Parallel permanent magnet and electromagnetic hybrid suspension experiment system and control method

Abstract

The invention provides a parallel permanent magnet and electromagnetic hybrid suspension experiment system. The parallel permanent magnet and electromagnetic hybrid suspension experiment system comprises a base, a top plate, a supporting device, a suspension body, an electromagnetic device, a permanent magnet device and a controller, the base is connected with the supporting device, the supporting device is connected with the suspension body and the top plate, the top plate is connected with the electromagnetic device and the permanent magnet device, and the controller is connected with the electromagnetic device. The electromagnetic devices are arranged on the two sides of the permanent magnet device and located above the suspension body. The electromagnetic device comprises an electromagnetic coil and a magnetic conductive iron core; the magnetic conductive iron cores cling to two sides of the electromagnetic coil; the magnetic conductive iron core is fixed below the top plate through a bolt fastener; the permanent magnet device is arranged above the center of the suspension body; the permanent magnet device comprises a permanent magnet, a magnetic conductive steel plate and a fastener; the permanent magnet is fixed on the suspension body through a fastener; the magnetic conductive steel plate is fixed below the top plate through a bolt; the controller is used for adjusting the electromagnetic force of the electromagnetic device. The system provides a research scheme and thought for solving the problem that an existing permanent magnet suspension structure is unstable in suspension.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic levitation rail transportation, and in particular to a parallel permanent magnet electromagnetic hybrid suspension experimental system and a control method. Background Art

[0002] The development of rare earth permanent magnet maglev technology benefits from the current advancements and maturity of the rare earth industry, smelting techniques, automated control, and high-end manufacturing. This type of maglev transportation system offers advantages such as zero-power suspension, environmental friendliness, and minimal maintenance. However, it also faces technical challenges, such as uncontrollable magnetic fields and complex processing. Rapid advances in permanent magnet materials, electronic information, and precision machining technologies are providing strong support for breakthroughs in permanent magnet maglev technology.

[0003] Compared to conventional magnetic levitation trains, permanent magnet levitation trains (PMS) offer unparalleled advantages. They fully utilize the natural magnetic field properties of permanent magnet materials, significantly reducing operating power consumption and vehicle maintenance costs, while also avoiding issues such as heat generation caused by energy consumption. However, permanent magnet levitation structures also have significant shortcomings. In complex vehicle operating environments, the uncontrollable and nonlinear characteristics of the permanent magnet field further complicate onboard control. Therefore, the design of a parallel permanent magnet electromagnetic hybrid levitation experimental system and control method is crucial. Summary of the Invention

[0004] The purpose of the present invention is to provide a parallel permanent magnet electromagnetic hybrid suspension experimental system and control method to solve the problem of unstable suspension of existing permanent magnet suspension structures and provide a research platform solution and ideas.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A parallel permanent magnet electromagnetic hybrid suspension experimental system comprises: a base, a top plate, a supporting device, a suspension body, an electromagnetic device, a permanent magnet device and a controller; the base is connected to the supporting device, the supporting device is respectively connected to the suspension body and the top plate, the top plate is respectively connected to the electromagnetic device and the permanent magnet device, and the controller is connected to the electromagnetic device;

[0007] The electromagnetic device is arranged on both sides of the permanent magnet device, and the electromagnetic device is located above the suspension body; the electromagnetic device includes: an electromagnetic coil and a magnetic conductive core; the magnetic conductive core is closely attached to both sides of the electromagnetic coil; the magnetic conductive core is fixed to the bottom of the top plate by bolt fasteners;

[0008] The permanent magnet device is arranged above the center of the suspension; the permanent magnet device includes: a permanent magnet, a magnetic steel plate and a fastener; the permanent magnet is fixed to the suspension through the fastener, and the magnetic steel plate is fixed to the bottom of the top plate through bolts;

[0009] The controller is used to adjust the electromagnetic force of the electromagnetic device.

[0010] Optionally, the supporting device includes: a supporting rod and a supporting plate; the top plate is connected to the base through the supporting rod, and the suspension is connected to the base through the supporting plate; the supporting plates are respectively arranged at both ends of the base; and the supporting plates are used to support the suspension.

[0011] Optionally, the support plate is H-shaped, and the outer side surface of the support plate is hollow; the horizontal height of the steel plate on the outer side surface of the support plate is higher than the lowest horizontal height of the suspended body in the suspended state.

[0012] Optionally, the suspension is connected to the support plate through a smooth bolt; the smooth bolt is used to adjust the horizontal height of the suspension.

[0013] Optionally, the parallel permanent magnet electromagnetic hybrid suspension experimental system further includes: a loading platform; the loading platform is arranged at both ends of the suspension body, and the loading platform is connected to the suspension body through bolts.

[0014] A parallel permanent magnet electromagnetic hybrid suspension experimental control method comprises the following steps:

[0015] The PID algorithm is used as the basic control method of the independent suspension system, and the suspension state of the suspension body is adjusted through the basic control method to obtain the suspension state signal; the suspension state signal includes: suspension displacement, displacement acceleration, magnetic flux, control current and control voltage;

[0016] Construct an expansion state observation model based on the suspension state signal and coupling relationship;

[0017] Real-time observation is performed during the suspension stability period through the expanded state observation model, and the real-time observation results are dynamically controlled.

[0018] Optionally, the calculation formula of the PID algorithm is: Among them, u ( t ) To control the output, err ( t ) is the suspension displacement, T1 and T D These are controller parameters.

[0019] Alternatively, the expression of the extended state observation model is: Among them, u ( t ) is the control output, r is the suspension preset gap value, u0 is the controller operation output, k p1 、k d1 and are controller parameters, z nis the state signal of the nth level controller, and b0 is the component for compensating disturbances.

[0020] Optionally, the expression of dynamic control is: β=(β1+ ( α+Δα 1) ,β2+ ( α+Δα 2) );wherein, β is the preset suspension stable gap value, β1 is the stable gap of the first suspension point, β2 is the stable gap of the second suspension point, α is the current coordinated change amount, Δα1 is the dynamic suspension position adjustment amount of the first suspension point, and Δα2 is the dynamic suspension position adjustment amount of the second suspension point.

[0021] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: a parallel permanent magnet electromagnetic hybrid suspension experimental system, comprising: a base, a top plate, a supporting device, a suspension, an electromagnetic device, a permanent magnet device and a controller; the base is connected to the supporting device, the supporting device is respectively connected to the suspension and the top plate, the top plate is respectively connected to the electromagnetic device and the permanent magnet device, and the controller is connected to the electromagnetic device; the electromagnetic device is arranged on both sides of the permanent magnet device, and the electromagnetic device is located above the suspension; the electromagnetic device comprises: an electromagnetic coil and a magnetic core; the magnetic core is tightly attached to both sides of the electromagnetic coil; the magnetic core is fixed to the bottom of the top plate by bolt fasteners; the permanent magnet device is arranged above the center of the suspension; the permanent magnet device comprises: a permanent magnet, a magnetic steel plate and a fastener; the permanent magnet is fixed to the suspension by the fastener, and the magnetic steel plate is fixed to the bottom of the top plate by bolts; the controller is used to adjust the electromagnetic force of the electromagnetic device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a structural diagram of a suspension experiment system according to an embodiment of the present invention;

[0024] Figure 2 A structural diagram of an experimental device according to an embodiment of the present invention;

[0025] Figure 3 This is a flow chart of a control method according to an embodiment of the present invention.

[0026] Figure numerals: 1. base; 2. top plate; 3. support device; 31. support rod; 32. support plate; 4. suspension; 5. electromagnetic device; 51. magnetic core; 52. electromagnetic coil; 6. permanent magnetic device; 61. fastener; 62. permanent magnet; 63. magnetic steel plate; 7. controller; 8. bolt fastener; 9. smooth bolt; 10. loading platform. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] like Figure 1 As shown, an embodiment of the present invention provides a parallel permanent magnet electromagnetic hybrid suspension experimental system, including: a base 1, a top plate 2, a supporting device 3, a suspension 4, an electromagnetic device 5, a permanent magnet device 6 and a controller 7; the base 1 is connected to the supporting device 3, the supporting device 3 is respectively connected to the suspension 4 and the top plate 2, the top plate 2 is respectively connected to the electromagnetic device 5 and the permanent magnet device 6, and the controller 7 is connected to the electromagnetic device 5; the controller 7 is used to adjust the electromagnetic force of the electromagnetic device 5.

[0030] Specific as Figure 2 As shown, the electromagnetic device 5 consists of an electromagnetic coil 52 and a magnetic core 51. The magnetic core 51 is tightly attached to both sides of the electromagnetic coil 52, enclosing the electromagnetic coil 52, forming a U-shaped structure, but this is not limited to a U-shaped structure. The magnetic core 51 is fixed to the bottom of the top plate 2 via a number of bolts and bolt fasteners 8. The magnetic surface of the magnetic core 51 in the electromagnetic device 5 opens downward. Two electromagnetic devices 5 are provided, one at each end of the experimental apparatus and located above the suspension 4. A certain air gap exists between the magnetic core 51 and the suspension 4, namely the suspension gap.

[0031] It should be noted that the electromagnetic coil 52 forms a closed magnetic circuit with the suspended object 4 through the permeable core 51. The electromagnetic field generated by energizing the electromagnetic coil 52 provides electromagnetic force on the suspended object 4, overcoming gravity and achieving vertical levitation of the suspended object 4. The controller 7 controls the current flowing through the electromagnetic coil 52, varying the strength of the electromagnetic field and, in turn, the electromagnetic force between the permeable core 51 and the suspended object 4. This achieves magnetic force regulation of the suspended object 4 and active control of the suspension gap and state, thus achieving two-point suspension control.

[0032] Furthermore, a position sensor and an acceleration sensor are installed near the electromagnetic device 5. The sensors are bolted to the bottom of the top plate 2 and maintain a certain interference distance from the electromagnetic coil 52. The sensor probe is downward and is used to detect the gap signal and acceleration signal between the sensor and the inner groove surface of the suspension 4 in real time.

[0033] Specifically, the permanent magnet device 6 consists of a permanent magnet 62, a magnetic steel plate 63, and a fastener 61. The permanent magnet 62 is fixed to the center of the suspension 4 by the fastener 61. A magnetic steel plate 63 is provided above the space surrounding the permanent magnet 62. The magnetic steel plate 63 is fixed to the bottom of the top plate 2 by a number of bolts. The vertical position of the magnetic steel plate 63 can be freely adjusted by the bolts, thereby adjusting the static magnetic field force exerted by the permanent magnet 62 on the steel plate.

[0034] It should be noted that the electromagnetic device 5 and the permanent magnet device 6 adopt a parallel connection structure.

[0035] Specifically, the base 1 is a rigid base having a hollow structure and supported by a plurality of rubber supports, which can adjust the levelness of the experimental system through bolts.

[0036] Specifically, the supporting device 3 includes: a support rod 31 and a support plate 32; the top plate 2 is connected to the base 1 through the support rod 31, and the suspension 4 is connected to the base 1 through the support plate 32; the support plates 32 are respectively arranged at both ends of the base 1; the support plates 32 are used to support the suspension 4.

[0037] Furthermore, the support plate 32 is an H-shaped structure, with a hollowed-out design on the vertical outer side of the support plate 32 to facilitate observation of the suspended state. The height of the outer steel plate is also higher than the lowest horizontal plane height of the suspended object 4 in the suspended state. This outer steel plate limits the spatial position of the suspended object 4, preventing horizontal overflow of the suspended object 4 under uneven force. In another embodiment, an elastic device is attached to the outer side of the support plate 32 to provide an initial motion velocity for the suspended object 4 to achieve environmental simulation.

[0038] Specifically, the suspension 4 adopts a U-shaped structure. A smooth bolt 9 connects the suspension 4 to the horizontal surface of the support plate 32. One end of the smooth bolt 9 is fixed to the horizontal surface of the support plate 32 and can be freely disassembled, while the other end is free to open. The smooth bolt 9 limits the suspension 4 only in its vertical degree of freedom, ensuring the safety of the experimental system during suspension control experiments.

[0039] Specifically, the parallel permanent magnet electromagnetic hybrid levitation experimental system also includes a loading platform 10. Two loading platforms 10 are provided, one at each end of the suspension 4 and connected to the suspension 4 via a number of bolts to meet the loading requirements of the experimental process. In another embodiment, the loading platforms 10 utilize a multi-stage shock-absorbing device, using air springs or mechanical disc springs to simulate the vibration impact of a moving vehicle on the vehicle cabin.

[0040] Specifically, the rigid base, the top plate 2, the support rods 31, the bolts and the support plate 32 are all made of stainless steel, and the electromagnetic device 5 and the suspension 4 are made of magnetic silicon steel or platform magnetic steel.

[0041] like Figure 3 As shown, an embodiment of the present invention further provides a parallel permanent magnet electromagnetic hybrid suspension experimental control method, comprising the following steps:

[0042] Step 100: Using the PID algorithm as a basic control method for the independent suspension system, the suspension state of the suspension body is adjusted by the basic control method to obtain a suspension state signal; the suspension state signal includes: suspension displacement, displacement acceleration, magnetic flux, control current, and control voltage;

[0043] Specifically, a PID algorithm is used as the control basis for the single-point suspension structure. The suspension state signal of the suspension body 4 is collected in real time and fed back to the controller 7. At the same time, the suspension state signal is passed through the Kalman filter algorithm to eliminate signal anomalies such as pulse interference and data loss, ensuring signal cleanliness and accuracy. The signal is then used in the suspension control operation through state feedback, and finally the digital control system (DSP / STM32, etc.) implements the control output.

[0044] More specifically, the calculation formula of the PID algorithm is:

[0045]

[0046] Among them, u ( t ) To control the output, err ( t ) is the suspension displacement, T1 and T D These are controller 7 parameters.

[0047] Taking a two-point vehicle suspension as an example, each point in this embodiment uses the output response of the coupled suspension point as the collaborative input influencing factor of the current suspension point, and collaboratively determines the input compensation of the current state through the decision-making mechanism built into the controller 7. The compensation algorithm expression is:

[0048]

[0049] Where n is the number of suspension platforms, in this embodiment n = 2, δ i and u i They represent the input coupling influence factor and the output response of the coupled suspension point respectively.

[0050] Step 200: constructing an expansion state observation model based on the suspension state signal and the coupling relationship;

[0051] Specifically, the coupling relationship includes decoupling and two-point suspension synergy. Decoupling can be understood as each suspension point actively controlling the suspension state of the current suspension point through electromagnetic force, combining its current suspension state with the coupling effect of adjacent suspension points. This electromagnetic control participates in the adjustment of the suspension state. The decoupling of suspension control lies in the dynamic suspension gap value. Decoupling can also be understood as suppressing or mitigating the coupling effect of the suspension points by adjusting each suspension point within a controllable range within a small range. Two-point suspension synergy can be understood as ensuring that the two suspension points maintain a relatively stable horizontal position.

[0052] More specifically, the suspension state signal is preprocessed, and an extended state observation model (LESO) is constructed by combining the traditional current / flux dual-loop control method, the permanent magnet electromagnetic coupling relationship and the state coupling relationship of the coupled suspension point.

[0053] Furthermore, the expression of the extended state observation model is:

[0054]

[0055] Among them, u ( t ) is the control output, r is the suspension preset gap value, u0 is the controller 7 calculation output, k p1 、k d1 and are the parameters of controller 7, z n is the state signal of the nth stage controller 7, and b0 is the component for compensating disturbance.

[0056] Furthermore, taking a two-point vehicle suspension as an example, the coupling effect on the suspension points in this example can be captured by software simulation and experimental verification, and the extended state observation model can be expressed as:

[0057]

[0058] Where r is a given value, and k p1 The parameters K that make up the controller 7, are all known state variables, z1, z2, ..., z n-1are all observation states, and m is the number of known perturbation observations.

[0059] Step 300: Perform real-time observation during the suspension stability period through the expanded state observation model, and dynamically control the real-time observation results.

[0060] Specifically, permanent magnets 62 exert a vertical upward attraction on suspended object 4, offsetting most of the weight of suspended object 4 and the load. The two sets of electromagnetic devices 5 simultaneously apply electromagnetic forces, which, combined with the attraction of permanent magnets 62, form three vertical magnetic forces acting in parallel on suspended object 4, overcoming the weight of suspended object 4 and the load on stage 10.

[0061] When the electromagnetic devices 5 provide a predetermined levitation gap, the two sets of electromagnetic devices 5 exert electromagnetic force, which, combined with the attraction of the permanent magnets 62, causes the suspended object 4 to ascend to a predetermined height. If the suspended object 4 becomes unstable at either end, or if one end is tilted or absorbed, the electromagnetic device 5 at the tilted or absorbed end promptly reduces or cuts off the electromagnetic force, while the electromagnetic force at the other end is appropriately increased, forcing the two ends to gradually return to a relatively horizontal position.

[0062] More specifically, the expression for dynamic control is:

[0063] β=(β1+ ( α+Δα1 ) ,β2+ ( α+Δα2 ) );

[0064] Among them, β is the preset suspension stability gap value, β1 is the stable gap of the first suspension point, β2 is the stable gap of the second suspension point, α is the current coordinated change amount, Δα1 is the dynamic suspension position adjustment amount of the first suspension point, and Δα2 is the dynamic suspension position adjustment amount of the second suspension point.

[0065] It should be noted that dynamic control can be understood as relying on the strong magnetic properties of permanent magnetic suspension to timely compensate for the magnetic force of the permanent magnetic suspension structure and suppress disturbances through the active control of the electromagnetic device 5. Dynamic adjustment of the suspension state is actively achieved based on predetermined control indicators (such as control current), thereby gradually reducing the electromagnetic control effect and ultimately allowing the permanent magnetic suspension structure to enter a new stable equilibrium state. Under ideal conditions, the permanent magnetic suspension system returns to a self-stable state, and the parallel permanent magnetic electromagnetic hybrid suspension system achieves "zero-power" suspension.

[0066] The beneficial effects of the present invention are as follows:

[0067] 1) By controlling the current of the electromagnetic coil, the strength of the electromagnetic field is changed, thereby changing the electromagnetic force between the magnetic core and the suspended body, thus achieving the magnetic force regulation of the suspended body and the active control of the suspension gap and suspension state;

[0068] 2) Two-point suspension control is achieved through dynamic control;

[0069] 3) The vertical position of the magnetic steel plate can be freely adjusted by bolts, thereby realizing the adjustment of the static magnetic field force of the permanent magnet on the steel plate.

[0070] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0071] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A parallel permanent magnet electromagnetic hybrid suspension experimental system, characterized in that: include: A base, a top plate, a supporting device, a suspension, an electromagnetic device, a permanent magnetic device and a controller; the base is connected to the supporting device, the supporting device is respectively connected to the suspension and the top plate, the top plate is respectively connected to the electromagnetic device and the permanent magnetic device, and the controller is connected to the electromagnetic device; The electromagnetic device is arranged on both sides of the permanent magnetic device, and the electromagnetic device is located above the suspension; the electromagnetic device comprises: an electromagnetic coil and a magnetic conductive core; the magnetic conductive core is closely attached to both sides of the electromagnetic coil; the magnetic conductive core is fixed under the top plate by bolt fasteners; The permanent magnet device is arranged above the center of the suspension; the permanent magnet device comprises: a permanent magnet, a magnetic steel plate and a fastener; the permanent magnet is fixed to the suspension through the fastener, and the magnetic steel plate is fixed below the top plate through bolts; The controller is used to adjust the electromagnetic force of the electromagnetic device.

2. The parallel permanent magnet electromagnetic hybrid suspension experimental system according to claim 1 is characterized in that: The support device comprises: a support rod and a support plate; the top plate is connected to the base via the support rod, and the suspension is connected to the base via the support plate; the support plates are respectively arranged at both ends of the base; and the support plates are used to carry the suspension.

3. The parallel permanent magnet electromagnetic hybrid suspension experimental system according to claim 2 is characterized in that: The support plate is H-shaped, and the outer side surface of the support plate is hollow; the horizontal height of the steel plate on the outer side surface of the support plate is higher than the lowest horizontal height of the suspended body in the suspended state.

4. The parallel permanent magnet electromagnetic hybrid suspension experimental system according to claim 2 is characterized in that: The suspension is connected to the support plate through smooth bolts; the smooth bolts are used to adjust the horizontal height of the suspension.

5. The parallel permanent magnet electromagnetic hybrid suspension experimental system according to claim 1 is characterized in that: The parallel permanent magnet electromagnetic hybrid suspension experimental system further includes: a loading platform; the loading platform is arranged at two ends of the suspension body, and the loading platform is connected to the suspension body through the bolts.

6. A parallel permanent magnet electromagnetic hybrid suspension experiment control method, applied to the parallel permanent magnet electromagnetic hybrid suspension experiment system according to any one of claims 1 to 5, characterized in that: The steps include: Using PID algorithm as a basic control method for an independent suspension system, and adjusting the suspension state of the suspension body by the basic control method to obtain a suspension state signal; The suspension state signal includes: suspension displacement, displacement acceleration, magnetic flux, control current and control voltage; Constructing an expansion state observation model according to the suspension state signal and the coupling relationship; The expansion state observation model is used to perform real-time observation during the suspension stability period, and the real-time observation results are dynamically controlled.

7. The parallel permanent magnet electromagnetic hybrid suspension experiment control method according to claim 6 is characterized in that: The calculation formula of the PID algorithm is: Among them, u ( t ) To control the output, err ( t ) is the suspension displacement, T1 and T D These are controller parameters.

8. The parallel permanent magnet electromagnetic hybrid suspension experiment control method according to claim 7 is characterized in that: The expression of the extended state observation model is: Among them, u ( t ) is the control output, r is the suspension preset gap value, u0 is the controller operation output, k p1 , k d1 and k dn-1 are controller parameters, z n is the state signal of the nth level controller, and b0 is the component for compensating disturbance.

9. The parallel permanent magnet electromagnetic hybrid suspension experiment control method according to claim 6 is characterized in that: The expression of the dynamic control is: β=(β1+ ( α+Δα 1) ,β2+ ( α+Δα 2) );wherein, β is the preset suspension stable gap value, β1 is the stable gap of the first suspension point, β2 is the stable gap of the second suspension point, α is the current coordinated change amount, Δα1 is the dynamic suspension position adjustment amount of the first suspension point, and Δα2 is the dynamic suspension position adjustment amount of the second suspension point.

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