CN103522912A - Magnetic flux feedback suspension control method and device of EMS type low-speed aerotrain - Google Patents
Magnetic flux feedback suspension control method and device of EMS type low-speed aerotrain Download PDFInfo
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- CN103522912A CN103522912A CN201310487882.4A CN201310487882A CN103522912A CN 103522912 A CN103522912 A CN 103522912A CN 201310487882 A CN201310487882 A CN 201310487882A CN 103522912 A CN103522912 A CN 103522912A
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Abstract
The invention discloses a magnetic flux feedback suspension control method and device of an EMS type low-speed aerotrain. The method comprises the following implementation steps: collecting and obtaining the magnetic flux density at the position of a suspension gap through a magnetic flux induction coil a, and collecting the suspension accelerated speed and the suspension gap; calculating a suspension system control rate according to the magnetic flux density, the suspension accelerated speed and the suspension gap; generating a closed loop to control PWM signals according to the suspension system control rate, and respectively outputting the PWM signals to a PWM driving circuit to adjust the suspension force between a suspension electromagnet and a track. The device comprises a sensor set, a data collection board, a suspension controller and the PWM driving circuit, wherein the sensor set, the data collection board, the suspension controller and the PWM driving circuit are sequentially connected. The method and device have the advantages of being good in suspension control stability, high in sensitivity, low in control bandwidth, capable of improving the stability and robustness of the suspension control system, simple, easy to implement, strong in anti-jamming capability, good in expandability, and flexible in implementation.
Description
Technical field
The present invention relates to the suspension control technology field of magnetic suspension train, be specifically related to magnetic flux feedback suspension control method and the device of EMS type low speed aerotrain.
Background technology
EMS (Electro Magnetic Suspension) type low-speed maglev train is a kind of novel track vehicle, have safe, comfortable, at a high speed, noise is little, the advantages such as pollution-free, turn radius is little, its cardinal principle is to rely on levitating electromagnet and the electromagnetic attraction between track on aerotrain that train is suspended in orbit, then by linear electric machine traction, drives.EMS type low speed aerotrain mainly comprises traction system, suspension control system, secondary architecture, car body etc., and wherein traction system mainly refers to traction electric machine and induction aluminium sheet.Wherein, suspension control system comprises levitating electromagnet, sensor group, suspension controller etc., and suspension control system is the core technology of magnetic suspension train most critical.
CMS04 type magnetic suspension train has 5 suspension bogies, and each suspension bogie has 2 suspending modules, and each suspending module has 2 suspension points, and 2 some suspension tasks that suspend of same suspending module are realized by a suspension controller.Suspension controller is for regulating the suspension electric current of levitating electromagnet, thereby adjusting levitation gap is big or small, realizes the stable suspersion of vehicle.Magnetic suspension train carriage body is by secondary suspension system suspension, and by magnetic suspension bogie truck, be connected between magnetic suspension train carriage body, each EMS type low speed aerotrain has 5 magnetic suspension bogie trucks, on 4 angles of each bogie truck, be provided with LF system, LF system comprises that air bellow, transverse elasticity pull bar, height adjusting valve, drawing pull bar form.As shown in Figure 1, the bottom of magnetic suspension train carriage body 103 is provided with secondary suspension system, secondary suspension system comprises air bellow 104, trailing arm 105 and the anti-beam 106 that sidewinders, magnetic suspension train carriage body 103 is bearing on trailing arm 105 by air bellow 104, and trailing arm 105 belows are provided with two levitating electromagnets 101 that are arranged symmetrically with; On ground, be provided with tie 108, the both sides of tie 108 are provided with the magnetic-levitation 107 that is F shape, in 109 built-in trailing arms 105 of sensing unit of CMS04 type magnetic suspension train.The Main Function of secondary suspension system is for connection body and bogie truck, and between transmits various load, and buffering and damping of vibrations are provided, and makes vehicle neatly along linear running with by curve, meets the requirement of vehicle smoothness and traveling comfort.
Prior art is many about the suspension control method research of middle low-speed maglev train, suspension control method based on different is integrated different suspension control system.The quality of suspension property depends primarily on the performance of suspension control system.Suspension control system obtains the signals such as gap, speed, acceleration/accel, electric current according to real-time suspended sensor, through suspending, control CPU and calculate PWM value, by PWM, control and regulate the voltage at levitating electromagnet two ends, thereby control by the size of current of levitating electromagnet, and then guarantee that the gap between levitating electromagnet and track remains at setting value, thereby realized the stable suspersion of magnetic-levitation train.The suspension control method of prior art is based on current feedback realizes closed loop control, but suspend to control based on current feedback, has the weakness that rigidity is large, overshoot is large, and the static response and the dynamic characteristics that cause suspension to be controlled are poor.
Suspension control technology is the core technology of magnetic suspension train research, and the stability and the robustness that how to improve suspension control system are the targets that suspension engineer pursues always.The advantages such as to control parameter stability scope large because flux feedback control has, and overshoot is little, therefore the control algorithm based on magnetic flux feedback has good prospect.Although magnetic flux feedback has more wide prospect, but because the acquisition of magnetic flux signal under large magnetic field environment is more difficult, existing Hall element measurement range is smaller, and the magnetic flux transducer that is therefore applied to suspension control system exists technology barrier.
Summary of the invention
For the above-mentioned technical matters of prior art, the technical problem to be solved in the present invention be to provide a kind of control stiffness that suspends good, highly sensitive, control that bandwidth is low, stability and the robustness that can improve suspension control system, simple, antijamming capability is strong, extensibility is good, implement magnetic flux feedback suspension control method and the device of EMS type low speed aerotrain flexibly.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is:
The magnetic flux feedback suspension control method that the invention provides a kind of EMS type low speed aerotrain, implementation step is as follows:
1) winding flux of magnetic induction coil outside the line bag on the levitating electromagnet of EMS type low speed aerotrain in advance, and when described EMS type low speed aerotrain travels, detect the induced electric motive force of described flux of magnetic induction coil, described induced electric motive force is carried out to the magnetic flux density that gain-adjusted, integration, correction zeroing obtain levitation gap place successively; Meanwhile, gather suspension acceleration/accel and the levitation gap of described EMS type low speed aerotrain;
2) according to the magnetic flux density at described levitation gap place, suspension acceleration/accel, levitation gap, calculate suspension system inverse amplification factor;
3) according to described suspension system inverse amplification factor, generate respectively for controlling the closed loop control pwm signal of two the suspension points in described levitating electromagnet two ends, the current suspension bid value of judgement low speed aerotrain, if the current suspension bid value of low speed aerotrain is to suspend, described two closed loop control pwm signals is exported respectively to PWM driving circuit and regulate the lift force between levitating electromagnet and track; Otherwise, if the current suspension bid value of low speed aerotrain is not for suspending, end process exiting.
Further improvement as the magnetic flux feedback suspension control method of EMS type low speed aerotrain of the present invention:
In described step 1), induced electric motive force being carried out successively to gain-adjusted, integration, correction zeroing, to obtain the detailed step of magnetic flux density at levitation gap place as follows:
1.1) induced electric motive force of the current output of described flux of magnetic induction coil is gained adjustment;
1.2) described induced electric motive force is carried out to integration according to formula (1) and obtain levitation gap place magnetic flux density;
B=∫K·Edt （1）
In formula (1), B is levitation gap place magnetic flux density, the adjustment gain parameter that K adjusts for gain, and E is the induced electric motive force of flux of magnetic induction coil output;
1.3) result of integration is proofreaied and correct to the magnetic flux density that zeroing obtains levitation gap place according to magnetic flux calibration value.
Described step 2) in, specifically refer to according to formula (2) and calculate suspension system inverse amplification factor;
v=k
p(z-z
0)+k
i·∫(z-z
0)dt+k
d·∫adt+k
b·B （2）
In formula (2), v is suspension system inverse amplification factor, and a is the suspension acceleration/accel collecting, and z is the levitation gap collecting, and B is the levitation gap place magnetic flux density collecting; k
pfor suspension system rigidity, z
0for the levitation gap of setting, k
ifor suspension system storage gain, k
dfor suspension system damping, k
bthe gain of suspension system magnetic flux.
In described step 3), specifically refer to according to formula (3) and generate respectively for controlling the closed loop control pwm signal of two the suspension points in described levitating electromagnet two ends;
In formula (3), PWM_A and PWM_B are respectively the PWM value of two points that suspend, v
1and v
2be respectively the suspension system inverse amplification factor of two points that suspend, K
1and K
2be respectively the control system gain of two points that suspend.
The present invention also provides a kind of magnetic flux feedback suspension control setup of EMS type low speed aerotrain, comprise sensor group, data acquisition board, suspension controller and PWM driving circuit, described sensor group comprises accelerometer, levitation gap sensor and magnetic flux transducer, described magnetic flux transducer comprises successively connected flux of magnetic induction coil and magnetic flux treatment circuit plate, described magnetic flux treatment circuit plate comprises the magnetic flux signal gain Circuit tuning of series connection successively, integrating circuit and correction zeroing circuit, described flux of magnetic induction coil is set around on the levitating electromagnet of EMS type low speed aerotrain and the cross-sectional area of flux of magnetic induction coil equates with the cross-sectional area of iron core in described levitating electromagnet, described accelerometer, levitation gap sensor, magnetic flux treatment circuit plate is connected with the input end of suspension controller by data acquisition board respectively, the mouth of described suspension controller is connected with PWM driving circuit.
The magnetic flux feedback suspension control method of EMS type low speed aerotrain of the present invention has following technique effect:
1, the present invention is based on the principle of flux feedback control, winding flux of magnetic induction coil outside line bag on the levitating electromagnet of EMS type low speed aerotrain in advance, and when travelling, EMS type low speed aerotrain detects the induced electric motive force of flux of magnetic induction coil, induced electric motive force is carried out to gain-adjusted successively, integration, proofreading and correct returns to zero obtains the magnetic flux density at levitation gap place, then according to the magnetic flux density at levitation gap place, suspension acceleration/accel, levitation gap calculates suspension system inverse amplification factor, finally according to suspension system inverse amplification factor, generate respectively for controlling the closed loop control pwm signal of two the suspension points in levitating electromagnet two ends, according to the stable suspersion of pwm signal closed loop control EMS type low speed aerotrain, thereby can realize the stable suspersion of train, there is the bandwidth of control low, stability and the robustness of suspension control system have effectively been improved, there is suspension control stiffness good, highly sensitive, control bandwidth is low, the advantage that antijamming capability is strong.
2, the present invention is by adopting the magnetic flux density signal at levitation gap place, the magnetic flux density at suspension acceleration/accel, levitation gap and levitation gap place is calculated to suspension system inverse amplification factor, overcome based on current feedback and suspended and control the weakness that rigidity is large, overshoot is large, improve the static response and the dynamic characteristics that suspend and control, thereby can realize the stable suspersion of train.
3, the present invention is directed to magnetic flux signal and be difficult for the difficult point obtaining, by being wound in advance flux of magnetic induction coil that the line of the levitating electromagnet of low speed aerotrain wraps, gather the magnetic flux density at levitation gap place, flux of magnetic induction coil gathers the magnetic flux density at levitation gap place based on electromagnetic induction principle, flux of magnetic induction coil and levitating electromagnet coil can integral body be included in levitating electromagnet line bag, easy realization simple in structure, there is higher sensitivity and accuracy, engineering design is simple, is well suited for the electromagnetic environment of magnetic suspension complexity.
4, the present invention is by collection, data processing, three steps of controlled reset, support module design philosophy, each link is independently, between disparate modules, need only interface definition unanimously, facilitate subsequent development person to upgrade respectively and to improve for different component parts, have scalability good, expand advantage simply and easily.
The magnetic flux feedback suspension control setup of EMS type low speed aerotrain of the present invention is the device corresponding to magnetic flux feedback suspension control method of EMS type low speed aerotrain of the present invention, therefore there is identical technique effect with the magnetic flux feedback suspension control method of EMS type low speed aerotrain of the present invention, do not repeat them here.
Accompanying drawing explanation
Fig. 1 is the structural representation of the EMS type low speed aerotrain of prior art.
Fig. 2 is the schematic flow sheet of embodiment of the present invention method.
Fig. 3 is the treatment scheme schematic diagram of magnetic flux density in embodiment of the present invention method.
Fig. 4 is the sensor signal treatment scheme schematic diagram of embodiment of the present invention method.
Fig. 5 is the framed structure schematic diagram of embodiment of the present invention device.
Fig. 6 is sensor group and the peripheral framed structure schematic diagram thereof of embodiment of the present invention device.
Fig. 7 is the framed structure schematic diagram of magnetic flux transducer in embodiment of the present invention device.
Fig. 8 is the principle of work schematic diagram of embodiment of the present invention device.
Fig. 9 is the work-based logic structural representation of suspension controller in embodiment of the present invention device.
Figure 10 is the suspension control program diagram of circuit of suspension controller in embodiment of the present invention device;
Figure 11 be in the embodiment of the present invention device suspension controller interrupt service routine diagram of circuit.
Marginal data: 1, sensor group; 101, levitating electromagnet; 102, iron core; 103, magnetic suspension train carriage body; 104, air bellow; 105, trailing arm; 106, the anti-beam that sidewinders; 107, magnetic-levitation; 108, tie; 109, sensing unit; 11, accelerometer; 12, levitation gap sensor; 13, magnetic flux transducer; 131, flux of magnetic induction coil; 132, magnetic flux treatment circuit plate; 133, magnetic flux signal gain Circuit tuning; 134, integrating circuit; 135, proofread and correct zeroing circuit; 2, data acquisition board; 3, suspension controller; 4, PWM driving circuit; 5, communication board; 6, suspension supervisory control computer.
The specific embodiment
As shown in Figure 2, the implementation step of the magnetic flux feedback suspension control method of the present embodiment EMS type low speed aerotrain is as follows:
1) winding flux of magnetic induction coil outside the line bag on the levitating electromagnet of EMS type low speed aerotrain in advance, and when EMS type low speed aerotrain travels, detect the induced electric motive force of flux of magnetic induction coil, induced electric motive force is carried out to the magnetic flux density that gain-adjusted, integration, correction zeroing obtain levitation gap place successively; Meanwhile, gather suspension acceleration/accel and the levitation gap of EMS type low speed aerotrain;
2) according to the magnetic flux density at levitation gap place, suspension acceleration/accel, levitation gap, calculate suspension system inverse amplification factor;
3) according to suspension system inverse amplification factor, generate respectively for controlling closed loop control pwm signal PWM_P1 and the PWM_P2 of two the suspension points in levitating electromagnet two ends, the current suspension bid value UD of judgement low speed aerotrain, if the current suspension bid value of low speed aerotrain is for suspending (UD=1), exports respectively two closed loop control pwm signal PWM_P1 and PWM_P2 to PWM driving circuit and regulate the lift force between levitating electromagnet and track; Otherwise (UD=0), if the current suspension bid value of low speed aerotrain is not for suspending, end process exiting.
In EMS type low speed aerotrain, the ultimate aim of suspension control system is that the gap of controlling between levitating electromagnet and track is stabilized in setting value z
0near, the control object of suspension control system is whole levitating electromagnet, each module of suspension bogie is to be exactly a whole levitating electromagnet, levitating electromagnet two ends are two and independently suspend a little, so two points that suspend are furnished with respectively suspended sensor group A and suspended sensor group B.Therefore the present embodiment calculates suspension system inverse amplification factor by gathering magnetic flux density, suspension acceleration/accel and the levitation gap at levitation gap place as the feedback of input, by suspension system inverse amplification factor, generate controlling quantity PWM_P1 and the PWM_P2 of side a and b, output controlling quantity PWM_P1 and PWM_P2 come regulation output to the control voltage at levitating electromagnet two ends by PWM driving circuit, thereby control the electric current of levitating electromagnet, by the adjusting of electric current, control the lift force between levitating electromagnet and track, finally reach control levitation gap and keep constant object.
As shown in Figure 3, in the present embodiment step 1), induced electric motive force being carried out successively to gain-adjusted, integration, correction zeroing, to obtain the detailed step of magnetic flux density at levitation gap place as follows:
1.1) induced electric motive force of the current output of flux of magnetic induction coil is gained adjustment, regulates the amplitude of magnetic flux signal thereby realize.
1.2) induced electric motive force is carried out to integration according to formula (1) and obtain levitation gap place magnetic flux density, realize induced electric motive force is converted into magnetic flux signal.
B=∫K·Edt （1）
In formula (1), B is levitation gap place magnetic flux density, the adjustment gain parameter that K adjusts for gain, and E is the induced electric motive force of flux of magnetic induction coil output.
1.3) result of integration is proofreaied and correct to the magnetic flux density that zeroing obtains levitation gap place according to magnetic flux calibration value (the magnetic flux calibration value of the present embodiment is from gaussmeter).
As shown in Figure 4, step 2 in the present embodiment), specifically refer to according to formula (2) and calculate suspension system inverse amplification factor;
v=k
p(z-z
0)+k
i·∫(z-z
0)dt+k
d·∫adt+k
b·B （2）
In formula (2), v is suspension system inverse amplification factor, and a is the suspension acceleration/accel collecting, and z is the levitation gap collecting, and B is the levitation gap place magnetic flux density collecting; k
pfor suspension system rigidity, z
0for the levitation gap of setting, k
ifor suspension system storage gain, k
dfor suspension system damping, k
bthe gain of suspension system magnetic flux.In addition the G in Fig. 4,
b(s) for carrying out gain-adjusted, integration, correction zeroing, obtain the magnetic flux signal process function of the magnetic flux density at levitation gap place, Δ e is levitation gap deviation.System state variables is
in, z is the levitation gap collecting,
for suspension clearance derivative signal, B is the levitation gap place magnetic flux density collecting.In Fig. 4
for the integral part ∫ (z-z in formula (2)
0) dt.
According to aforesaid theoretical analysis, magnetic flux signal is conducive to improve stability and the robustness of suspension control system, so the present embodiment returns levitation gap, suspension acceleration/accel, levitation gap place magnetic flux density in control system as state variable feedback, realize PIDB(classical PID+magnetic flux B of magnetic flux feedback) control.Levitation gap place magnetic flux density B signal obtains by flux of magnetic induction coil, and acceleration signal a obtains by accelerometer, gap signal differential
by acceleration signal integration, obtain, and current signal obtains by current transformer, in the present embodiment, current signal is not participate in controlling, not as the input of PIDB algorithm shown in formula (2).
In the present embodiment, in step 3), specifically refer to according to formula (3) and generate respectively for controlling the closed loop control pwm signal of two the suspension points in levitating electromagnet two ends;
In formula (3), PWM_A and PWM_B are respectively the PWM value of two points that suspend, v
1and v
2be respectively the suspension system inverse amplification factor of two points that suspend, K
1and K
2be respectively the control system gain of two points that suspend.
Suspension system model based on magnetic flux feedback as the formula (4).
In formula (4), z (t) is levitation gap between levitating electromagnet and track, and A is that iron core pole-face is long-pending,
for levitating electromagnet vertical velocity, i (t) is control coil electric current,
for levitating electromagnet vertical acceleration, N is levitating electromagnet coil turn, and u (t) is control coil both end voltage, and R is levitating electromagnet coil resistance, and B is air gap flux density, and F is levitating electromagnet electromagnetic force, μ
0for airborne permeability, M is the total mass of levitating electromagnet and carrying thereof.Known referring to formula (4), suspension electromagnetic force F and magnetic flux density B are single argument relation, one by one mapping relations.Due to from physical significance, by magnetic flux density B, regulate lift force F easier, therefore the present embodiment obtains the magnetic flux density at levitation gap place by flux of magnetic induction coil, and using the magnetic flux density at levitation gap place as feedback quantity, realizes the closed loop control to the levitation gap of EMS type low speed aerotrain.
As Fig. 5, Fig. 6, shown in Fig. 7 and Fig. 8, the magnetic flux feedback suspension control setup of the present embodiment EMS type low speed aerotrain comprises sensor group 1, data acquisition board 2, suspension controller 3 and PWM driving circuit 4, sensor group 1 comprises accelerometer 11, levitation gap sensor 12 and magnetic flux transducer 13, magnetic flux transducer 13 comprises successively connected flux of magnetic induction coil 131 and magnetic flux treatment circuit plate 132, magnetic flux treatment circuit plate 132 comprises the magnetic flux signal gain Circuit tuning 133 of series connection successively, integrating circuit 134 and correction zeroing circuit 135, flux of magnetic induction coil 131 is set around on the levitating electromagnet 101 of EMS type low speed aerotrain and the cross-sectional area of flux of magnetic induction coil 131 equates with the cross-sectional area of iron core 102 in levitating electromagnet 101, accelerometer 11, levitation gap sensor 12, magnetic flux treatment circuit plate 132 is connected with the input end of suspension controller 3 by data acquisition board 2 respectively, the mouth of suspension controller 3 is connected with PWM driving circuit 4.The present embodiment is the critical system of magnetic suspension train, bear the suspension task of full car, the levitation gap that sensor group 1 is measured, suspension acceleration/accel, the signals such as magnetic flux density are performed AD through data acquisition board 2 and are converted to digital signal, and flux of magnetic induction coil 131 records induced electric motive force E, then this signal being passed to magnetic flux treatment circuit plate 132 processes: first the amplitude by 133 pairs of magnetic flux signals of magnetic flux signal gain Circuit tuning regulates, then by integrating circuit 134, induced electric motive force is converted into magnetic flux signal, finally by proofreading and correct the correction zeroing of 135 pairs of incoming signals of zeroing circuit, obtain the magnetic flux density at levitation gap place, then through suspension controller 3 calculating and processing, obtain pwm signal and export to PWM driving circuit 4, PWM driving circuit 4 is converted into suspended voltage signal by PWM, by PWM, regulate the size of levitating electromagnet electric current, thereby realize the adjusting to suspension electromagnetic force, guarantee that vehicle stabilization is suspended in 8mm place.In the present embodiment, the concrete Harf-H bridge chopper circuit that adopts of PWM driving circuit 4, the present embodiment adopts modular design, separate between sensor group 1, data acquisition board 2, suspension controller 3 and PWM driving circuit 4, between disparate modules, need only interface definition unanimously, facilitate subsequent development person to upgrade respectively and to improve for different component parts, have scalability good, expand advantage simply and easily.
As shown in Figure 5, the present embodiment also comprises communication board 5 and suspension supervisory control computer 6, the present embodiment is together with suspension monitored control system and the driver driving system, coupled, suspension monitored control system and driver driving system are on suspension supervisory control computer 6 and realize, the suspended state data of the present embodiment upload to suspension supervisory control computer 6 by communication board 5, engineer can be real-time by the suspension monitored control system in suspension supervisory control computer 6 the relevant information of acquisition suspension control system, and can be by suspension monitored control system change control parameter.Suspension controller 3 can send the information such as suspended state and suspension fault to suspension supervisory control computer 6 or driver driving system in real time, engineer and suspension service personnel can be grasped in real time according to these information the situation of maglev vehicle, thereby ensure that maglev vehicle can steady in a long-term move.
In flux feedback control system, the magnetic flux signal that how to obtain levitation gap place is a very important problem.In magnetic field, the method for measurement of magnetic flux signal is mainly the gaussmeter based on Hall effect.The magnetic flux signal obtaining by hall device the most directly, the most accurate, and do not need extra signal processing circuit, the noise signal of having avoided circuit to cause.But, the voltage obtaining due to hall device is the linear function about magnetic flux density B, to be determined by hardware, so the reliability of hall device is eager to excel, survey precision is higher, but the common range of Hall element is smaller, generally, in 1T, the 2.0T required with respect to magnetic suspension system has very large distance, and the mounting design more complicated of hall device is difficult to realize in the electromagnetic environment of magnetic suspension system complexity.In the present embodiment, for the problems referred to above, by electromagnetic induction principle, obtain magnetic flux signal, by the mode of coiling around the line bag at levitating electromagnet, and the cross-sectional area of flux of magnetic induction coil 131 equates with the cross-sectional area of iron core 102 in levitating electromagnet 101.When the electric current of levitating electromagnet inside changes, the magnetic field of levitating electromagnet just changes, and flux of magnetic induction coil will induce certain voltage, this voltage response the variation in levitating electromagnet magnetic field.The method measurement range is large, and Project Realization is also than being easier to.The present embodiment is the scheme that obtains magnetic flux signal based on electromagnetic induction principle, if input voltage changes, the magnetic flux in magnetic circuit changes, and is in the closed helical coil in variation magnetic field, and the induced electric motive force at coil two ends as the formula (4).
In formula (4), the number of turn that n is helicoil, A
1for helicoil perpendicular to magnetic direction over against area, unit is m
2, E (t) is the induced electric motive force of magnetic flux coil, unit is V.B (t) is the magnetic flux density in coil magnetic field of living in, and unit is T, and φ (t) is the magnetic flow by helicoil, and unit is Wb.The direction of induced electric motive force can be judged by right-hand rule.
In the present embodiment, suspension controller 3 is the CPU board based on PowerPC8247, and adopts VxWorks real time operating system (RTOS), can real-time high-precision multitask running, promote real time operation ability and the logical process ability of the present embodiment.
As shown in Figure 9, whole suspension controller 3 can be divided into nextport hardware component NextPort system architecture, hardware driving assembly and component software.Wherein, the BSP in hardware driving assembly is the hardware drive program group of this system, and powerful software and hardware configuration, for flux feedback control system provides powerful computing, communication capacity, is convenient to design, debugging, maintenance, the guarantee of suspension control system.VxWorks real time operating system (RTOS) is the operating system software designing and developing for real time embedded system specially, and efficient real-time task scheduling, interrupt management, real-time system resource and real-time intertask communication are provided.Its successful Application in key areas such as Aeronautics and Astronautics, naval vessel, communication, medical treatment.The Wind kernel of VxWorks real time operating system (RTOS) is an embedded real-time OS kernel with superior performance, standard, and its principal feature comprises: multitask switching fast, preemptive type task scheduling, the variation of intertask communication means etc.This kernel has the features such as between task, switching time is short, interruption delay is little, network traffics are large, compares and has certain advantage with other embedded real-time operating systems.The ICP/IP protocol part in the micro-kernel VxWorks storehouse of VxWorks, on the compatible basis of TCP/IP of maintenance and BSD4.4 version, improves a lot aspect real-time.This makes the application program based on BSD4.4UNIX Socket to be transplanted in VxWorks and to go easily, and the real-time of network is greatly improved, VxWorks real time operating system (RTOS) has comprised several parts such as management of process, store management, facility management, file system management, procotol and system applies, VxWorks is only special-purpose very little storage space, and highly cutting, the system that guaranteed can be with higher efficiency operation.
In the present embodiment, suspension controller 3 is realized the suspension of levitating electromagnet is controlled based on interrupt mechanism, the frequency of setting interrupt signal is 4KHz, after each interrupt signal is arrived, suspension controller 3 enters suspension interrupt service routine Maglev (), and suspension control program will calculate the controlling quantity that once suspends.
As shown in figure 10, the overall work process of suspension controller 3 is as follows:
After Step1:DC110V powers on, DD110V power supply output+-15V is to light current circuit such as sensor group 1, data acquisition board 2, suspension controller 3 and PWM driving circuits 4, and system is carried out initialization.
Step2: suspension controller 3 is waited for the suspension interruption of 4KHz, if do not interrupted, returns to step Step2 again; Otherwise jump out main program, enter suspension interrupt service routine Maglev ().
Step3: carry out suspension interrupt service routine Maglev (), first by AD, sample and obtain the data of sensor group 1, comprise gap signal, current signal, acceleration signal, magnetic flux density signal etc., then carry out data conversion and obtain corresponding physical quantity, and then according to the aforesaid suspension control algorithm based on magnetic flux feedback, calculate the PWM value (in the present embodiment, the scope of PWM value is between 50-1450) of suspension control system.
Step4: thus PWM is outputed to the size that PWM driving circuit 4 regulates the electric current that suspends in levitating electromagnets, change the size of lift force, the levitation gap of suspension system is remained on always and set 8mm place, gap.
Step5: this interruption processing finishes, and enters circulation next time.
As shown in figure 11, the workflow of suspension interrupt service routine Maglev () is as follows:
Step3.1: carry out interrupt spot protection after entering suspension interrupt service routine;
Step3.2: the AD conversion of log-on data collection plate 2;
Step3.3: whether the AD conversion that judges data acquisition board 2 finishes, if AD conversion does not finish, proceeds AD conversion; Otherwise enter next step;
Step3.4: read AD data and be converted to real physical, thus the state (gap, acceleration/accel, magnetic flux) of acquisition magnetic flux feedback suspension control system;
Step3.5: sensing data is carried out to digital signal processing, comprising digital filter etc.;
Step3.6: then, to implementing PIDB control algorithm according to the magnetic flux density at levitation gap place, suspension acceleration/accel, levitation gap, calculate suspension system inverse amplification factor according to formula (2);
Step3.7: according to formula (3), suspension system inverse amplification factor is mapped in PWM territory (50,1450), thereby obtains real-time PWM value;
Step3.8: the suspension bid value (value of the order UD that suspends) that judgement low speed aerotrain is current, if fruit suspension bid value is (UD=0) the output switching signal PWM_gate=0 that do not suspend, and enters step 10; The bid value that suspends is else if for suspending (UD=1), and output switching signal PWM_gate=1, enters step 9;
Step3.9: suspension controlling quantity is exported to the adjusting that PWM driving circuit 4 is realized suspension electric current;
Step3.10: suspension interrupt service routine finishes.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is also not only confined to above-described embodiment, and all technical schemes belonging under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (5)
1. a magnetic flux feedback suspension control method for EMS type low speed aerotrain, is characterized in that implementation step is as follows:
1) winding flux of magnetic induction coil outside the line bag on the levitating electromagnet of EMS type low speed aerotrain in advance, and when described EMS type low speed aerotrain travels, detect the induced electric motive force of described flux of magnetic induction coil, described induced electric motive force is carried out to the magnetic flux density that gain-adjusted, integration, correction zeroing obtain levitation gap place successively; Meanwhile, gather suspension acceleration/accel and the levitation gap of described EMS type low speed aerotrain;
2) according to the magnetic flux density at described levitation gap place, suspension acceleration/accel, levitation gap, calculate suspension system inverse amplification factor;
3) according to described suspension system inverse amplification factor, generate respectively for controlling the closed loop control pwm signal of two the suspension points in described levitating electromagnet two ends, the current suspension bid value of judgement low speed aerotrain, if the current suspension bid value of low speed aerotrain is to suspend, described two closed loop control pwm signals is exported respectively to PWM driving circuit and regulate the lift force between levitating electromagnet and track; Otherwise, if the current suspension bid value of low speed aerotrain is not for suspending, end process exiting.
2. the magnetic flux feedback suspension control method of EMS type low speed aerotrain according to claim 1, it is characterized in that, in described step 1), induced electric motive force being carried out successively to gain-adjusted, integration, correction zeroing, to obtain the detailed step of magnetic flux density at levitation gap place as follows:
1.1) induced electric motive force of the current output of described flux of magnetic induction coil is gained adjustment;
1.2) described induced electric motive force is carried out to integration according to formula (1) and obtain levitation gap place magnetic flux density;
B=∫K·Edt （1）
In formula (1), B is levitation gap place magnetic flux density, the adjustment gain parameter that K adjusts for gain, and E is the induced electric motive force of flux of magnetic induction coil output;
1.3) result of integration is proofreaied and correct to the magnetic flux density that zeroing obtains levitation gap place according to magnetic flux calibration value.
3. the magnetic flux feedback suspension control method of EMS type low speed aerotrain according to claim 1 and 2, is characterized in that: described step 2), specifically refer to according to formula (2) and calculate suspension system inverse amplification factor;
v=k
p(z-z
0)+k
i·∫(z-z
0)dt+k
d·∫adt+k
b·B （2）
In formula (2), v is suspension system inverse amplification factor, and a is the suspension acceleration/accel collecting, and z is the levitation gap collecting, and B is the levitation gap place magnetic flux density collecting; k
pfor suspension system rigidity, z
0for the levitation gap of setting, k
ifor suspension system storage gain, k
dfor suspension system damping, k
bthe gain of suspension system magnetic flux.
4. the magnetic flux feedback suspension control method of EMS type low speed aerotrain according to claim 3, is characterized in that: in described step 3), specifically refer to according to formula (3) and generate respectively for controlling the closed loop control pwm signal of two the suspension points in described levitating electromagnet two ends;
In formula (3), PWM_A and PWM_B are respectively the PWM value of two points that suspend, v
1and v
2be respectively the suspension system inverse amplification factor of two points that suspend, K
1and K
2be respectively the control system gain of two points that suspend.
5. the magnetic flux feedback suspension control setup of an EMS type low speed aerotrain, it is characterized in that: comprise sensor group (1), data acquisition board (2), suspension controller (3) and PWM driving circuit (4), described sensor group (1) comprises accelerometer (11), levitation gap sensor (12) and magnetic flux transducer (13), described magnetic flux transducer (13) comprises successively connected flux of magnetic induction coil (131) and magnetic flux treatment circuit plate (132), described magnetic flux treatment circuit plate (132) comprises the magnetic flux signal gain Circuit tuning (133) of series connection successively, integrating circuit (134) and correction zeroing circuit (135), levitating electromagnet (101) cross-sectional area upper and flux of magnetic induction coil (131) that described flux of magnetic induction coil (131) is set around EMS type low speed aerotrain equates with the cross-sectional area of iron core (102) in described levitating electromagnet (101), described accelerometer (11), levitation gap sensor (12), magnetic flux treatment circuit plate (132) is connected with the input end of suspension controller (3) by data acquisition board (2) respectively, the mouth of described suspension controller (3) is connected with PWM driving circuit (4).
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