CN103954844A - Online detection method of inductance parameters of suspension electromagnet of middle and low speed magnetic-levitation train - Google Patents
Online detection method of inductance parameters of suspension electromagnet of middle and low speed magnetic-levitation train Download PDFInfo
- Publication number
- CN103954844A CN103954844A CN201410145549.XA CN201410145549A CN103954844A CN 103954844 A CN103954844 A CN 103954844A CN 201410145549 A CN201410145549 A CN 201410145549A CN 103954844 A CN103954844 A CN 103954844A
- Authority
- CN
- China
- Prior art keywords
- electromagnet
- voltage
- pwm
- inductance
- electric current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
Abstract
The invention discloses an online detection method of inductance parameters of a suspension electromagnet of a middle and low speed magnetic-levitation train. A PWM signal is added to the suspension electromagnet in the normal operating process; the signal controls the dredge duty ratio of one bridge arm to be 100%, controls the dredge duty ratio of the other bridge arm to be 50% and achieves switch on before switch off; the PWM voltage start time current I0, the PWM voltage half circle time current I1 and the PWM voltage finish time current value I2 of the electromagnet are detected, and the inductance of the electromagnet is calculated on line through system input voltage U and the PWM voltage half circle time Tm according to the formula that L=U/(2I1-I0-I2)*Tm. According to the online detection method of the inductance parameters of the suspension electromagnet, only the current values and the voltage value need to be detected, other known quantities are not needed, and the online detection method can be applied to online state detection, parameter identification and control, and the like of the electromagnet of the middle and low speed magnetic-levitation train.
Description
Technical field
The present invention relates to low-speed maglev train levitating electromagnet inductance parameters online test method in one.
Background technology
Middle low-speed maglev train mainly adopts electromagnetic attraction to suspend, suspending power is provided by levitating electromagnet, levitating electromagnet, by producing electromagnetic attraction between electric current and track, can be stabilized on fixing suspension air gap system by the size adjustment electromagnetic force of controlling electromagnet current.
Levitating electromagnet is suspension system critical piece, needs in actual use its state to carry out on-line monitoring, fault is analyzed when judging the fault that may occur and to break down.Levitating electromagnet can equivalence think that resistance series inductance, electromagnet resistance and inductance are the key parameters of reflection electromagnet state on electrology characteristic.
Inductance parameters is the important state parameter of electromagnet, is also one of Main Basis judging electromagnet state.In the time that some fault occurs electromagnet, can identify fault state by inductance parameters.In the time that electromagnet is opened a way, electromagnet inductance can become infinity or very big; In the time of electromagnet short circuit, it is even zero that electromagnet inductance can diminish; In the time that turn-to-turn partial short circuit appears in electromagnet, electromagnet inductance can be worth than normality little; In the time that electromagnet connects shakiness, electromagnet inductance value can occur unstable.So judge by the state to levitating electromagnet that can be online to the identification of levitating electromagnet inductance parameters.In addition, electromagnet inductance is the important parameter using in suspension system control, is the important on-line parameter that system need to be identified.By the identification to electromagnet inductance parameters, can adjust online to system control parameters optimal controller performance.In a word, electromagnet inductance parameters ONLINE RECOGNITION is suspension system on-line fault diagnosis, systematic parameter ONLINE RECOGNITION and controls the online important evidence of adjusting of parameter.
Levitating electromagnet inductance parameters is detected online, have certain difficulty, this difficulty is mainly that suspension system control is a kind of real-time control system, detects voltage and adds difficulty.Middle low-speed maglev train adopts electromagnetic attraction suspension system, and this suspension system is a kind of essential time-dependent system, and system realizes system stability by the size of real-time regulating magnet electric current and suspends.Suspension system calculates electromagnet in real time according to the air gap value of electromagnet and accekeration needs electric current (target current) size, electromagnet current control produces gating pulse according to electromagnet target current and actual current, in gating pulse control suspension chopper circuit, turning on and off of switching tube realized and being regulated electromagnet current, makes actual current follow target current.In middle low-speed maglev train, the size of electromagnet current realizes by suspension chopper circuit.Because switching tube frequency of operation is limited, in the time of real work, adopt fixing switching frequency, its control signal generally adopts pulse width modulating signal (PWM) signal, and by regulating the dutycycle of pwm signal, the ON time of by-pass cock pipe in switch periods regulates electric current.The voltage that suspension chopper circuit produces electromagnet under pwm signal control is PWM voltage.Electromagnet is subject to PWM Control of Voltage, and PWM voltage needs to change according to control law in real time, makes electromagnet apply and detect voltage and detect corresponding electric current, has certain difficulty.
Summary of the invention
In view of the above deficiency of prior art, the object of the invention is, low-speed maglev train levitating electromagnet inductance parameters online test method in one is provided, make it to overcome the deficiencies in the prior art.Its scheme is:
Low-speed maglev train levitating electromagnet inductance online test method in one, when being carried out on-line monitoring with the judgement fault that may occur and broken down, levitating electromagnet state provides real time data to fault analysis, comprise the following steps: (a) in levitating electromagnet course of normal operation, add a pulse width modulation (PWM) detection signal, it is 100% that brachium pontis of this signal controlling is opened dutycycle, it is 50% first to open rear pass that another brachium pontis is opened dutycycle, (b) adding PWM to detect in voltage cycle, detect electromagnet under this PWM voltage the zero hour electric current I
0, moment semiperiod electric current I
1with end cycle moment electric current I
2, utilize system input voltage U and PWM voltage half cycle time T
m, according to formula
online acquisition electromagnet inductance value is also delivered to on-line fault diagnosis and adjusts follow-up performance element.
In middle low-speed maglev train, levitating electromagnet electric current, voltage ratio are higher, conventionally adopt suspension chopper circuit to control electromagnet current.Suspension chopper circuit is being operated on off state, and at work, in the time that switching tube is opened simultaneously, input power charges to levitating electromagnet by switching tube, and levitating electromagnet electric current increases; In the time that switching tube turn-offs simultaneously, levitating electromagnet discharges to input power by diode, and levitating electromagnet electric current reduces; In the time that a switching tube is opened a switching tube shutoff, levitating electromagnet carries out afterflow by switching tube and the diode self opened.In the time of normal work, by turning on and off of by-pass cock pipe ceaselessly, realize the adjusting of electric current.
According to circuit theory, suppose that input voltage is U
i, electromagnet inductance and resistance L, R, electromagnet output current is i
o, definition time constant is τ=L/R.Levitating electromagnet adds a pulse-length modulation (PWM) to detect voltage in course of normal operation, it is 100% that one of them brachium pontis is opened dutycycle, it is that 50%(first opens rear shutoff that another brachium pontis is opened dutycycle), the voltage that electromagnet is subject to as shown in the figure, calculate moment semiperiod and end cycle moment electromagnet current value, suppose that detecting voltage cycle is 2T
m.
In the time of switch transistor T 1, T3 conducting, have according to circuit
solve and can obtain, electric current
wherein I
0for initial time electric current, opening the moment is time zero.Current equation, according to Taylor series expansion, is ignored to high-order term, can obtain inductive current current value within switching tube service time and be
this expression formula can think that inductance is at U
i-I
ounder R voltage, charge, concerning electromagnet, in single switch periods, ripple current is far smaller than steady state value, can think that the interior electric current of single switch periods is I
0.
When in switch transistor T 1, T3, one of a conducting is turn-offed, load is by switching tube and the diode discharge of conducting, and electric current reduces, and has according to circuit
solve and can obtain
wherein I
1for state initial time electric current, state initial time is time zero.Current equation is launched, ignore high-order term, can obtain inductive current within the switching tube turn-off time, current value is
this expression formula can think that inductance is at I
1under R voltage, discharge.
In above-mentioned derivation, can know, detect voltage half cycle moment electromagnet current
Detecting voltage finish time, electromagnet current is
So obvious
Inductance value so
According to formula above, can obtain, detect PWM and detect the voltage electric current I zero hour
0, moment semiperiod electric current I
1electric current I with the finish time
2, according to formula
wherein T
mfor system known set amount, U
ican measure for system, can calculate inductance parameters according to formula.
By above-mentioned analysis, can see, in the online detection of middle low-speed maglev train levitating electromagnet inductance, can be by add a pulse-length modulation (PWM) to detect voltage in course of normal operation to levitating electromagnet, it is 100% that one of them brachium pontis is opened dutycycle, it is that 50%(first opens rear shutoff that another brachium pontis is opened dutycycle), detecting electromagnet detects under voltage and opens moment, moment semiperiod and end cycle moment electric current at this, coupling system input voltage and time semiperiod, can calculate electromagnet inductance parameters.Online test method of the present invention, detect curent change value in electromagnet charge and discharge process, utilize electromagnet current value, system input voltage and detection voltage half cycle Time Calculation system inductance value, first be that levitating electromagnet inductance parameters is detected online, next is to have adopted pulse-length modulation (PWM) to detect voltage, it is 100% that one of them brachium pontis is opened dutycycle, it is that 50%(first opens rear shutoff that another brachium pontis is opened dutycycle), make the electromagnet semiperiod be operated in charged state, semiperiod is operated in nature afterflow state, finally by detecting in the value that detects the electric current under voltage, electromagnet inductance to be calculated.The inventive method is applicable to on-line monitoring and parameter identification and the control etc. of middle low-speed maglev train levitating electromagnet inductance parameters, has monitoring rapidly accurately, does not need the features such as known parameters amount.
Brief description of the drawings
Fig. 1 is suspension chopper circuit schematic diagram.
Fig. 2 is the systematic schematic diagram in embodiment.
Embodiment
In the time that suspension system is normally worked, according to time interval 1s, suspension system digital control circuit provides a pulse-length modulation (PWM) to levitating electromagnet and detects voltage, it is 100% that brachium pontis of detection Control of Voltage is opened dutycycle, and it is that 50%(first opens rear shutoff that another brachium pontis is opened dutycycle).
Digital control circuit detects Voltage-output initial time, moment semiperiod and the finish time at PWM and by AD sample circuit, system power detected value is sampled, and is recorded as successively I
0, I
1, I
2; Detect Voltage-output initial time at PWM simultaneously and by AD sample circuit, system voltage detected value is sampled, be recorded as U.
Detect voltage half cycle time T according to PWM
m, according to formula
calculate electromagnet inductance, and obtained inductance value is delivered to on-line fault diagnosis and adjusts follow-up performance element.
Claims (2)
1. low-speed maglev train levitating electromagnet inductance online test method in a kind, when being carried out on-line monitoring with the judgement fault that may occur and broken down, levitating electromagnet state provides real time data to fault analysis, comprise the following steps: (a) in levitating electromagnet course of normal operation, add a pulse width modulation (PWM) detection signal, it is 100% that brachium pontis of this signal controlling is opened dutycycle, it is 50% first to open rear pass that another brachium pontis is opened dutycycle, (b) adding PWM to detect in voltage cycle, detect electromagnet under this PWM voltage the zero hour electric current I
0, moment semiperiod electric current I
1with end cycle moment electric current I
2, utilize system input voltage U and PWM voltage half cycle time T
m, according to formula
online acquisition electromagnet inductance value is also delivered to on-line fault diagnosis and adjusts follow-up performance element.
2. low-speed maglev train levitating electromagnet resistance online test method in one according to claim 1, is characterized in that: described obtaining and calculating and do not rely on and system resistance or other values inductance value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410145549.XA CN103954844B (en) | 2014-04-11 | 2014-04-11 | Online detection method of inductance parameters of suspension electromagnet of middle and low speed magnetic-levitation train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410145549.XA CN103954844B (en) | 2014-04-11 | 2014-04-11 | Online detection method of inductance parameters of suspension electromagnet of middle and low speed magnetic-levitation train |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103954844A true CN103954844A (en) | 2014-07-30 |
| CN103954844B CN103954844B (en) | 2017-02-15 |
Family
ID=51332142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410145549.XA Expired - Fee Related CN103954844B (en) | 2014-04-11 | 2014-04-11 | Online detection method of inductance parameters of suspension electromagnet of middle and low speed magnetic-levitation train |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103954844B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105929248A (en) * | 2016-05-27 | 2016-09-07 | 广东美的制冷设备有限公司 | Inductor maintenance method and device of power factor corrector on electronic control board |
| CN109725221A (en) * | 2019-01-14 | 2019-05-07 | 中车青岛四方机车车辆股份有限公司 | A kind of magnetic floats test macro and electromagnet test method |
| WO2022143450A1 (en) * | 2020-12-31 | 2022-07-07 | 苏州艾利特机器人有限公司 | Industrial robot, brake, and state monitoring method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1416137A (en) * | 1971-10-01 | 1975-12-03 | Ettinger G M | Methods of and apparatus for measuring inductance |
| US6222356B1 (en) * | 1998-04-01 | 2001-04-24 | Siemens Aktiengesellschaft | Current mode switching regulator configured such that a measuring resistor is not needed to measure the current at an inductor |
| CN1493881A (en) * | 2002-10-28 | 2004-05-05 | ������������ʽ���� | Method for measuring inductance value |
| CN101533071A (en) * | 2009-04-20 | 2009-09-16 | 哈尔滨工业大学 | Global nonlinear inductance test method of switched reluctance motor |
| DE102008064380A1 (en) * | 2008-12-22 | 2010-06-24 | Siemens Aktiengesellschaft | Method for sensor-less state estimation of magnetic bearing utilized for mounting rotor, involves calculating position of object relative to electromagnet based on average inductance value |
| CN102095941A (en) * | 2010-12-15 | 2011-06-15 | 广东电网公司电力科学研究院 | Method for measuring equivalent inductance of coupling capacitance loop under lightning over-voltage and system thereof |
| CN102621399A (en) * | 2012-04-23 | 2012-08-01 | 欧阳斌林 | Inductance measuring method based on switching circuit |
| CN202502164U (en) * | 2012-04-23 | 2012-10-24 | 欧阳斌林 | On-off inductance measuring device |
-
2014
- 2014-04-11 CN CN201410145549.XA patent/CN103954844B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1416137A (en) * | 1971-10-01 | 1975-12-03 | Ettinger G M | Methods of and apparatus for measuring inductance |
| US6222356B1 (en) * | 1998-04-01 | 2001-04-24 | Siemens Aktiengesellschaft | Current mode switching regulator configured such that a measuring resistor is not needed to measure the current at an inductor |
| CN1493881A (en) * | 2002-10-28 | 2004-05-05 | ������������ʽ���� | Method for measuring inductance value |
| DE102008064380A1 (en) * | 2008-12-22 | 2010-06-24 | Siemens Aktiengesellschaft | Method for sensor-less state estimation of magnetic bearing utilized for mounting rotor, involves calculating position of object relative to electromagnet based on average inductance value |
| CN101533071A (en) * | 2009-04-20 | 2009-09-16 | 哈尔滨工业大学 | Global nonlinear inductance test method of switched reluctance motor |
| CN102095941A (en) * | 2010-12-15 | 2011-06-15 | 广东电网公司电力科学研究院 | Method for measuring equivalent inductance of coupling capacitance loop under lightning over-voltage and system thereof |
| CN102621399A (en) * | 2012-04-23 | 2012-08-01 | 欧阳斌林 | Inductance measuring method based on switching circuit |
| CN202502164U (en) * | 2012-04-23 | 2012-10-24 | 欧阳斌林 | On-off inductance measuring device |
Non-Patent Citations (4)
| Title |
|---|
| 刘慧娟 等: "磁悬浮列车中直线发电机电枢绕组电阻和电感的计算", 《北方交通大学学报》 * |
| 张鼎 等: "EMS型磁浮列车悬浮斩波器输入电流波动分析", 《电力电子技术》 * |
| 王宁: "中低速常导磁悬浮列车悬浮斩波器研究", 《中国优秀硕博士学位论文全文数据库（硕士）•工程科技II辑》 * |
| 王宁: "中低速常导磁悬浮列车悬浮斩波器研究", 《中国优秀硕博士学位论文全文数据库（硕士）•工程科技II辑》, no. 2, 15 June 2005 (2005-06-15) * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105929248A (en) * | 2016-05-27 | 2016-09-07 | 广东美的制冷设备有限公司 | Inductor maintenance method and device of power factor corrector on electronic control board |
| CN105929248B (en) * | 2016-05-27 | 2019-01-29 | 广东美的制冷设备有限公司 | The inductance repair method and device of power factor corrector on electric-controlled plate |
| CN109725221A (en) * | 2019-01-14 | 2019-05-07 | 中车青岛四方机车车辆股份有限公司 | A kind of magnetic floats test macro and electromagnet test method |
| WO2020147352A1 (en) * | 2019-01-14 | 2020-07-23 | 中车青岛四方机车车辆股份有限公司 | Magnetic levitation test system and electromagnet test method |
| US11982589B2 (en) | 2019-01-14 | 2024-05-14 | Crrc Qingdao Sifang Co., Ltd. | Magnetic levitation test system and electromagnet test method |
| WO2022143450A1 (en) * | 2020-12-31 | 2022-07-07 | 苏州艾利特机器人有限公司 | Industrial robot, brake, and state monitoring method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103954844B (en) | 2017-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101552563B (en) | Device and method for controlling constant-current output in switch power supply | |
| CN104890525A (en) | Capacitor precharging and capacitance/resistance measurement in electric vehicle drive system | |
| CN106160447A (en) | A kind of Dead Time optimal control method being applicable to SiC base brachium pontis power circuit | |
| CN204906749U (en) | Electromagnetic heating system and switch tube open controlling means thereof | |
| CN103472381B (en) | A kind of power switch tube fault characteristic parameter extracting method | |
| CN103954845A (en) | Method for detecting inductance parameter of levitation electromagnet of medium-low-speed magnetic-levitation train in on-line mode based on resistance | |
| CN104646774B (en) | A kind of export license real-time compensation method based on spark discharge rate | |
| CN105443840A (en) | Intelligent control system for electromagnetic valve and method of intelligent control system | |
| CN103954844A (en) | Online detection method of inductance parameters of suspension electromagnet of middle and low speed magnetic-levitation train | |
| CN104024967B (en) | Power supply device and power supply changing method | |
| CN103324225B (en) | Series PID (Proportion Integration Differentiation) control compensation method for vehicle-mounted charging system | |
| CN103532469B (en) | Mesohigh synchronous machine self-control frequency-variable soft start automatic presynchronization grid-connected control method | |
| CN104965411A (en) | Adaptive adjustment method for landing detection threshold value of leveling supporting leg | |
| CN101442287B (en) | Diesel locomotive constant-power control method with voltage-limiting current-limiting protection | |
| CN202735388U (en) | Current sensor control device | |
| CN105763135A (en) | Voltage vector PWM method based on duty ratio DTC | |
| CN106218923A (en) | A kind of control method of magnetic torquer | |
| CN103954841B (en) | Online detection method of resistance parameters of suspension electromagnet of middle and low speed magnetic-levitation train | |
| CN107544324A (en) | Current transformer demarcation high-current generation device and its control method | |
| CN103280870B (en) | A kind of electric automobile non-contact charge loaded self-adaptive coalignment and control method | |
| CN101404459A (en) | Control method of AC-AC frequency converter in current on-off state | |
| CN206208515U (en) | A kind of common rail fuel tap monitor station | |
| CN106597934A (en) | Intelligent control method for optimizing permanent magnet contactor | |
| CN104967380A (en) | Double salient generator voltage adjustment control device and method having anti-interference capability | |
| CN101795087A (en) | Inductive load commutation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170215 Termination date: 20200411 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |