWM of the power unit to complete the command current tracking.

[0033] Furthermore, the method of the present invention accurately calculates the equivalent excitation inductance, primary leakage inductance, and secondary leakage inductance of the linear motor in real time according to the motor air gap, and obtains a more accurate linear motor model. Based on this, the slip frequency is controlled and a frequency closed loop is formed with the motor speed, and the command voltage u across the linear motor is output. ref The current closed loop receives the command voltage, the inverter corrects the output voltage through the current closed loop, and finally modulates the PWM of the power unit to produce a variable voltage and frequency AC voltage to drive the linear motor.

[0034] Furthermore, the traction system and the suspension system complete real-time and effective data exchange through the train-mounted high-speed communication network. The embedded magnetic levitation vehicle traction and suspension joint control method introduced in the present invention has the following functions:

[0035] The accurate motor mathematical model can be obtained in real time under different motor air gaps, and the traction system can output stable and smooth traction force and normal force, ensuring that the normal force can effectively supplement the suspension force.

[0036] The air gap outer ring of the suspension controller introduces normal force, which is beneficial to increase the suspension stability while reducing the suspension command current, reducing the loss of the suspension controller power module and improving the working efficiency of the electromagnet.

[0037] The method calculates a real-time and accurate linear motor model based on the fact that the suspension air gap is equal to the motor air gap, improves the steady-state and dynamic performance of the traction system, and ensures the stability of the joint control.

[0038] This method can process the suspension height and the motor air gap simultaneously through the vehicle-mounted large-capacity and high-speed communication network, can control the motor normal force smoothly in real time, and timely suppress the adverse effect of the motor normal force on the suspension.

[0039] The method introduces the normal force of the motor into the air gap outer ring of the suspension controller, so that the normal force generated by the traction system can provide effective suspension force supplement for the suspension system, thereby improving the suspension efficiency of the suspension system.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling traction and suspension of an embedded maglev train, wherein the embedded maglev train comprises a suspension system and a traction system, wherein the suspension system comprises: Electromagnet, suspension controller and suspension gap sensor, the traction system includes: inverter, linear motor and traction sensor, Characterized in that, the embedded maglev train traction and suspension joint control method comprises: The traction sensor detects the motor speed v, the motor primary phase current i, and the motor primary electrical frequency ω in real time. s ; The suspension gap sensor detects the suspension air gap g, which is also the motor air gap, in real time; The suspension air gap g is input into the traction inverter; the traction inverter establishes a real-time linear motor model according to the received motor air gap value, so that the traction system outputs stable traction force and normal force; Motor speed v, motor primary phase current i, motor primary electrical frequency ω s Input to the suspension controller, the suspension controller receives the motor speed v, motor primary current i, motor primary current frequency ω s And the motor air gap g, calculate the linear motor normal force F y .

2. The method for combined traction and suspension control of an embedded maglev train according to claim 1, characterized in that: The suspension controller receives the suspension air gap value g detected by the suspension gap sensor, The outer ring of the suspension air gap calculates the suspension command current i according to the motor normal force and the suspension air gap difference. ref The inner current loop modulates the chopping voltage through the PWM of the power unit to complete the command current tracking.

3. The method for controlling the traction and suspension of an embedded maglev train according to claim 1, characterized in that: The linear motor model is constructed based on the equivalent excitation inductance, primary leakage inductance and secondary leakage inductance of the linear motor; The equivalent excitation inductance, primary leakage inductance and secondary leakage inductance of the linear motor are accurately calculated in real time based on the motor air gap.

4. The method for combined traction and suspension control of an embedded maglev train according to claim 3, characterized in that: Control the size of the slip frequency and form a frequency closed loop with the motor speed to output the command voltage u at both ends of the linear motor ref .

5. The method for combined traction and suspension control of an embedded maglev train according to claim 4, characterized in that: Current closed loop receives command voltage u ref The inverter corrects the output voltage through a current closed loop, and finally modulates the PWM of the power unit to produce a variable voltage and frequency AC voltage to drive the linear motor.

6. The method for combined traction and suspension control of an embedded maglev train according to claim 1, characterized in that: The traction system and the suspension system complete real-time and effective data exchange through the train-mounted high-speed communication network.

7. The traction and suspension combined control method according to claim 1, characterized in that: The motor in the traction system and the electromagnet in the suspension system are installed on the same side of the track, or on different sides of the track.

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