Optimal thrust control method and device for segmented parallel long primary bilateral linear induction motor

Abstract

The invention discloses an optimal thrust control method and device for a segmented parallel long primary bilateral linear induction motor, and belongs to the technical field of motor driving control. The method comprises the following steps: firstly, providing a zero-coupling coefficient primary voltage updating mechanism to obtain a zero-coupling coefficient primary voltage value for calculating a compensation current value of a power supply primary section so as to overcome the adverse effect of primary self-inductance mismatching on thrust; then, primary frequency boundary conditions of different operation areas are provided, and a calculation method for the optimal current reference value of the dq axis of the power supply primary section under different primary frequencies is provided; and finally, a vector control method based on indirect secondary magnetic field orientation is adopted to realize control of segmented parallel long primary bilateral LIM, and maximum thrust output of the motor is realized on the basis of ensuring no obvious fluctuation of thrust.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and more specifically, relates to an optimal thrust control method and device for a segmented parallel long primary bilateral linear induction motor. Background Art

[0002] Long primary double-sided LIM (Linear induction motor, LIM) is a LIM with a long primary and a short secondary. Compared with long primary permanent magnet or electric excitation synchronous motors, the secondary of long primary double-sided LIM is a whole piece of aluminum plate, with simple structure, convenient maintenance, high system reliability and high thrust-to-weight ratio; compared with short primary single-sided LIM, long primary double-sided LIM does not need to supply power to the moving part, thus avoiding arcing and noise problems caused by sliding contact power supply, and the secondary has a self-centering characteristic and is less affected by the edge effect. Therefore, long primary double-sided LIM is very suitable for short-stroke, high-thrust, high-acceleration and high-speed occasions such as electromagnetic launch.

[0003] In high-power linear traction systems, since the effective part of the long primary bilateral LIM is relatively small, if the entire primary section is powered, the existence of the ineffective part will greatly reduce the motor power factor and efficiency, bringing great challenges to the design of the drive inverter. Therefore, the primary of the long primary bilateral LIM is generally divided into sections, and a segmented power supply and step-changing traction strategy is adopted.

[0004] The primary winding of the segmented long primary double-sided LIM can be connected in series or in parallel. Among them, the segmented long primary double-sided LIM connected in parallel has low copper loss, high power factor, small inverter capacity required, and simple power supply, which has obvious advantages over the series connection method.

[0005] The segmented parallel long primary bilateral LIM needs to accelerate the secondary to the target speed within a limited distance. Therefore, it is hoped that the motor can output the optimal thrust (maximum thrust without obvious fluctuation) under the premise that the constraints such as voltage and current are met. However, the existing segmented parallel long primary bilateral LIM control device and method have not yet given the current reference value selection criteria for outputting the optimal thrust. When running at low speed, the thrust output capacity of the motor is poor; when running at high speed, the thrust of the motor fluctuates violently. Therefore, there is an urgent need to develop an optimal thrust control method suitable for segmented parallel long primary bilateral LIM, which should achieve the maximum thrust output of the motor on the basis of ensuring the stability of the motor thrust. Summary of the invention

[0006] In response to the above defects or improvement needs of the prior art, the present invention provides an optimal thrust control method and device for a segmented parallel long primary bilateral linear induction motor, the purpose of which is to determine the optimal current reference value of the primary power supply segment according to different primary frequencies and zero coupling coefficient primary voltage values ​​under constraints such as voltage and current, and to control the current of the primary power supply segment using a vector control method based on indirect secondary magnetic field orientation, so that the motor can output the optimal thrust.

[0007] To achieve the above object, according to one aspect of the present invention, a method for controlling the optimal thrust of a segmented parallel long primary bilateral linear induction motor is provided, comprising:

[0008] S1: According to the secondary position And the voltage reference value of the primary stage of the power supply , , , Update zero coupling coefficient primary voltage value ;

[0009] S2: According to the DC bus voltage , primary frequency And the zero coupling coefficient primary voltage value Determine the dq axis current reference value of the primary stage of the power supply and ;

[0010] S3: Using the dq axis current reference value of the primary stage of the power supply and Calculate the slip frequency , combined with the secondary position Calculate the secondary frequency , thereby updating the primary frequency and the vector angle of the secondary flux ;

[0011] S4: According to the vector angle of the secondary flux The three-phase current of the primary section of the power supply is sampled , , and , , Perform coordinate transformation to obtain the primary current of the power supply in the dq rotating coordinate system , and , ;

[0012] S5: Set the dq axis current reference value of the primary power supply section , The primary current of the power supply in the dq rotating coordinate system , , , The current difference of the primary section of the power supply in the dq rotating coordinate system is obtained by subtraction. , , , ;

[0013] S6: Use PI current controller to calculate the current difference of the primary section of the power supply in the dq rotating coordinate system , , , Adjust the voltage reference value of the primary section of the power supply in the dq rotating coordinate system. , , , ;

[0014] S7: Using the vector angle of the secondary flux Reference value of primary voltage of power supply in dq rotating coordinate system , , , Perform coordinate transformation to obtain Reference value of primary voltage of power supply in stationary coordinate system ;

[0015] S8: Based on Reference value of primary voltage of power supply in stationary coordinate system , , , , SVPWM technology is used to obtain the inverter drive signal to achieve control of the motor.

[0016] According to another aspect of the present invention, there is provided an optimal thrust control device for a segmented parallel long primary bilateral linear induction motor, comprising:

[0017] Zero coupling coefficient primary voltage update module for updating the secondary voltage according to the secondary position And the primary voltage reference value of the power supply , , , Calculate the primary voltage value for zero coupling coefficient Make updates;

[0018] The first operator is used to calculate the DC bus voltage Calculate the voltage limit of the primary stage of the power supply ;

[0019] The optimal current reference value calculation module is based on the voltage limit of the primary power supply , primary current limit , primary frequency And the zero coupling coefficient primary voltage value Calculate the reference value of the dq axis current in the primary section of the power supply and ;

[0020] The second operator is used to calculate the current reference value of the dq axis of the primary power supply section according to the current reference value of the dq axis of the primary power supply section. and Calculate the slip frequency ;

[0021] The third operator is used to calculate the secondary position Calculate the secondary frequency ;

[0022] The first adder is used to and secondary frequency , update the primary frequency ;

[0023] Integrator, used to adjust the primary frequency Calculate the secondary flux vector angle ;

[0024] The first and second coordinate transformation modules are used to transform the sampled abc three-phase static coordinates of the power supply primary segment current and Transformed into the primary current of the power supply under dq rotating coordinates , , , ;

[0025] The second to fifth adders are used to calculate the dq axis current reference value of the primary section of the power supply. , and actual value , , , Calculate the dq axis current difference , , , ;

[0026] The first and second PI current control modules are used to control the dq axis current difference of the primary power supply section , , , Perform PI regulation to obtain the dq axis voltage reference value of the primary power supply section , , , ;

[0027] The third and fourth coordinate transformation modules are used to transform the dq axis voltage reference value of the primary power supply section , , , Transformed to Voltage reference value in stationary coordinates , , , ;

[0028] The first and second SVPWM modules are used according to Voltage reference value in stationary coordinates , , , Generate PWM signal;

[0029] The first and second inverters are used to control the primary-stage motor of the power supply according to the PWM signal;

[0030] The first to Nth switching switches are used to realize the connection between the primary stage motor and the inverter. Only the switching switches that include the secondary or will include the secondary are closed, and the others are turned off.

[0031] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0032] (1) The present invention provides a zero coupling coefficient primary voltage update mechanism, which updates the zero coupling coefficient primary voltage value when the coupling coefficient of any power supply primary segment is zero, and is used to calculate the primary current compensation value to avoid thrust drop and fluctuation problems caused by primary self-inductance mismatch.

[0033] (2) The present invention provides a method for calculating the reference value of the primary current of the power supply under different primary frequencies, and uses a vector control method based on indirect magnetic field orientation to control the primary current of the power supply, which can ensure that the motor outputs the optimal thrust and meet the short-range and high-speed application requirements of electromagnetic launch. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flow chart of the optimal thrust control method of the segmented parallel long primary bilateral LIM provided by an embodiment of the present invention.

[0035] Figure 2 It is a structural schematic diagram of a segmented parallel long primary bilateral LIM optimal thrust control method provided by an embodiment of the present invention.

[0036] Figure 3 It is a structural schematic diagram of a zero coupling coefficient primary voltage update module provided in an embodiment of the present invention.

[0037] Figure 4 It is a schematic diagram of the structure of the optimal current reference value calculation module provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] Example 1

[0040] like Figure 1 As shown, this embodiment provides an optimal thrust control method for a segmented parallel long primary bilateral linear induction motor, comprising:

[0041] S1: According to the secondary position And the voltage reference value of the primary stage of the power supply , , , Update zero coupling coefficient primary voltage value ;

[0042] S2: According to the DC bus voltage , primary frequency And the zero coupling coefficient primary voltage value Determine the dq axis current reference value of the primary stage of the power supply and ;

[0043] S3: Using the dq axis current reference value of the primary stage of the power supply and Calculate the slip frequency , combined with the secondary position Calculate the secondary frequency , thereby updating the primary frequency and the vector angle of the secondary flux ;

[0044] S4: According to the vector angle of the secondary flux The three-phase current of the primary section of the power supply is sampled , , and , , Perform coordinate transformation to obtain the primary current of the power supply in the dq rotating coordinate system , and , ;

[0045] S5: Set the dq axis current reference value of the primary power supply section , The primary current of the power supply in the dq rotating coordinate system , , , The current difference of the primary section of the power supply in the dq rotating coordinate system is obtained by subtraction. , , , ;

[0046] S6: Use PI current controller to calculate the current difference of the primary section of the power supply in the dq rotating coordinate system , , , Adjust the voltage reference value of the primary section of the power supply in the dq rotating coordinate system. , , , ;

[0047] S7: Using the vector angle of the secondary flux Reference value of primary voltage of power supply in dq rotating coordinate system , , , Perform coordinate transformation to obtain Reference value of primary voltage of power supply in stationary coordinate system ;

[0048] S8: Based on Reference value of primary voltage of power supply in stationary coordinate system , , , , SVPWM technology is used to obtain the inverter drive signal to achieve control of the motor.

[0049] Example 2

[0050] like Figure 2 As shown, this embodiment provides a segmented parallel long primary bilateral LIM optimal thrust control device, comprising:

[0051] A zero coupling coefficient primary voltage update module, a first to a third operator, an optimal current reference value calculation module, a first to a fifth adder, an integrator, a first to a fourth coordinate transformation module, a first and a second PI current control module, a first and a second SVPWM module, a first and a second inverter, and a first to an Nth switching switch.

[0052] Zero coupling coefficient primary voltage update module for updating the secondary voltage according to the secondary position And the primary voltage reference value of the power supply , , , Calculate the primary voltage value for zero coupling coefficient Make updates;

[0053] The first operator is used to calculate the DC bus voltage Calculate the voltage limit of the primary stage of the power supply ;

[0054] The optimal current reference value calculation module is based on the voltage limit of the primary power supply , primary current limit , primary frequency And the zero coupling coefficient primary voltage value Calculate the reference value of the dq axis current in the primary section of the power supply and ;

[0055] The second operator is used to calculate the current reference value of the dq axis of the primary power supply section according to the current reference value of the dq axis of the primary power supply section. and Calculate the slip frequency ;

[0056] The third operator is used to calculate the secondary position Calculate the secondary frequency ;

[0057] The first adder is used to and secondary frequency , update the primary frequency ;

[0058] Integrator, used to adjust the primary frequency Calculate the secondary flux vector angle ;

[0059] The first and second coordinate transformation modules are used to transform the sampled abc three-phase static coordinates of the power supply primary segment current and Transformed into the primary current of the power supply under dq rotating coordinates , , , ;

[0060] The second to fifth adders are used to calculate the dq axis current reference value of the primary section of the power supply. , and actual value , , , Calculate the dq axis current difference , , , ;

[0061] The first and second PI current control modules are used to control the dq axis current difference of the primary power supply section , , , Perform PI regulation to obtain the dq axis voltage reference value of the primary power supply section , , , ;

[0062] The third and fourth coordinate transformation modules are used to transform the dq axis voltage reference value of the primary power supply section , , , Transformed to Voltage reference value in stationary coordinates , , , ;

[0063] The first and second SVPWM modules are used according to Voltage reference value in stationary coordinates , , , Generate PWM signal;

[0064] The first and second inverters are used to control the primary-stage motor of the power supply according to the PWM signal;

[0065] The first to Nth switching switches are used to realize the connection between the primary stage motor and the inverter. Only the switching switches that include the secondary or will include the secondary are closed, and the others are turned off.

[0066] Example 3

[0067] In this embodiment, S1 includes:

[0068] S11: Start executing the program and enter the secondary position And the primary voltage reference value of the power supply ;

[0069] S12: Based on secondary position Calculation of the coupling coefficient of the primary section of the power supply and ;

[0070] S13: Judgment Is it equal to zero? If is equal to zero, then let the primary voltage value of zero coupling coefficient be equal , output coupling coefficient primary voltage value , return to continue the loop; if If it is not equal to zero, then continue to execute the subsequent procedures;

[0071] S14: Judgment Is it equal to zero? If is equal to zero, then let the primary voltage value of zero coupling coefficient be equal ;if Not equal to zero, zero coupling coefficient primary voltage value Remain unchanged, output zero coupling coefficient primary voltage value , return to continue the cycle.

[0072] Specifically, Figure 3 As shown, the zero coupling coefficient primary voltage update module includes: a first input device, fourth to seventh operators, first to second determiners, and a first output device.

[0073] The first input is used to input the secondary position And the primary voltage reference value of the power supply The input end of the fourth operator is connected to the first input device and is used to calculate the secondary position according to the Calculation of the coupling coefficient of the primary section of the power supply and The input end of the first judgement device is connected to the fourth operator for judging The input end of the second judgement device is connected to the first judgement device and is used to judge whether The input ends of the fifth to seventh operators are connected to the first to second judgers to calculate the zero coupling coefficient primary voltage value. The input end of the first output device is connected to the fifth to seventh operators, which are used to output the zero coupling coefficient primary voltage value. .

[0074] Example 4

[0075] In this embodiment, S2 includes:

[0076] S21: Start executing the program and enter the primary frequency , Voltage limit of primary power supply and zero coupling coefficient primary voltage value ;

[0077] S22: Determine the primary frequency Is it less than the primary frequency boundary 1 ( ). If yes, go to "Process 1"; if no, continue to execute the subsequent procedures;

[0078] S23: Determine the primary frequency Is it less than the primary frequency boundary 2 ( ). If yes, go to "Process 2"; if no, go to "Process 3";

[0079] S24: Calculate the dq axis current compensation value of the primary section of the power supply in "Process 1" or "Process 2" or "Process 3" , And the reference value of the dq axis current of the primary section of the power supply , , and output the dq axis current reference value of the primary section of the power supply , , return to continue the cycle.

[0080] The S22 includes: primary frequency boundary 1 ( ) is calculated as:

[0081] ,

[0082] The S23 includes: primary frequency boundary 2 ( ) is calculated as:

[0083] .

[0084] If entering "Process 1", the S24 includes:

[0085] S241: The dq axis current compensation value of the primary power supply section is:

[0086] ,

[0087] S242: The reference value of the dq axis current in the primary section of the power supply is:

[0088] .

[0089] If entering "Process 2", the S24 includes:

[0090] S241: Determine the voltage limit of the primary power supply section Primary voltage value with zero coupling coefficient difference Is it less than the threshold? ; If yes, then the dq axis current compensation value of the primary power supply section is:

[0091] ,

[0092] If not, continue to determine the voltage limit of the primary power supply section Primary voltage value with zero coupling coefficient difference Is it greater than the threshold? ; If yes, then the dq axis current compensation value of the primary power supply section is:

[0093] ,

[0094] If not, the dq axis current compensation value of the primary power supply section is:

[0095] ,

[0096] S242: Calculate the reference value of the dq axis current in the primary section of the power supply:

[0097] ,

[0098] If entering "Process 3", the S24 includes:

[0099] S241: Determine the voltage limit of the primary power supply section Primary voltage value with zero coupling coefficient difference Is it less than the threshold? ; If yes, then the dq axis current compensation value of the primary power supply section is:

[0100] ,

[0101] If not, continue to determine the voltage limit of the primary power supply section Primary voltage value with zero coupling coefficient difference Is it greater than the threshold? ; If yes, then the dq axis current compensation value of the primary power supply section is:

[0102] ,

[0103] If not, the dq axis current compensation value of the primary power supply section is:

[0104] ,

[0105] S242: Calculate the reference value of the dq axis current in the primary section of the power supply:

[0106] .

[0107] Specifically, Figure 4 As shown, the optimal current reference value calculation module includes: a second input device, third to eighth judges, eighth to seventeenth calculators, and a second output device. The third input device is used to input the primary frequency , Voltage limit of primary power supply and zero coupling coefficient primary voltage value The input end of the third judger is connected to the second input device and is used to judge the primary frequency Is it less than the primary frequency boundary 1 ( ). The input end of the fourth judgement device is connected to the third judgement device and is used to judge the primary frequency Is it less than the primary frequency boundary 2 ( The input terminals of the fifth and sixth judgers are connected to the fourth judger to judge the voltage limit of the primary section of the power supply. Primary voltage value with zero coupling coefficient difference Is it less than the threshold? The input terminals of the seventh and eighth judgers are connected to the fifth and sixth judgers respectively, and are used to judge the voltage limit of the primary section of the power supply. Primary voltage value with zero coupling coefficient difference Is it greater than the threshold? The input end of the eighth calculator is connected to the third determiner, and is used to calculate the dq axis current compensation value of the primary power supply section in "Process 1":

[0108] ,

[0109] The input end of the ninth calculator is connected to the eighth calculator, and is used to calculate the dq axis current reference value of the primary section of the power supply in "Process 1":

[0110] ,

[0111] The input end of the tenth calculator is connected to the fifth determiner, and is used to calculate the first group of dq axis current compensation values ​​of the primary power supply section in "Process 2":

[0112] ,

[0113] The input end of the eleventh calculator is connected to the seventh determiner, and is used to calculate the second group of dq axis current compensation values ​​of the primary power supply section in "Process 2":

[0114] ,

[0115] The input end of the twelfth calculator is connected to the seventh determiner, and is used to calculate the third group of dq axis current compensation values ​​of the primary power supply section in "Process 2":

[0116] ,

[0117] The input end of the thirteenth calculator is connected to the tenth to twelfth calculators, and is used to calculate the dq axis current reference value of the primary section of the power supply in "Process 2":

[0118] ,

[0119] The input end of the fourteenth calculator is connected to the sixth determiner, and is used to calculate the first group of dq axis current compensation values ​​of the primary stage of the power supply in "Process Three":

[0120] ,

[0121] The input end of the fifteenth calculator is connected to the eighth determiner, and is used to calculate the second group of dq axis current compensation values ​​of the primary power supply section in "Process Three":

[0122] ,

[0123] The input end of the sixteenth calculator is connected to the eighth determiner, and is used to calculate the third group of dq axis current compensation values ​​of the primary power supply section in "Process Three":

[0124] ,

[0125] The input end of the seventeenth calculator is connected to the fourteenth to sixteenth calculators, and is used to calculate the dq axis current reference value of the primary section of the power supply in "Process Three":

[0126] .

[0127] In summary, compared with the prior art, the present invention has the following advantages:

[0128] The present invention provides an optimal thrust control method and device for a segmented parallel long primary bilateral linear induction motor, which realizes the optimal thrust output of the segmented parallel long primary bilateral LIM. More specifically, the present invention first proposes a zero coupling coefficient primary voltage update mechanism to obtain a zero coupling coefficient primary voltage value, which is used to calculate the compensation current value of the primary power supply segment to overcome the adverse effects of primary self-inductance mismatch on thrust. Then, the primary frequency boundary conditions of different operating areas are listed, and a calculation method for the dq axis current reference value of the primary power supply segment at different primary frequencies is given. Finally, a vector control method based on indirect secondary magnetic field orientation is used to realize the control of the long primary bilateral LIM, and the maximum thrust output of the motor is achieved on the basis of ensuring that the thrust has no obvious fluctuations.

[0129] It will be easily understood by those skilled in the art that 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. An optimal thrust control method for a segmented parallel long primary bilateral linear induction motor, characterized in that: include: S1: According to the secondary position And the voltage reference value of the primary stage of the power supply , , , Update zero coupling coefficient primary voltage value ; S2: According to the DC bus voltage , primary frequency And the zero coupling coefficient primary voltage value Determine the dq axis current reference value of the primary stage of the power supply and ; S3: Using the dq axis current reference value of the primary stage of the power supply and Calculate the slip frequency , combined with the secondary position Calculate the secondary frequency , thereby updating the primary frequency and the vector angle of the secondary flux ; S4: According to the vector angle of the secondary flux The three-phase current of the primary section of the power supply is sampled , , and , , Perform coordinate transformation to obtain the primary current of the power supply in the dq rotating coordinate system , and , ; S5: Set the dq axis current reference value of the primary power supply section , The primary current of the power supply in the dq rotating coordinate system , , , The current difference of the primary section of the power supply in the dq rotating coordinate system is obtained by subtraction. , , , ; S6: Use PI current controller to calculate the current difference of the primary section of the power supply in the dq rotating coordinate system , , , Adjust the voltage reference value of the primary section of the power supply in the dq rotating coordinate system. , , , ; S7: Using the vector angle of the secondary flux Reference value of primary voltage of power supply in dq rotating coordinate system , , , Perform coordinate transformation to obtain Reference value of primary voltage of power supply in stationary coordinate system ; S8: Based on Reference value of primary voltage of power supply in stationary coordinate system , , , , SVPWM technology is used to obtain the inverter drive signal to achieve control of the motor.

2. The optimal thrust control method of a segmented parallel long primary double-sided linear induction motor according to claim 1, characterized in that: The S1 includes: S11: Enter the secondary position And the primary voltage reference value of the power supply ; S12: Based on secondary position Calculation of the coupling coefficient of the primary section of the power supply and ; S13: Judgment Is it equal to zero? If is equal to zero, then let the primary voltage value of zero coupling coefficient be equal , output coupling coefficient primary voltage value , return to continue the loop; if If it is not equal to zero, then continue to execute the subsequent procedures; S14: Judgment Is it equal to zero? If is equal to zero, then let the primary voltage value of zero coupling coefficient be equal ;if Not equal to zero, zero coupling coefficient primary voltage value Remain unchanged, output zero coupling coefficient primary voltage value , return to continue the cycle.

3. The optimal thrust control method of a segmented parallel long primary double-sided linear induction motor according to claim 2, characterized in that: The S2 includes: S21: Start executing the program and enter the primary frequency , Voltage limit of primary power supply and zero coupling coefficient primary voltage value ; S22: Determine the primary frequency Is it less than the first primary frequency boundary? If yes, then go to "Process 1"; if no, then continue to execute the subsequent procedures; S23: Determine the primary frequency Is it less than the second primary frequency boundary? If yes, go to "Process 2"; if no, go to "Process 3"; S24: Calculate the dq axis current compensation value of the primary section of the power supply in "Process 1" or "Process 2" or "Process 3" , And the reference value of the dq axis current of the primary section of the power supply , , and output the dq axis current reference value of the primary section of the power supply , , return to continue the cycle.

4. The optimal thrust control method of a segmented parallel long primary double-sided linear induction motor as claimed in claim 3, characterized in that: The S22 includes: the first primary frequency boundary The calculation method is: ， in, Value is , is the DC bus voltage; It is the primary self-sensation; is the primary current limit.

5. The optimal thrust control method of a segmented parallel long primary double-sided linear induction motor as claimed in claim 4, characterized in that: The S23 includes: the second primary frequency boundary The calculation method is: ， in, is the rated excitation current.

6. The optimal thrust control method of a segmented parallel long primary double-sided linear induction motor according to claim 5, characterized in that: If entering "Process 1", the S24 includes: S241: The dq axis current compensation value of the primary power supply section is: ， S242: The reference value of the dq axis current in the primary section of the power supply is: 。 7. The optimal thrust control method of the segmented parallel long primary bilateral linear induction motor according to claim 6, characterized in that: If entering "Process 2", the S24 includes: S241: Determine the voltage limit of the primary power supply section Primary voltage value with zero coupling coefficient difference Is it less than the threshold? ; If yes, then the dq axis current compensation value of the primary power supply section is: ， in, is the reduction gradient of the current reference value; If not, continue to determine the voltage limit of the primary power supply section Primary voltage value with zero coupling coefficient difference Is it greater than the threshold? ; If yes, then the dq axis current compensation value of the primary power supply section is: ， in, is the increasing gradient of the current reference value; If not, the dq axis current compensation value of the primary power supply section is: ， S242: Calculate the reference value of the dq axis current in the primary section of the power supply: 。 8. The optimal thrust control method of a segmented parallel long primary double-sided linear induction motor as claimed in claim 7, characterized in that: If entering "Process 3", the S24 includes: S241: Determine the voltage limit of the primary power supply section Primary voltage value with zero coupling coefficient difference Is it less than the threshold? ; If yes, then the dq axis current compensation value of the primary power supply section is: ， If not, continue to determine the voltage limit of the primary power supply section Primary voltage value with zero coupling coefficient difference Is it greater than the threshold? ; If yes, then the dq axis current compensation value of the primary power supply section is: ， If not, the dq axis current compensation value of the primary power supply section is: ， S242: Calculate the reference value of the dq axis current in the primary section of the power supply: 。 9. An optimal thrust control device for segmented parallel long primary bilateral linear induction motors, characterized in that: include: Zero coupling coefficient primary voltage update module for updating the secondary voltage according to the secondary position And the primary voltage reference value of the power supply , , , Calculate the primary voltage value for zero coupling coefficient Make updates; The first operator is used to calculate the DC bus voltage Calculate the voltage limit of the primary stage of the power supply ; The optimal current reference value calculation module is based on the voltage limit of the primary power supply , primary current limit , primary frequency And the zero coupling coefficient primary voltage value Calculate the reference value of the dq axis current in the primary section of the power supply and ; The second operator is used to calculate the current reference value of the dq axis of the primary power supply section according to the current reference value of the dq axis of the primary power supply section. and Calculate the slip frequency ; The third operator is used to calculate the secondary position Calculate the secondary frequency ; The first adder is used to and secondary frequency , update the primary frequency ; Integrator, used to adjust the primary frequency Calculate the secondary flux vector angle ; The first and second coordinate transformation modules are used to transform the sampled abc three-phase static coordinates of the power supply primary segment current and Transformed into the primary current of the power supply under dq rotating coordinates , , , ; The second to fifth adders are used to calculate the dq axis current reference value of the primary section of the power supply. , and actual value , , , Calculate the dq axis current difference , , , ; The first and second PI current control modules are used to control the dq axis current difference of the primary power supply section , , , Perform PI regulation to obtain the dq axis voltage reference value of the primary power supply section , , , ; The third and fourth coordinate transformation modules are used to transform the dq axis voltage reference value of the primary power supply section , , , Transformed to Voltage reference value in stationary coordinates , , , ; The first and second SVPWM modules are used according to Voltage reference value in stationary coordinates , , , Generate PWM signal; The first and second inverters are used to control the primary-stage motor of the power supply according to the PWM signal; The first to Nth switching switches are used to realize the connection between the primary stage motor and the inverter. Only the switching switches that include the secondary or will include the secondary are closed, and the others are turned off.

10. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: Executable instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 1 to 8.

Images