CN100430260C - Suspension method for controling module of electromagnetism type magnetic suspension train in normal conduction and low temperature - Google Patents

Abstract

A module levitation control method for the frequently conducting electromagnetic-type low-speed magnetic levitation train features that a levitation control system has only one levitation controller consisting of signal processing unit, A/D converter, clock signal generator, master DSP unit, PWM wave generator and auxiliary DSP unit. Said method includes such steps as measuring the levitation states of ends A and B of a module by two levitation sensors, calculating their control values, and controlling the current values of electromagnets A and B and in turn their electromagnetic forces, so ensuring the gap between module and track to be constant.

Description

Suspension method for controling module of electromagnetism type magnetic suspension train in normal conduction and low temperature

Technical field

The present invention relates to the magnetic floating train suspending control method, especially a kind of electromagnetic type based on module is often led (Electro Magnetic Suspension is called for short EMS) type low-speed maglev train suspension control method.

Background technology

EMS type magnetic-levitation train is a kind of installation electromagnet and new traffic tool of train being suspended orbit of the attractive force between the track ON TRAINS that rely on, safe, comfortable with it, at a high speed, advantage such as pollution-free wins increasing concern.The electromagnet of EMS type low-speed maglev train and track constitute the suspension system of train, and this system is a time-dependent system, must could realize the stable suspersion of train by controlled reset.Suspension property depends primarily on suspension control method.The key of suspension control method is to design a suspension control system, by the suspended state of suspension control system according to current suspension system, control the size of electromagnetic force by the control current of electromagnet, and then guarantee that the gap between electromagnet and the track remains at the gap width of setting, thereby realize the stable suspersion of magnetic-levitation train.

EMS type low-speed maglev train adopts the modularization bogie structure, as shown in Figure 1.Every joint car has four bogie trucks, each bogie truck by about two suspending modules (hereinafter to be referred as module) form, intermodule links to each other by the anti-beam that sidewinders.Each module is equipped with four levitating electromagnets (hereinafter to be referred as electromagnet), along the train direct of travel four electromagnet is divided into two groups, and every group comprises two electromagnet, two electromagnet series connection in the group, and equivalence is a single electromagnet.Basically realized mechanically decoupledly between the module, have independently freedom of motion, so module has been the basic floating unit of EMS type low-speed maglev train.At present the suspension control method that adopts is single magnet control method, and technical scheme is that two single electromagnet with inside modules are considered as two fully independently controlled objects, carries out the suspension controller design respectively, and each module needs two suspension controllers.As shown in Figure 2, the A of module end and module B end are separately installed with suspension sensor groups A and suspension sensor groups B, and every group of suspension sensor includes a gap sensor, an acceleration pick-up and a current sensor.Gap sensor A and gap sensor B are used for the levitation gap of measurement module A end and module B end, acceleration pick-up A and acceleration pick-up B are used to measure the acceleration of motion of single electromagnet A and single electromagnet B, current sensor A and current sensor B are enclosed within respectively on the output lead of suspending chopper A and suspending chopper B, are used to measure the suspension electric current of single electromagnet A and single electromagnet B.Suspension sensor groups A delivers to suspension controller A with the form of analog signal by cable with the suspended state (levitation gap, electromagnet acceleration of motion and suspension electric current) that the A that measures holds, suspension controller A is according to ordering (L/D) from the suspended state of suspension sensor groups A with from the suspension/landing of vehicle-mounted monitoring system, calculate controlling quantity A, and output to suspending chopper A, control A end current of electromagnet size, and then the size of control A end electromagnetic force, guarantee that the gap between modules A end and the track keeps constant; Suspension sensor groups B delivers to suspension controller B with the form of analog signal by cable with the suspended state (levitation gap, electromagnet acceleration of motion and suspension electric current) that the B that measures holds, suspension controller B is according to ordering from the suspended state of suspension sensor groups B with from the suspension/landing of vehicle-mounted monitoring system, calculate controlling quantity B, and output to suspending chopper B, control B end current of electromagnet size, and then the size of control B end electromagnetic force, guarantee that the gap between module B end and the track keeps constant.Suspension controller A and suspension controller B are uploaded to the vehicle-mounted monitoring system that is positioned on the train driving platform by communication bus in real time with faulty condition and suspended state simultaneously.After vehicle-mounted monitoring system receives faulty condition and suspended state, break down or take emergency measures during emergency situation in judgement.In addition, vehicle-mounted monitoring system also is connected with suspension controller B with suspension controller A by cable, is used for sending suspension/landing order (L/D) and reset signal (RESET) to the two.

In fact, module is a rigid body, and the state of kinematic motion of side a and b can interact by the mode that couple of force closes.Single magnet control method is considered as the external disturbance of suspension control system with the coupling between the side a and b, is just suppressed by the robustness that improves control algorithm.Therefore there is the defective on the principle in single magnet control method, can't really overcome influencing each other between 2 of the inside modules, and in order to guarantee the controller performance of suspension system, the complexity of control algorithm and design difficulty is all bigger.

Summary of the invention

The technical problem to be solved in the present invention provides a kind of suspension control method based on module, overcome present single magnet control method and can't really overcome interactional defective between 2 of the inside modules, improve the performance of Suspension Control, reduce the complexity of control algorithm.

Technical scheme of the present invention is: design suspension control system with whole module for controlled object, include only a cover suspension controller in the suspension control system, suspension controller all links to each other with suspending chopper B with suspending chopper A, and all links to each other with suspension sensor groups B with suspension sensor groups A.The A end suspended state (levitation gap that suspension controller measures according to suspension sensor groups A, the electromagnet acceleration of motion, the suspension electric current) and the B end suspended state (levitation gap that measures of suspension sensor groups B, the electromagnet acceleration of motion, the suspension electric current), in conjunction with suspension/landing order from vehicle-mounted monitoring system, calculate the controlling quantity of side a and b respectively, hold controlling quantity PWM_A with PWM (Pulse-Width Modulation A, being pulse width modulation) form of ripple outputs to suspending chopper A, control the size of current of single electromagnet A, and then the size of control A end electromagnetic force, guarantee that the gap between modules A end and the track keeps constant; The controlling quantity PWM_B of B end is also outputed to suspending chopper B with the form of PWM ripple, control the size of current of single electromagnet B, and then the size of control B end electromagnetic force, guarantee that the gap between module B end and the track keeps constant.

Suspension controller is uploaded to vehicle-mounted monitoring system by the CAN bus in real time with faulty condition and suspended state.After vehicle-mounted monitoring system receives faulty condition and suspended state, break down or take emergency measures during emergency situation in judgement.In addition, vehicle-mounted monitoring system also is connected with suspension controller by cable, is used for sending suspension/landing order (L/D) and reset signal (RESET) to the suspension sensor.

Suspension controller is made up of signal processing unit, A/D converting unit, clock signal generating unit, master control DSP unit, PWM ripple generating unit and auxiliary DSP unit.

Gap sensor A and gap sensor B measure the levitation gap of side a and b respectively, output voltage pattern analog signal; Acceleration pick-up A and acceleration pick-up B measure the vertical direction acceleration of motion of single electromagnet A and single electromagnet B respectively, output voltage pattern analog signal; Current sensor A and current sensor B measure the suspension electric current of single electromagnet A and single electromagnet B, current output type analog signal respectively.The sensor signal is all delivered to signal processing unit and is handled.

Signal processing unit is made up of analogous circuit, comprises two dc bias circuits, two block isolating circuits, two current-voltage conversion circuits, 4 amplifying circuits, 2 integrating circuits and 6 filters.Signal processing unit is accepted sensor signal, and the gap signal A and the gap signal B of gap sensor A and gap sensor B output carried out direct current biasing, amplification, Filtering Processing, output voltage type gap signal Sd ₁And Sd ₂Acceleration signal A and acceleration signal B to acceleration pick-up A and acceleration pick-up B output carry out every value, integration, Filtering Processing output voltage type speed signal Sv ₁And Sv ₂Convert the current signal A and the current signal B of current sensor A and current sensor B output to the voltage-type signal, and to its amplify, Filtering Processing, output voltage pattern analog signal Si ₁And Si ₂Sd ₁And Sd ₂, Sv ₁And Sv ₂, Si ₁And Si ₂Deliver to A/D converting unit and auxiliary DSP unit simultaneously.

The A/D converting unit adopts the parallel A/D converter of synchronized sampling, the conversion instruction that it sends according to master control DSP unit, and the voltage-type analog signal of three kinds of suspension sensors that will be transmitted by signal processing unit is Sd ₁And Sd ₂, Sv ₁And Sv ₂, Si ₁And Si ₂Convert digital signal D respectively to ₁, D ₂, V ₁, V ₂, I ₁, I ₂The A/D converting unit is after receiving reading instruction that master control DSP unit sends, with digital signal D ₁, D ₂, V ₁, V ₂, I ₁, I ₂Deliver to master control DSP unit.

Clock signal generating unit adopts integrated crystal oscillating circuit, produces the clock signal clk of certain frequency, for master control DSP unit, auxiliary DSP unit and PWM ripple generating unit provide clock.

Master control DSP unit adopts the floating-point signal processor design, in programming controller, timer, register, digital I/O unit and arithmetic element are arranged.Programming controller all links to each other by internal bus with arithmetic element with timer, register, digital I/O unit, the programming controller design has the Suspension Control program, timer is according to the setting of Suspension Control program, the clock signal that clock signal generating unit produces is counted, produced an interrupt signal, and deliver to programming controller in every T (T is the interrupt cycle of timer) second; Register root is preserved DSP mode of operation and internal state according to the configuration of Suspension Control program; Numeral I/O unit is under the control of programming controller, to A/D converting unit output A/D conversion instruction and A/D transformation result reading command, receive L/D instruction from vehicle-mounted monitoring system, RESET signal and from finish status signal and deliver to programming controller of the conversion of A/D converting unit; Arithmetic element is finished all arithmetic/logics that relate in the Suspension Control program, finally obtains the controlling quantity CV of modules A end and module B end ₁And CV ₂, and under the control of programming controller, with CV ₁And CV ₂Deliver to PWM ripple generating unit by bus.

The Suspension Control program is based on the operation of master control DSP in-to-in timer interrupt mechanism, interruption of the every generation of timer, and the Suspension Control program is just calculated a controlling quantity and is exported, so the cycle of Suspension Control is exactly T interrupt cycle of timer.The Suspension Control program is divided into two program segments, i.e. main program and interrupt service routine.The workflow of main program is:

After step 1, control system powered on, program was carried out initialization to master control DSP, finished the initial configuration of system parameter, mainly comprised: set master control DSP internal register, be provided with master control DSP in-to-in timer mode of operation and interrupt cycle T.

The timer of step 2, wait master control DSP interrupts, and interrupts if timer takes place, and returns step 2, otherwise jumps out main program, enters interrupt service routine.

Step 3, interrupt service routine go to step 2 after being finished and returning main program.

The suspended state calculation control amount that interrupt service routine is held according to suspension/landing instruction (L/D) and modules A end and module B, and give PWM ripple generating unit with it.The workflow of interrupt service routine is:

Step 1), carry out interrupt spot protection;

Step 2), inquiry L/D, if suspend order, then execution in step 3), otherwise execution in step 8);

The mode of step 3), the external pin level by revising master control DSP to A/D converting unit sending controling instruction, starts the A/D conversion;

Step 4), inquiry A/D conversion finishing signal, if conversion finishes, then execution in step 5), otherwise return step 4);

Step 5), read A/D transformation result D ₁, D ₂, V ₁, V ₂, I ₁, I ₂, and according to formula (1) with D ₁, D ₂Be transformed to the levitation gap value d of side a and b ₁, d ₂, with V ₁, V ₂Be transformed to the kinematic velocity value v of side a and b ₁, v ₂, with I ₁, I ₂Be transformed to the suspension current value i of single electromagnet A and single electromagnet B ₁, i ₂:

$\left\{\begin{array}{c}{d}_1=-0.000048828125D_1+0.009\\ {\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="C20061003213600281.png"\; state="\{\{state\}\}">d</figure-callout>}}_2=-0.000048828125{\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="C20061003213600281.png"\; state="\{\{state\}\}">D</figure-callout>}}_2+0.009\\ v_1=0.00006591796875V_1\\ {\mathrm{<figure-callout\; id="2"\; label="v"\; filenames="C20061003213600281.png"\; state="\{\{state\}\}">v</figure-callout>}}_2=0.00006591796875V_2\\ i_1=0.048828125I_1\\ i_2=0.048828125I_2\end{array}\right.---\left(1\right)$

Levitation gap d is set in step 6), combination ₀, actual suspended state signal, according to formula (2) calculation control amount CV ₁And CV ₂And output;

$\left\{\begin{array}{c}{u}_1=2500(d_1-d_0)-70.7v_1\\ u_2=2500(d_2-d_0)-70.7v_2\\ {\mathrm{CV}}_1=280[(0.78d_1+0.22d_2)\sqrt{9414600+302770u_1+33035u_2}-i_1]+1000\\ {\mathrm{<figure-callout\; id="2"\; label="CV"\; filenames="C20061003213600281.png"\; state="\{\{state\}\}">CV</figure-callout>}}_2=280[(0.78{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="C20061003213600281.png"\; state="\{\{state\}\}">d</figure-callout>}}_2+0.22d_1)\sqrt{9414600+302770u_2+33035u_1}-i_2]+1000\end{array}\right.---\left(2\right)$

Recover step 7), interrupt spot;

Step 8), withdraw from interrupt service routine, return main program.

The controlling quantity of remembering the side a and b that n control cycle master control DSP unit calculates is respectively CV ₁(n) and CV ₂(n).Obviously, CV ₁(n) except the suspended state decision by the A end, also the suspended state with the B end is relevant; CV ₂(n) except the suspended state decision by the B end, also the suspended state with the A end is relevant.This control method can suppress influencing each other between A end suspended state and the B end suspended state effectively, make that the state of kinematic motion at two ends is independent each other, overcome the vice proper that original single magnet control method exists, the stable suspersion of realization magnetic-levitation train that can be safe and reliable improves the magnetic floating train suspending performance.

PWM ripple generating unit comprises that two PWM wave producers with identical logical organization are PWM wave producer A and PWM wave producer B, respectively the controlling quantity CV that master control DSP unit is exported ₁And CV ₂Convert suspending chopper acceptable fixed cycle PWM ripple signal PWM to ₁And PWM ₂

The PWM wave producer is made up of low impulse deviser, high impulse producer, d type flip flop, latch and down counter.With PWM wave producer A is example, suspension controller signal RESET (the resetting during high level) reseting stage that powers on or be reset, the output DOUT that is the PWM of d type flip flop ₁Be high level.When master control DSP unit at n control cycle with controlling quantity CV ₁When (n) writing PWM wave producer A, the latch function that writes instruction WR enable latch that master control DSP sends the unit is with the controlling quantity CV on the data bus ₁(n) be latched as DATA and output to the data input pin of down counter; Simultaneously, the positive rise of WR signal starts low impulse deviser, makes low pulse LPUL of its output, and is transferred to the clock end of d type flip flop and the data of down counter are written into end.The data that LPUL enables down counter on the one hand are written into function, make down counter that DATA is written into as the initial value of counting, and trigger d type flip flop on the other hand, make DOUT that is PWM ₁Become low level, start down counter and begin counting; Down counter is to the clock signal clk counting from clock signal generating unit, carry out subtraction, after the count value of down counter is kept to 0, in next clock signal arrival, its borrow end can produce a low pulse OV, start the high impulse producer, make its set end of exporting a high impulse HPUL and being transferred to d type flip flop, the positive rise of HPUL is with the output DOUT that is the PWM of d type flip flop ₁Be changed to high level, make down counter stop counting, write controlling quantity CV at n+1 control cycle to PWM wave producer A up to master control DSP unit ₁(n+1).Therefore, PWM is consistent with T write cycle of controlling quantity wave period.In like manner, when master control DSP unit at n control cycle with controlling quantity CV ₂When (n) writing PWM wave producer B, the exportable PWM of PWM ripple generating unit B ₂..

In order to protect suspension controller, reduce circuit and disturb, the power supply that can adopt power supply that the photoelectricity isolated location uses suspension controller and suspending chopper driving circuit to use between PWM ripple generating unit and suspending chopper is isolated.PWM ₁By becoming A end controlling quantity PWM_A, PWM behind the photoelectricity isolated location ₂By becoming B end controlling quantity PWM_B behind the photoelectricity isolated location.

The auxiliary DSP unit adopts the DSP with A/D translation function and CAN communication function, will be from the collecting sensor signal of signal processing unit to DSP inside, the faulty condition of detecting sensor and suspended state, and faulty condition and suspended state be uploaded to vehicle-mounted monitoring system in real time by the CAN bus.

Adopt the present invention can reach following technique effect:

1, the master control DSP of the present invention unit controlling quantity CV of (2) A end of calculating by formula ₁Except the suspended state decision by the A end, also the suspended state with the B end is relevant; The controlling quantity CV of B end ₂Except the suspended state decision by the B end, also the suspended state with the A end is relevant.This control method can suppress influencing each other between A end suspended state and the B end suspended state effectively, overcome the vice proper that original single magnet control method exists, the stable suspersion of realization magnetic-levitation train that can be safe and reliable improves the magnetic floating train suspending performance.

2, the present invention adopts a suspension controller to realize the function that just can be finished by two suspension controllers, control system adopts DSP as arithmetic element, the Suspension Control program is relatively simple, and the cost and the weight of control system all decrease, and have improved the capacity weight of magnetic suspension train.

Description of drawings

Fig. 1 is the modularization bogie structure scheme drawing of EMS type low-speed maglev train.

Fig. 2 is a suspension control system structural representation in the single magnet control method that adopts usually at present.

Fig. 3 is a suspension control system structural representation of the present invention.

Fig. 4 is a suspension controller logical organization scheme drawing of the present invention.

Fig. 5 is a signal processing unit building-block of logic of the present invention.

Fig. 6 is master control DSP unit internal logic structure figure in the suspension controller of the present invention.

Fig. 7 is a Suspension Control program flow diagram in the master control DSP of the present invention unit.

Fig. 8 is the diagram of circuit of the interrupt service routine in the Suspension Control program of the present invention.

Fig. 9 is the building-block of logic of PWM wave producer A in the PWM ripple generating unit of the present invention.

Figure 10 is the working timing figure of PWM wave producer A of the present invention.

Figure 11 is the suspension property empirical curve comparison diagram that adopts single electromagnet suspension control method design-calculated suspension control system and adopt design-calculated suspension control system of the present invention.

The specific embodiment

Fig. 1 is the modularization bogie structure scheme drawing that EMS type low-speed maglev train adopts.Every joint car has four suspension bogies, each bogie truck by about two suspending modules form, intermodule links to each other by the anti-beam that sidewinders.Each module is equipped with four levitating electromagnets, along the train direct of travel four electromagnet is divided into two groups, and every group comprises two electromagnet, two electromagnet series connection in the group, and equivalence is a single electromagnet.

Fig. 2 is a suspension control system structural representation in the single magnet control method that adopts usually at present.Suspension control system is made up of suspension sensor groups A, suspension controller A, suspending chopper A, suspension sensor groups B, suspension controller B, suspending chopper B and vehicle-mounted monitoring system.Suspension sensor groups A and suspension sensor groups B respectively comprise a gap sensor, an acceleration pick-up and a current sensor.Gap sensor A and gap sensor B are used for the levitation gap of measurement module A end and module B end, acceleration pick-up A and acceleration pick-up B are used to measure the acceleration of motion of single electromagnet A and single electromagnet B, current sensor A and current sensor B are enclosed within respectively on the output lead of suspending chopper A and suspending chopper B, are used to measure the suspension electric current of single electromagnet A and single electromagnet B.Suspension sensor groups A delivers to suspension controller A with the form of analog signal by cable with the suspended state (levitation gap, electromagnet acceleration of motion and suspension electric current) that the A that measures holds, suspension controller A is according to ordering from the suspended state of suspension sensor groups A with from the suspension/landing of vehicle-mounted monitoring system, calculate controlling quantity A, and output to suspending chopper A, control A end current of electromagnet size, and then the size of control A end electromagnetic force, guarantee that the gap between modules A end and the track keeps constant; Suspension sensor groups B delivers to suspension controller B with the form of analog signal by cable with the suspended state (levitation gap, electromagnet acceleration of motion and suspension electric current) that the B that measures holds, suspension controller B is according to ordering from the suspended state of suspension sensor groups B with from the suspension/landing of vehicle-mounted monitoring system, calculate controlling quantity B, and output to suspending chopper B, control B end current of electromagnet size, and then the size of control B end electromagnetic force, guarantee that the gap between module B end and the track keeps constant.Suspension controller A and suspension controller B are uploaded to the vehicle-mounted monitoring system that is positioned on the train driving platform by communication bus in real time with faulty condition and suspended state simultaneously.After vehicle-mounted monitoring system receives faulty condition and suspended state, break down or take emergency measures during emergency situation in judgement.In addition, vehicle-mounted monitoring system also is connected with suspension controller B with suspension controller A by cable, is used for sending suspension/landing order (L/D) and reset signal (RESET) to the two.

Fig. 3 is a suspension control system structural representation of the present invention.The installation of suspension sensor is identical with single magnet control method with function, but the output signal of suspension sensor groups A and suspension sensor groups B is all delivered to same suspension controller by cable.This suspension controller is in conjunction with ordering the controlling quantity of computing module A end and the controlling quantity of module B end from the suspended state of sensor groups A and sensor groups B and from the suspension/landing of vehicle-mounted monitoring system, export PWM_A to suspending chopper A with the form of PWM ripple, PWM_B is to suspending chopper B in output, control the size of current of single electromagnet A and single electromagnet B respectively, and then the electromagnetic force size of control side a and b, guarantee that the gap between modules A end and B end and the track keeps constant.Suspension controller is uploaded to the vehicle-mounted monitoring system that is positioned on the train driving platform by the CAN bus in real time with faulty condition and suspended state.After vehicle-mounted monitoring system receives faulty condition and suspended state, break down or take emergency measures during emergency situation in judgement.In addition, vehicle-mounted monitoring system also is connected with suspension controller by cable, is used for sending suspension/landing order and reset signal to suspension controller.

Fig. 4 is a suspension controller logical organization scheme drawing of the present invention.Fig. 5 is a signal processing unit structural representation of the present invention.Suspension controller comprises signal processing unit, A/D converting unit, clock signal generating unit, master control DSP unit, PWM ripple generating unit and auxiliary DSP unit.In order to protect suspension controller, reduce circuit and disturb, the power supply that can adopt power supply that the photoelectricity isolated location uses suspension controller and suspending chopper driving circuit to use between PWM ripple generating unit and suspending chopper is isolated.Signal processing unit is made up of analogous circuit, comprises two dc bias circuits, two block isolating circuits, two current-voltage conversion circuits, 4 amplifying circuits, 2 integrating circuits and 6 filters.Signal processing unit is accepted sensor signal, and the gap signal A and the gap signal B of gap sensor A and gap sensor B output carried out direct current biasing, amplification, Filtering Processing, output voltage type gap signal Sd ₁And Sd ₂Acceleration signal A and acceleration signal B to acceleration pick-up A and acceleration pick-up B output carry out every straight, integration, Filtering Processing output voltage type speed signal Sv ₁And Sv ₂Convert the current signal A and the current signal B of current sensor A and current sensor B output to the voltage-type signal, and to its amplify, Filtering Processing, output voltage pattern analog signal Si ₁And Si ₂Sd ₁And Sd ₂, Sv ₁And Sv ₂, Si ₁And Si ₂Deliver to A/D converting unit and auxiliary DSP unit simultaneously.

The A/D converting unit adopts the parallel A/D converter of synchronized sampling.The conversion instruction that the A/D converting unit is sent according to master control DSP unit, the voltage-type analog signal of three kinds of suspension sensors that will be transmitted by signal processing unit is Sd ₁And Sd ₂, Sv ₁And Sv ₂, Si ₁And Si ₂Convert digital signal D respectively to ₁, D ₂, V ₁, V ₂, I ₁, I ₂The A/D converting unit is after receiving reading instruction that master control DSP unit sends, with digital signal D ₁, D ₂, V ₁, V ₂, I ₁, I ₂Deliver to master control DSP unit.

Clock signal generating unit adopts integrated crystal oscillating circuit, produces the clock signal clk of certain frequency, for master control DSP unit, auxiliary DSP unit and PWM ripple generating unit provide clock.

The auxiliary DSP unit adopts the DSP with A/D translation function and CAN communication function, will be from the collecting sensor signal of signal processing unit to DSP inside, the faulty condition of detecting sensor and suspended state, and faulty condition and suspended state be uploaded to vehicle-mounted monitoring system in real time by the CAN bus.

Fig. 6 is the internal logic structure figure of master control DSP unit.Master control DSP unit adopts floating-point signal processor, in programming controller, timer, register, digital I/O unit and arithmetic element are arranged.Programming controller all links to each other by internal bus with arithmetic element with timer, register, digital I/O unit, the programming controller design has the Suspension Control program, timer is according to the setting of Suspension Control program, the clock signal that clock signal generating unit produces is counted, produced an interrupt signal, and deliver to programming controller in every T (T is the interrupt cycle of timer) second; Register root is preserved DSP mode of operation and internal state according to the configuration of Suspension Control program; Numeral I/O unit is under the control of suspension controller, to A/D converting unit output A/D conversion instruction and A/D transformation result reading command, receive L/D instruction from vehicle-mounted monitoring system, RESET signal and from finish status signal and deliver to programming controller of the conversion of A/D converting unit; Arithmetic element is finished all arithmetic/logics that relate in the Suspension Control program, finally obtains the controlling quantity CV of modules A end and module B end ₁And CV ₂, and under the control of programming controller, with CV ₁And CV ₂Export by bus.

The Suspension Control program is based on the operation of master control DSP in-to-in timer interrupt mechanism, interruption of the every generation of timer, and the Suspension Control program is just calculated a controlling quantity and is exported, so the cycle of Suspension Control is exactly T interrupt cycle of timer.The Suspension Control program is divided into two program segments, i.e. main program and interrupt service routine.Fig. 7 is the workflow diagram of main program:

After step 1, control system powered on, program was carried out initialization to master control DSP, finished the initial configuration of system parameter, mainly comprised: set master control DSP internal register, be provided with master control DSP in-to-in timer mode of operation and interrupt cycle T.

The timer of step 2, wait master control DSP interrupts, and interrupts if timer takes place, and returns step 2, otherwise jumps out main program, enters interrupt service routine.

Step 3, interrupt service routine go to step 2 after being finished and returning main program.

Fig. 8 is the workflow diagram of interrupt service routine.The suspended state calculation control amount that interrupt service routine is held according to suspension/landing instruction (L/D) and modules A end and module B, and give PWM ripple generating unit with it.The workflow of interrupt service routine is:

Step 1), carry out interrupt spot protection;

Step 2), inquiry L/D, if suspend order, then execution in step 3), otherwise execution in step 8);

The mode of step 3), the external pin level by revising master control DSP to A/D converting unit sending controling instruction, starts the A/D conversion;

Step 4), inquiry A/D conversion finishing signal, if conversion finishes, then execution in step 5, otherwise return step 4);

Step 5), read A/D transformation result D ₁, D ₂, V ₁, V ₂, I ₁, I ₂, and by the Suspension Control program with D ₁, D ₂Be transformed to the levitation gap value d of side a and b ₁, d ₂, with V ₁, V ₂Be transformed to the kinematic velocity value v of side a and b ₁, v ₂, with I ₁, I ₂Be transformed to the suspension current value i of single electromagnet A and single electromagnet B ₁, i ₂

Levitation gap d is set in step 6), combination ₀, actual suspended state signal, calculation control amount CV ₁And CV ₂And output;

Recover step 7), interrupt spot;

Step 8), withdraw from interrupt service routine, return main program.

PWM ripple generating unit adopts and comprises two PWM wave producers with identical logical organization, respectively the controlling quantity CV that master control DSP unit is exported ₁And CV ₂Convert suspending chopper acceptable fixed cycle PWM ripple signal PWM to ₁And PWM ₂, and export to suspending chopper A and suspending chopper B respectively.Fig. 9 is the building-block of logic of PWM wave producer A, and Figure 10 is the working timing figure of PWM wave producer A.PWM wave producer A is made up of low impulse deviser, high impulse producer, d type flip flop, latch and down counter.Suspension controller signal RESET (the resetting during high level) reseting stage that powers on or be reset, the output DOUT that is the PWM of d type flip flop ₁Be high level.When master control DSP unit at n control cycle with controlling quantity CV ₁When (n) writing PWM wave producer A, the latch function that writes instruction WR enable latch that master control DSP sends the unit is with the controlling quantity CV on the data bus ₁(n) be latched as DATA and output to the data input pin of down counter; Simultaneously, the positive rise of WR signal starts low impulse deviser, makes low pulse LPUL of its output, and is transferred to the clock end of d type flip flop and the data of down counter are written into end.The data that LPUL enables down counter on the one hand are written into function, make down counter that DATA is written into as the initial value of counting, and trigger d type flip flop on the other hand, make DOUT that is PWM ₁Become low level, start down counter and begin counting; Down counter is to the clock signal clk counting from clock signal generating unit, carry out subtraction, after the count value of down counter is kept to 0, in next clock signal arrival, its borrow end can produce a low pulse OV, start the high impulse producer, make its set end of exporting a high impulse HPUL and being transferred to d type flip flop, the positive rise of HPUL is with the output DOUT that is the PWM of d type flip flop ₁Be changed to high level, make down counter stop counting, write controlling quantity CV at n+1 control cycle to PWM wave producer A up to master control DSP unit ₁(n+1).Therefore, PWM is consistent with T write cycle of controlling quantity wave period.

Adopt the present invention, the National University of Defense technology has designed a suspension control system that electromagnetic type is often led low-speed maglev train through engineering approaches sample car CMS-03A, and the range of the gap sensor of employing is a 0-0.02 rice, and corresponding output voltage is the 0-10 volt; The acceleration pick-up range for-(g is an acceleration due to gravity to 5g-5g, value 9.8 meter per seconds ²), correspondence is output as the 0-5 volt; Current sensor range 0-100 ampere, corresponding outgoing current is the 0-0.1 ampere.Master control DSP unit adopts 32 Floating-point DSP, and the auxiliary DSP unit adopts 16 fixed DSPs.By in June, 2006, CMS-03A on test wire safe operation more than 1000 kilometer, suspension control system is safe and reliable, function admirable.With adopt single magnet control method suspension control system compare, adopts design-calculated suspension control system antijamming capability of the present invention stronger, the vibration when train passes through the track seam is littler, the travelling comfort of train is better.

Figure 11 is the suspension property empirical curve that adopts single electromagnet suspension control method design-calculated suspension control system and adopt design-calculated suspension control system of the present invention.(a) figure is under the stable suspersion state, and the suspended load discharge of modules A end increases at 10% o'clock suddenly, the gap response curve of module B end.(b) figure is under stabilized conditions, when the modules A end adds the square wave interference of 2mm, and the response curve in the gap of module B end.Curve 1 among the figure is the gap response curve that adopts design-calculated suspension control system of the present invention, and curve 2 is the gap response curves that adopt single magnet control method design-calculated suspension control system.From figure (a) as can be seen, under the identical situation of the suspended load discharge variation of modules A end, the gap change of B end will be much smaller than the gap change that adopts single magnet control method B end behind employing the present invention.From figure (b) as can be seen, under the identical situation of the gap change of modules A end, the gap change of B end is less than the gap change that adopts single magnet control method B end behind employing the present invention, and the speed of convergence is faster, and it is more steady to suspend.Above-mentioned experimental result can prove: adopt design-calculated suspension control system of the present invention to suppress influencing each other between modules A end suspended state and the B end suspended state effectively, make that the state of kinematic motion at two ends is independent each other, overcome the vice proper that single magnet control method exists, suppressed all will obviously to be better than single electromagnet suspension control method aspect suspended load discharge variation interference and the gap change interference.

Claims (3)

1. suspension method for controling module of electromagnetism type magnetic suspension train in normal conduction and low temperature, by designing a suspension control system of forming by suspension controller, suspension sensor groups A and suspension sensor groups B, suspending chopper A and suspending chopper B, control the size of electromagnetic force by the control current of electromagnet by suspension control system, to guarantee that the gap between electromagnet and the track remains at the gap width of setting, thereby realize the stable suspersion of magnetic-levitation train, suspension controller is uploaded to vehicle-mounted monitoring system by the CAN bus in real time with faulty condition and suspended state; Be controlled object with whole suspending module when it is characterized in that designing suspension control system, suspension control system includes only a cover suspension controller, it all links to each other with suspending chopper B with suspending chopper A, and all links to each other with suspension sensor groups B with suspension sensor groups A; The B end suspended state that the A that suspension controller measures according to suspension sensor groups A holds suspended state and suspension sensor groups B to measure, in conjunction with suspension/landing order from vehicle-mounted monitoring system, calculate the controlling quantity of side a and b respectively, hold controlling quantity to output to suspending chopper A A, control the size of current of single electromagnet A, and then the size of control A end electromagnetic force, guarantee that the gap between modules A end and the track keeps constant; The controlling quantity of B end is outputed to suspending chopper B, control the size of current of single electromagnet B, and then the size of control B end electromagnetic force, guarantee that the gap between module B end and the track keeps constant;

Suspension controller is made up of signal processing unit, A/D converting unit, clock signal generating unit, master control DSP unit, PWM ripple generating unit and auxiliary DSP unit:

Signal processing unit is accepted sensor signal, and the gap signal A and the gap signal B of gap sensor A and gap sensor B output carried out direct current biasing, amplification, Filtering Processing, output voltage type gap signal Sd ₁And Sd ₂Acceleration signal A and acceleration signal B to acceleration pick-up A and acceleration pick-up B output carry out every straight, integration, Filtering Processing output voltage type speed signal Sv ₁And Sv ₂Convert the current signal A and the current signal B of current sensor A and current sensor B output to the voltage-type signal, and to its amplify, Filtering Processing, output voltage pattern analog signal Si ₁And Si ₂Sd ₁And Sd ₂, Sv ₁And Sv ₂, Si ₁And Si ₂Deliver to A/D converting unit and auxiliary DSP unit simultaneously;

The conversion instruction that the A/D converting unit is sent according to master control DSP unit, the voltage-type analog signal of three kinds of suspension sensors that will be transmitted by signal processing unit is Sd ₁And Sd ₂, Sv ₁And Sv ₂, Si ₁And Si ₂Convert digital signal D respectively to ₁, D ₂, V ₁, V ₂, I ₁, I ₂, the A/D converting unit is after receiving reading instruction that master control DSP unit sends, with digital signal D ₁, D ₂, V ₁, V ₂, I ₁, I ₂Deliver to master control DSP unit;

Master control DSP unit adopts the floating-point signal processor design, in programming controller, timer, register, digital I/O unit and arithmetic element are arranged; Programming controller all links to each other by internal bus with arithmetic element with timer, register, digital I/O unit, and the programming controller design has the Suspension Control program; Timer is according to the setting of Suspension Control program, and to the clock signal counting that clock signal generating unit produces, every T produces an interrupt signal and delivers to programming controller second, and T is the interrupt cycle of timer; Register root is preserved DSP mode of operation and internal state according to the configuration of Suspension Control program; Numeral I/O unit is under the control of programming controller, to A/D converting unit output A/D conversion instruction and A/D transformation result reading command, receive L/D instruction from vehicle-mounted monitoring system, RESET signal and from finish status signal and deliver to programming controller of the conversion of A/D converting unit; Arithmetic element is finished all arithmetic/logics that relate in the Suspension Control program, finally obtains the controlling quantity CV of modules A end and module B end ₁And CV ₂, and under the control of programming controller, with CV ₁And CV ₂Deliver to PWM ripple generating unit by bus;

PWM ripple generating unit comprises that two PWM wave producers with identical logical organization are PWM wave producer A and PWM wave producer B, respectively with CV ₁And CV ₂Convert suspending chopper acceptable fixed cycle PWM ripple signal PWM to ₁And PWM ₂PWM ₁By becoming A end controlling quantity PWM_A, PWM behind the photoelectricity isolated location ₂By becoming B end controlling quantity PWM_B behind the photoelectricity isolated location.

2. suspension method for controling module of electromagnetism type magnetic suspension train in normal conduction and low temperature as claimed in claim 1, it is characterized in that described Suspension Control program is based on master control DSP in-to-in timer interrupt mechanism operation, interruption of the every generation of timer, the Suspension Control program is just calculated a controlling quantity and is exported, the Suspension Control program is divided into main program and interrupt service routine, and the workflow of main program is:

After step 1, control system powered on, program was carried out initialization to master control DSP, finished the initial configuration of system parameter, mainly comprised: set master control DSP internal register, be provided with master control DSP in-to-in timer mode of operation and interrupt cycle T;

The timer of step 2, wait master control DSP interrupts, and interrupts if timer takes place, and returns step 2, otherwise jumps out main program, enters interrupt service routine;

Step 3, interrupt service routine go to step 2 after being finished and returning main program;

The workflow of interrupt service routine is:

Step 1), carry out interrupt spot protection;

Step 2), inquiry L/D, if suspend order, then execution in step 3), otherwise execution in step 8);

The mode of step 3), the external pin level by revising master control DSP to A/D converting unit sending controling instruction, starts the A/D conversion;

Step 4), inquiry A/D conversion finishing signal, if conversion finishes, then execution in step 5), otherwise return step 4);

Step 5), read A/D transformation result D ₁, D ₂, V ₁, V ₂, I ₁, I ₂, and according to formula (1) with D ₁, D ₂Be transformed to the levitation gap value d of side a and b ₁, d ₂, with V ₁, V ₂Be transformed to the kinematic velocity value v of side a and b ₁, v ₂, with I ₁, I ₂Be transformed to the suspension current value i of single electromagnet A and single electromagnet B ₁, i ₂:

$\left\{\begin{array}{c}{d}_1=-0.000048828125D_1+0.009\\ d_2=-0.000048828125D_2+0.009\\ v_1=0.00006591796875V_1\\ v_2=0.00006591796875V_2\\ i_1=0.048828125I_1\\ i_2=0.048828125I_2\end{array}\right.---\left(1\right)$

Levitation gap d is set in step 6), combination ₀, actual suspended state signal, according to formula (2) calculation control amount CV ₁And CV ₂And output; The controlling quantity of remembering the side a and b that n control cycle master control DSP unit calculates is respectively CV ₁(n) and CV ₂(n);

$\left\{\begin{array}{c}{u}_1=2500(d_1-d_0)-70.7v_1\\ u_2=2500(d_2-d_0)-70.7v_2\\ {\mathrm{CV}}_1=280[(0.78d_1+0.22d_2)\sqrt{9414600+302770u_1+33035u_2}-i_1]+1000\\ {\mathrm{CV}}_2=280[(0.78d_2+0.22d_1)\sqrt{9414600+302770u_2+33035u_1}-i_2]+1000\end{array}\right.---\left(2\right)$

Recover step 7), interrupt spot;

Step 8), withdraw from interrupt service routine, return main program.

3. suspension method for controling module of electromagnetism type magnetic suspension train in normal conduction and low temperature as claimed in claim 1 is characterized in that PWM wave producer A and PWM wave producer B form by low impulse deviser, high impulse producer, d type flip flop, latch and down counter; For PWM wave producer A, the suspension controller signal RESET reseting stage that powers on or be reset, the output DOUT that is the PWM of d type flip flop ₁Be high level; When master control DSP unit at n control cycle with controlling quantity CV ₁When (n) writing PWM wave producer A, the latch function that writes instruction WR enable latch that master control DSP sends the unit is with the controlling quantity CV on the data bus ₁(n) be latched as DATA and output to the data input pin of down counter; Simultaneously, the positive rise of WR signal starts low impulse deviser, makes low pulse LPUL of its output, and is transferred to the clock end of d type flip flop and the data of down counter are written into end; The data that LPUL enables down counter on the one hand are written into function, make down counter that DATA is written into as the initial value of counting, and trigger d type flip flop on the other hand, make DOUT that is PWM ₁Become low level, start down counter and begin counting; Down counter is to the clock signal clk counting from clock signal generating unit, carry out subtraction, after the count value of down counter is kept to 0, in next clock signal arrival, its borrow end can produce a low pulse OV, start the high impulse producer, make its set end of exporting a high impulse HPUL and being transferred to d type flip flop, the positive rise of HPUL is with the output DOUT that is the PWM of d type flip flop ₁Be changed to high level, make down counter stop counting, write controlling quantity CV at n+1 control cycle to PWM wave producer A up to master control DSP unit ₁(n+1); In like manner, when master control DSP unit at n control cycle with controlling quantity CV ₂When (n) writing PWM wave producer B, the exportable PWM of PWM ripple generating unit B ₂

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