Control method of traction and guidance integrated control system, guide rail type steering system and guide rail type wheel-rail vehicle

Abstract

A control method of a traction and guidance integrated control system, a guide rail type steering system and a guide rail type wheel-rail vehicle, wherein the control method comprises: establishing the traction and guidance integrated control system; a traction controller controls output fundamental current according to the error between a given desired speed and a feedback actual speed, so as to control the traction force of the motor; a guidance controller controls output harmonic current according to the error between a given desired guidance gap and a feedback actual gap, so as to control the guidance force of the motor; a current controller compares the feedback actual current with the fundamental current amplitude and the fundamental current frequency output by the traction controller and the harmonic current amplitude and the harmonic current frequency output by the guidance controller, so as to control the output of the inverter; and the inverter outputs three-phase current to the linear motor, so as to realize the traction and guidance integrated control of the linear motor on the steering system. The present application adopts two kinds of frequency power supply current to realize traction and guidance control based on double-frequency power supply control technology, and avoids complex decoupling algorithm.

Description

Technical Field

[0001] This invention relates to the field of maglev technology, and in particular to a control method for an integrated traction and guidance control system, a guide rail steering system, and a guide rail wheel-rail vehicle. Background Technology

[0002] Existing guide rail wheel-rail systems utilize running wheels and guide wheels located below and inside the running wheels to travel and steer on a track beam. Running wheels are the wheels that support the vehicle load and roll on the top surface of the track beam. Guide wheels are horizontally mounted under the bogie and guide the vehicle by interacting with the inner surface of the track beam.

[0003] Guided-rail wheel-rail vehicles rely on the friction between the support wheels and the rails to provide traction. The traction is limited by the magnitude of the friction. Linear motor traction, on the other hand, directly applies electromagnetic traction to the vehicle body and is not limited by friction.

[0004] In a rail-guided wheel-rail system, the guide wheels achieve vehicle turning through contact with the inside of the rail. This mechanical contact can easily cause lateral swaying of the vehicle, reducing ride comfort. Electromagnetic guidance systems, on the other hand, offer advantages such as contactless operation, frictionless operation, and low power consumption, providing high-speed and stable guidance.

[0005] Therefore, guided wheel-rail vehicles urgently need an integrated control method that uses a linear motor to provide traction and electromagnetic guidance, as well as a steering system. Summary of the Invention

[0006] This invention provides a control method for an integrated traction and guidance control system, a guide rail steering system, and a guide rail wheel-rail vehicle to solve the technical problems mentioned in the background art.

[0007] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0008] This invention provides a control method for an integrated traction and guidance control system, comprising the following steps:

[0009] S1. Establish an integrated traction and guidance control system, which includes a traction controller, a guidance controller, a current controller, and an inverter.

[0010] S2, the traction controller, based on the given desired speed and the actual speed of feedback The error is controlled by adjusting the output fundamental current to control the motor traction force;

[0011] S3, The guide controller determines the desired guide clearance based on the given parameters. The actual gap between and feedback The error is controlled by controlling the output harmonic current to control the motor's guiding force, thereby achieving guiding control;

[0012] S4. The current controller calculates the amplitude of the fundamental current output by the traction controller. and fundamental current frequency and the amplitude of the harmonic current output by the guide controller. Harmonic current frequency The inverter output is controlled by comparing the actual current with the feedback current.

[0013] S5. The inverter outputs three-phase current to the external linear motor to achieve integrated control of the external linear motor for traction and guidance of the external steering system.

[0014] Furthermore, the connection relationships of the various components of the integrated traction and guidance control system are as follows:

[0015] The traction controller and the guidance controller are electrically connected to the current controller. The traction controller is used to determine the desired speed. and the actual speed of feedback The error and the slip frequency of the given traction controller Output the fundamental current amplitude required for traction to the current controller and fundamental current frequency The guide controller is used to determine the desired guide clearance. and feedback actual gap The error output guides the required harmonic current amplitude to the current controller. Harmonic current frequency ;

[0016] The current controller and the inverter are electrically connected to each other. The output of the inverter is electrically connected to an external linear motor. The output of the external linear motor is electrically connected to the traction controller and the guide controller, respectively.

[0017] Furthermore, the three-phase current received by the linear motor is expressed by the following formula:

[0018] ;

[0019] ;

[0020] ;

[0021] in, i A , i B and i C These are three-phase currents, t Indicates time.

[0022] Furthermore, the fundamental current frequency Satisfy the following formula:

[0023] (1)

[0024] in, Let be the slip of the linear induction motor, and satisfy the following formula:

[0025] (2)

[0026] Therefore, the slip rate of the linear induction motor Substituting into formula (1), the fundamental current frequency can be obtained. Harmonic current frequency and slip frequency The following relationship must be satisfied:

[0027] (3)

[0028] The harmonic current frequency in the above formula It can be obtained using the following formula:

[0029] (4)

[0030] in, This refers to the pole pitch of the linear motor.

[0031] In a second aspect, the present invention also provides a guide rail type steering system, comprising:

[0032] The support frame includes a bracket and a slewing support mounted on top of the bracket and rotatably connected to the bracket;

[0033] Multiple linear motors are divided into two groups and fixedly installed on the left and right sides of the bracket respectively. The linear motors are adapted to the induction plate installed on the magnetic guide rail.

[0034] The traction and guidance integrated control system is installed on the support frame and uses the above control methods to independently control multiple linear motors;

[0035] Multiple gap sensors are divided into two groups and installed on two sets of linear motors respectively;

[0036] The traveling system includes a guide frame mounted on a slewing support and two traveling wheels mounted on the left and right sides of the guide frame and mounted on the magnetic track traveling surface.

[0037] Furthermore, the number of linear motors is set to 4, and they are evenly distributed and fixed on the left and right sides of the support frame by multiple brackets on the support frame.

[0038] Furthermore, the number of gap sensors is set to four, and the two gap sensors on the same side in the left and right directions are respectively installed at the front and rear ends of the two linear motors on the same side to ensure that the distance between the two gap sensors on the same side is maximized.

[0039] Furthermore, the running wheels are made of rubber.

[0040] In a third aspect, the present invention also provides a rail-guided wheel-rail vehicle, comprising the two rail-guided steering systems described above and a carriage mounted on the two rail-guided steering systems.

[0041] Furthermore, the rail-guided wheel-rail vehicle also includes two vibration damping mechanisms, which are respectively installed on two rail-guided steering systems, and the car body is installed on the two vibration damping mechanisms.

[0042] The beneficial effects of this invention are:

[0043] 1. The invention provides a control method for an integrated traction and guidance control system. In the control method, the linear motor is based on dual-frequency power supply control technology and uses two frequencies of power supply current to realize traction and guidance control. The linear motor provides both traction force and a normal force perpendicular to the magnetic track, i.e., guidance force.

[0044] 2. The present invention provides a guide rail type steering system, which includes multiple linear motors. Each linear motor is independently controlled by a traction and guidance integrated control system, thus avoiding complex decoupling algorithms.

[0045] 3. The guide rail steering system in this invention eliminates the need for guide wheels or guide electromagnets, simplifies the guiding structure, reduces equipment costs, lightens weight, and facilitates its promotion and application in the market. Attached Figure Description

[0046] Figure 1 This is a block diagram illustrating the control principle of the control method in this invention.

[0047] Figure 2 This is a schematic diagram of the steering system in this invention;

[0048] Figure 3 This is a schematic diagram showing the connection between the support frame and the linear motor in the steering system.

[0049] Figure 4 This is a schematic diagram of the left turn of the steering system in this invention. Detailed Implementation

[0050] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many other different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0051] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0052] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0055] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or component as an example. It should be understood that the reference numerals are also applicable to other identical parts or components.

[0056] Reference Figure 1 This application provides a control method for an integrated traction and guidance control system, comprising the following steps:

[0057] S1. Establish an integrated traction and guidance control system, which includes a traction controller, a guidance controller, a current controller, and an inverter.

[0058] S2, the traction controller, based on the given desired speed and the actual speed of feedback The error is controlled by adjusting the output fundamental current to control the motor traction force;

[0059] S3, The guide controller determines the desired guide clearance based on the given parameters. The actual gap between and feedback The error is controlled by controlling the output harmonic current to control the motor's guiding force, thereby achieving guiding control;

[0060] S4. The current controller calculates the amplitude of the fundamental current output by the traction controller. and fundamental current frequency and the amplitude of the harmonic current output by the guide controller. Harmonic current frequency The inverter output is controlled by comparing the actual current with the feedback current.

[0061] S5. The inverter outputs three-phase current to the external linear motor to achieve integrated control of the external linear motor for traction and guidance of the external steering system.

[0062] Under a harmonic current of a specific frequency synchronized with the steering system speed, the guiding force increases with increasing harmonic current amplitude and decreasing steering system speed. The guiding force can be controlled by the synchronous speed frequency current based on the steering system speed. The propulsive force of the synchronous speed frequency current manifests as drag, increasing with increasing steering system speed, but remaining small compared to the guiding force. Therefore, the harmonic current of a specific frequency primarily affects the steering system's guidance, with a relatively small impact on the steering system's traction force, essentially achieving near-decoupling control of suspension and traction.

[0063] The invention provides a control method for an integrated traction and guidance control system. In the control method, the linear motor is based on dual-frequency power supply control technology and uses two frequencies of power supply current (including fundamental current and harmonic current) to achieve traction and guidance control. The linear motor provides both traction force and a normal force perpendicular to the magnetic track, i.e., guidance force.

[0064] In this embodiment, the connection relationships of the various components of the integrated traction and guidance control system are as follows:

[0065] The traction controller and the guidance controller are electrically connected to the current controller. The traction controller is used to determine the desired speed. and the actual speed of feedback The error and the slip frequency of the given traction controller Output the fundamental current amplitude required for traction to the current controller and fundamental current frequency The guide controller is used to determine the desired guide clearance. and feedback actual gap The error output guides the required harmonic current amplitude to the current controller. Harmonic current frequency ;

[0066] The current controller and the inverter are electrically connected to each other. The output of the inverter is electrically connected to an external linear motor. The output of the external linear motor is electrically connected to the traction controller and the guide controller, respectively.

[0067] In this embodiment, the three-phase current received by the linear motor is expressed by the following formula:

[0068] ;

[0069] ;

[0070] ;

[0071] in, i A , i B and i C These are three-phase currents, t Indicates time.

[0072] In this embodiment, the fundamental current frequency Satisfy the following formula:

[0073] (1)

[0074] in, Let be the slip of the linear induction motor, and satisfy the following formula:

[0075] (2)

[0076] Therefore, the slip rate of the linear induction motor Substituting into formula (1), the fundamental current frequency can be obtained. Harmonic current frequency and slip frequency The following relationship must be satisfied:

[0077] (3)

[0078] The harmonic current frequency in the above formula It can be obtained using the following formula:

[0079] (4)

[0080] in, This refers to the pole pitch of the linear motor.

[0081] Reference Figure 2 and Figure 3 A second aspect of the present invention also provides a guide rail type steering system, comprising:

[0082] The support frame includes a bracket and a slewing support mounted on top of the bracket and rotatably connected to the bracket;

[0083] Multiple linear motors are divided into two groups and fixedly installed on the left and right sides of the bracket respectively. The linear motors are adapted to the induction plate installed on the magnetic guide rail.

[0084] The traction and guidance integrated control system is installed on the support frame and uses the control method described above to independently control multiple linear motors;

[0085] Multiple gap sensors are divided into two groups and installed on two sets of linear motors respectively;

[0086] The traveling system includes a guide frame mounted on a slewing support and two traveling wheels mounted on the left and right sides of the guide frame and mounted on the magnetic track traveling surface.

[0087] This invention provides a guide rail type steering system, which includes multiple linear motors. Each linear motor is independently controlled by a traction and guidance integrated control system, thus avoiding complex decoupling algorithms.

[0088] In this embodiment, the number of linear motors is set to 4, and they are evenly and fixedly installed on the left and right sides of the support frame by multiple brackets on the support frame.

[0089] Specifically, refer to Figure 4 This invention arranges four linear motors on both sides of a support frame, with two linear motors on each side of the support frame, resulting in a total of four linear motors per support frame. Each linear motor is independently controlled. This support frame can utilize the four traction forces and four normal forces of the four linear motors to provide traction and steering torque for the guide rail steering system.

[0090] Figure 4 This diagram illustrates the steering system turning left. The normal force (i.e., guiding force) of the four linear motors on the support frame can provide rotational torque to the steering system through different lateral inclinations. In this diagram, the lateral inclination on the left side of the support frame is greater than that on the right side, thus causing the steering system to turn left.

[0091] In this embodiment, the number of gap sensors is set to four, and the two gap sensors on the same side in the left and right directions are respectively installed at the front and rear ends of the two linear motors on the same side to ensure that the distance between the two gap sensors on the same side is maximized.

[0092] In this embodiment, the running wheels are made of rubber.

[0093] The steering system in this invention eliminates the need for guide wheels or guide electromagnets, simplifying the guiding structure, reducing equipment costs, and lightening the weight, making it easier to promote and apply in the market.

[0094] A third aspect of the present invention also provides a rail-guided wheel-rail vehicle, comprising the two rail-guided steering systems described above and a carriage mounted on the two rail-guided steering systems.

[0095] In this embodiment, the rail-guided wheel-rail vehicle further includes two vibration damping mechanisms, which are respectively installed on two rail-guided steering systems, and the car body is installed on the two vibration damping mechanisms.

[0096] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for an integrated traction and guidance control system, characterized in that, Includes the following steps: S1. Establish an integrated traction and guidance control system, which includes a traction controller, a guidance controller, a current controller, and an inverter. S2, the traction controller, based on the given desired speed and the actual speed of feedback The error is controlled by adjusting the output fundamental current to control the motor traction force; S3, The guide controller determines the desired guide clearance based on the given parameters. The actual gap between and feedback The error is controlled by controlling the output harmonic current to control the motor's guiding force, thereby achieving guiding control; S4. The current controller calculates the amplitude of the fundamental current output by the traction controller. and fundamental current frequency and the amplitude of the harmonic current output by the guide controller. Harmonic current frequency The inverter output is controlled by comparing the actual current with the feedback current. S5. The inverter outputs three-phase current to the external linear motor to realize integrated control of the external linear motor for traction and guidance of the external steering system. The three-phase current received by the linear motor is expressed by the following formula: in, i A , i B and i C These are three-phase currents, t Indicates time.

2. The control method of the integrated traction and guidance control system according to claim 1, characterized in that, The connection relationships of the various components of the integrated traction and guidance control system are as follows: The traction controller and the guidance controller are electrically connected to the current controller. The traction controller is used to determine the desired speed. and the actual speed of feedback The error and the slip frequency of the given traction controller Output the fundamental current amplitude required for traction to the current controller and fundamental current frequency The guide controller is used to determine the desired guide clearance. The actual gap between and feedback The error output guides the required harmonic current amplitude to the current controller. Harmonic current frequency ; The current controller and the inverter are electrically connected to each other. The output of the inverter is electrically connected to an external linear motor. The output of the external linear motor is electrically connected to the traction controller and the guide controller, respectively.

3. The control method of the integrated traction and guidance control system according to claim 1, characterized in that, The fundamental current frequency Satisfy the following formula: （1） in, Let be the slip of the linear induction motor, and satisfy the following formula: （2） Therefore, the slip rate of the linear induction motor Substituting into formula (1), we can obtain the fundamental current frequency. Harmonic current frequency and slip frequency The following relationship must be satisfied: （3） The harmonic current frequency in the above formula It can be obtained using the following formula: （4） in, This refers to the pole pitch of the linear motor.

4. A guide rail type steering system, characterized in that, include: The support frame includes a bracket and a slewing support mounted on top of the bracket and rotatably connected to the bracket; Multiple linear motors are divided into two groups and fixedly installed on the left and right sides of the bracket respectively. The linear motors are adapted to the induction plate installed on the magnetic guide rail. An integrated traction and guidance control system is installed on a support frame and uses the control method described in any one of claims 1 to 3 to independently control multiple linear motors; Multiple gap sensors are divided into two groups and installed on two sets of linear motors respectively; The traveling system includes a guide frame mounted on a slewing support and two traveling wheels mounted on the left and right sides of the guide frame and mounted on the magnetic track traveling surface.

5. The guide rail type steering system according to claim 4, characterized in that, The linear motors are set to a total of 4, and are evenly fixed to the left and right sides of the support frame by multiple brackets on the support frame.

6. The guide rail type steering system according to claim 5, characterized in that, The number of gap sensors is set to four, and the two gap sensors on the same side in the left and right directions are respectively installed at the front and rear ends of the two linear motors on the same side to ensure that the distance between the two gap sensors on the same side is maximized.

7. The guide rail type steering system according to claim 4, characterized in that, The running wheels are made of rubber.

8. A guide rail type wheel-rail vehicle, characterized in that, It includes two rail-type steering systems as described in any one of claims 4 to 7 and a car body mounted on the two rail-type steering systems.

9. The rail-guided wheel-rail vehicle according to claim 8, characterized in that, It also includes two vibration damping mechanisms, which are respectively installed on two guide rail steering systems, and the car body is installed on the two vibration damping mechanisms.

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