CN105151927A - Magnetic suspension guiding direct-driven transportation system and control method thereof - Google Patents

Abstract

A magnetic suspension guiding direct-driven transportation system comprises at least one set of double-sided hybrid excitation linear motor. Each set of the double-sided hybrid excitation linear motor is provided with an electromagnetic drive guiding device used for adjusting an air gap between a double-sided stator and a rotor, the electromagnetic drive guiding device comprises a deviator acquisition circuit, a winding current detection circuit, an air gap adjusting unit and a driving control unit, and controls the air gap adjusting unit according to obtained offset and exciting current value, and therefore the air gap adjusting unit satisfies following conditions that the arithmetic product of each DC exciting current value and the number of turns of excitation coils, namely the excitation magnetic potential is identical or approximately identical, due to the directions of two exciting currents and the winding directions of coils, when the excitation field and the normal force at one side are enhanced, the excitation field and the normal force at the other side are decreased, and the total electromagnetic force is identical or approximately identical before and after the exciting currents are introduced. By employing the scheme provided by the invention, the left and right, and back and forth postures of the rotor are adjusted dynamically in balance, and the rotor can operate in a contactless manner.

Description

Magnetic suspension guide is to directly driving transport systems and control method thereof

Technical field

The present invention relates to a kind of linear electric motors magnetic suspension positioning and guiding control method and device.

Background technology

Along with socioeconomic development, people more and more build high level and skyscraper, such as, and Burj Dubai's height overall of the United Arab Emirates 828 meters, totally 162 layers; The bell tower restaurant of imperial family, Meccah of Kingdom of Saudi Arabia is high 601 meters, totally 95 layers; Shanghai Center Building is high 632 meters, totally 125 layers; Taipei 101 financial center is high 509 meters, totally 106 layers; The bimodal tower height 457 meters in Malaysia capital, totally 88 layers.Multiple skyscraper is also had to be in the design and construction stage at present.Along with the continuous increase of story height, need configuration high-speed elevator, traditional steel rope traction elevator system not meet requirements: due to the existence of steel rope, hoisting depth and hoisting speed are all limited, hoistway can only independent operating car, and operating efficiency is low.Therefore, it is the linear electric motors cordless elevator system in Direct driver source that people also been proposed with linear electric motors, and owing to not having the constraint of steel rope, hoisting depth and hoisting speed are all unrestricted.This kind of linear electric motors cordless elevator system mainly adopts linear electric motors as propulsive effort, mechanical guide wheel or piston shoes contact is adopted to lead and positioning supports, to keep the movement clearance between moving cab body and stator drive source, but the needs of the discontented sufficient real-world operation of this guidance mode: be subject to leading the restriction of boots friction force, cage operation speed is difficult to significantly improve; In high-speed cruising process, lead boots serious wear, maintenance is large; Because deviation and the vibration & noise caused that misplaces have impact on the traveling comfort etc. taken.Based on this, people also been proposed non-contact type electromagnetism guide rail, by the guiding of electromagnetic force without wearing and tearing, without the need to lubricating oil, compare with tradition machinery guidance system, owing to running without friction, elevator may operate in higher speed, meanwhile, by the damping rate of electromagnetism regulable control guidance system, significantly travelling comfort can be improved.Application publication number is the patents such as the Chinese invention patent " magnetic levitation elevator guiding system and control method thereof " of CN102689830A, disclose one and utilize the non-contacting magnetic suspension guide piece of U-shaped high-speed double electromagnet and elevator device, the electromagnetism guide piece adopting multiple diagonal angle to arrange is to keep car status, although achieve noncontact guiding to run, but it needs to arrange extra electromagnet apparatus and magnetic conduction rail, electromagnet quantity, magnetic conduction rail consumption be many, take up room large, and the electromagnetism failing to make full use of linear electric motors propulsion source itself leads potentiality.

Summary of the invention

The present invention proposes a kind of linear electric motors magnetic suspension positioning and guiding control method and device, and object is that the noncontact guiding solving linear electric motors positioning and guiding system regulates.

A kind of magnetic suspension guide is to directly driving transport systems, it comprises at least one group of double-flanged end hybrid excited linear motor, often organizing Electromagnetic Drive guide piece double-flanged end hybrid excited linear motor is equipped with for adjusting air gap between double-sided stator and mover, described Electromagnetic Drive guide piece comprises:

Deviator Acquisition Circuit, Real-time Obtaining is often organized double-flanged end hybrid excited linear motor side-play amount in the X direction and is sent into driving control unit;

Winding current testing circuit, Real-time Obtaining is often organized the exciting current value in double-flanged end hybrid excited linear motor and is sent into driving control unit;

Air gap regulon, comprises X to air gap regulon, is the double-flanged end hybrid excited linear motor be arranged side by side along X-axis normal orientation symmetry;

Driving control unit, it controls air gap regulon according to the side-play amount obtained and exciting current value, following condition is met: pass into the DC excitation electric current of this group air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal to make air gap regulon, the direction of two exciting currents and coil around to while making side excitation field and normal force be enhanced, opposite side is weakened, and total electromagnetic push is identical with before obstructed exciting current or approximate identical.

Described X is ribbon core armature loop or ribbon core armature loop and Permanent Magnet and Electric Excitation electric and magnetic mixed excitation body to double-flanged end hybrid excited linear motor in air gap regulon elementary, secondary is Permanent Magnet and Electric Excitation electric and magnetic mixed excitation body or grooved core, one in its both primary and secondary as stator, another is as mover.

Described stator be arranged on fixing U-shaped support assembly relative two inside, described mover is two, and two movers are that dos-à-dos is arranged on outside mover frame two.

Described air gap regulon also comprises Y-direction air gap regulon, Y-direction air gap regulon is mixed excitation body and the concentrating flux plate mating reaction of permanent magnetism and electric excitation, described mixed excitation body is arranged at the left and right sides of mover frame front and back sides along sense of motion gap or gapless, and coordinate with the ferromagnetic finished surface or ferromagnetic plate of fixing U-shaped support assembly bottom surface and two guided way trailing flanks, both keep certain air gap, pass into and often organize two DC excitation electric currents of air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal, the direction of two exciting currents and coil around to while making its side excitation field and normal force be enhanced, opposite side is weakened.

Described air gap regulon also comprises Y-direction air gap regulon, Y-direction air gap regulon is double-flanged end hybrid excited linear motor, its mover is arranged at the left and right sides of mover frame front and back sides along sense of motion gap or gapless, and its stator and mover keep fixing air gap to coordinate being arranged on fixed base and fixed guide; And Y-direction air gap regulon meets following condition: pass into the DC excitation electric current of this group air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal, the direction of two exciting currents and coil around to while making side excitation field and normal force be enhanced, opposite side is weakened, and total electromagnetic push is identical with before obstructed exciting current or approximate identical.

Pass into corresponding adjustment exciting current according to mover deflection situation realize independently controlling at different X, Y-direction air gap regulon.

Described air gap departure collects by being arranged on the displacement pickup often organizing double-flanged end hybrid excited linear motor X-direction and Y-direction both sides.

Magnetic suspension guide is to a control method of directly driving transport systems, and it comprises the following steps:

1., deviator Acquisition Circuit Real-time Obtaining is often organized double-flanged end hybrid excited linear motor side-play amount in the X direction and is sent into driving control unit;

2., winding current testing circuit Real-time Obtaining is often organized the exciting current value in double-flanged end hybrid excited linear motor and is sent into driving control unit;

3., driving control unit controls air gap regulon according to the side-play amount obtained and exciting current value, following condition is met: pass into the DC excitation electric current of this group air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal to make air gap regulon, the direction of two exciting currents and coil around to while making side excitation field and normal force be enhanced, opposite side is weakened, and total electromagnetic push is identical with before obstructed exciting current or approximate identical.

Control policy when described Y-direction air gap regulon adopts the mixed excitation body of permanent magnetism and electric excitation and performing step as follows:

I) calculate " Y-direction displacement-Iy electric current " mapping relations between Y-direction electromagnetic force corresponding to mover module Y-direction displacement and exciting current Iy in advance based on finite element analysis, the exciting current value C corresponding to corresponding unit displacement amount can be obtained ₁, C ₂, C ₃, C ₄;

Ii) obtained the Y-direction displacement of mover guidance set by Y-direction displacement pickup, calculate the air gap side-play amount of four vertex positions of Y-direction gas gap plane: side-play amount Y on the left of upper end _uL, side-play amount Y on the right side of upper end _uR, side-play amount Y on the left of lower end _dLwith side-play amount Y on the right side of lower end _dR;

Iii) the polarity coefficient on each summit is differentiated: on the left of upper end, the polarity coefficient of side-play amount is K _uL, on the right side of upper end, the polarity coefficient of side-play amount is K _uR, the polarity coefficient offseting side-play amount on the left of lower end before lower end is K _dR, on the right side of lower end, the polarity coefficient of side-play amount is K _dL, regulation air gap side-play amount coefficient when balance position is 0, and exceeding value when balance position leans forward is+1, and when exceeding balance position hypsokinesis, value is-1.

Iv) according to the size of Y-direction displacement, obtaining each regulon of Y-direction by " Y-direction displacement-Iy electric current " mapping relations, to pass into electric current respectively as follows:

$\left[\begin{array}{c}{I}_1\\ I_2\\ I_3\\ I_4\end{array}\right]=\left[\begin{array}{c}{K}_{\mathrm{UL}}\\ K_{\mathrm{UR}}\\ K_{\mathrm{DL}}\\ K_{\mathrm{DR}}\end{array}\right]\left[\begin{array}{cccc}{C}_1{Y}_{\mathrm{UL}}& C_2{Y}_{\mathrm{UR}}& C_3{Y}_{\mathrm{DL}}& C_4{Y}_{\mathrm{DR}}\end{array}\right]$

V) by I ₁, I ₂, I ₃and I ₄as given value of current value, respectively by the power tube in current controller control inverter, realize the current control of Y-direction four controlled winding, and then realize the control of Y-direction air gap.

Described hybrid excited linear motor as X to air gap regulon control policy and performing step as follows:

A, to be obtained mover guidance set X by finite element analysis in advance and come to " X is to the displacement-Ix electric current " mapping relations controlled between electric current I x to electromagnetic force and X to the X that displacement is corresponding, obtain unit motor X to offset identity apart from required exciting current value I with this ^*;

B, obtain two displacement x about mover module top by displacement pickup ₁and x ₂, two displacement x about bottom ₃and x ₄, calculate side-play amount △ Xu and the △ Xd of mover module top and bottom skew balance position;

Mover offset axis after C, calculating offset and the intersection point M of center of equillibrium line, when intersection point M is positioned at the height L scope of mover, the numbering of the subunit at intersection point M place is decided to be m; M point is to the distance of upper end by the total length L of all unit of mover and upper end departure distance △ Xu, and lower end departure distance △ Xd determines: intersection point place subunit numbers the subunit length L by distance Mx and place ₀determine:

Exciting current needed for D, unit is comprehensively write as matrix form:

In formula: 1) ± really normal root according to skew direction determine, to the right skew get+, left skew get-; N is the total unit number of mover, | △ x| is that mover X is to translation distance;

2) k ₁... k _m... k _m-1..., k _nfor the exciting current coefficient needed for each unit excitation coil, it linearly distributes along center of twist to upper and lower, as m unit k of deflection center _m=0;

3) center of twist m unit top subunit exciting current coefficient formulas:

$k_i=1-\frac{1}{m-1}(i-1),i=\mathrm{1,2,3},...,m;$

4) center of twist m unit bottom subunit exciting current coefficient formulas:

$k_i=\frac{1}{n-m}(i-m),i=m+1,m+2,...,n.$

Adopt scheme provided by the present invention, in linear electric motors application system, magnetic suspension mechanism is set, when mover bears because linear electric motors working gas gap changes the overbalance normal force brought, and because of gravity center eccentric arrange and the eccentric force brought of load variations and deflecting torque and there is skew and deflect time, control the increase of magnetic suspension mechanism exciting current or reduce the resistance that can produce and hinder skew and deflection, left and right, the front and back attitude of dynamical equilibrium adjustment mover accomplish that no touch runs.

For Long travel linear electric motors cordless elevator, under normal circumstances, elevator cage all can install roller, and this roller contacts with the riser guide along track laying, plays the directional tagging supporting elevator travels.The present invention suspends, and then the ingenious linear electric motors that utilize itself are guide locating device provided as main body magnetic suspension for guide piece; track does not need increase any additional device; control simple; use cost is extremely low; just can make elevator cage and riser guide " zero contacts "; rely on electromagnetic force cage lifter, location wheels only play back-up protection effect, substantially prolongs its service life and reduce maintenance cost.Therefore, elevator can not be subject to the impact of guide rail working accuracy and installing condition, thus solve the Long travel engineer applied crucial problem of linear electric motors cordless elevator, by also more comfortable for peace and quiet very during cage operation, the hypervelocity that traditional elevator cannot be reached also can be reached.Be highly suitable for that building ladder, flat pad and space elevator etc. are manned, the facilities for transport and communication of loading, the multi-field linear electric motors application systems such as automation platform.

Accompanying drawing explanation

Fig. 1 is unit linear electric motors lateral plan of the present invention.

Fig. 2 is that the A-A of Fig. 1 is to cutaway view.

Fig. 3 is that the present invention only adopts X to the overall birds-eye view of air gap adjusting device.

Fig. 4 adopts XY to the overall birds-eye view of air gap adjusting device in the present invention, and Y-direction air gap regulon is mixed excitation body 12 and stator magnetic-conduction plate 13 mating reaction of permanent magnetism and electric excitation.

Fig. 5 adopts XY to the overall birds-eye view of air gap adjusting device in the present invention,

Fig. 6 is the A-A direction view in Fig. 4, Fig. 5.

Fig. 7 is the B-B direction view in Fig. 5.

Fig. 8 is X of the present invention, Y-direction gesture stability hardware configuration schematic diagram.

Fig. 9 is that the X of Fig. 3 is to side-play amount scaling system.

Figure 10 is that X of the present invention is to attitude regulation schematic diagram.

Figure 11 is Y-direction attitude regulation schematic diagram of the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing, the invention will be further described.

As depicted in figs. 1 and 2, the hybrid excited linear motor unit in magnetic levitation elevator, comprises bilateral linear motor stator 1 and mover 2 two parts.Wherein double-sided stator comprises stator core 6 and stator winding 7 thereof; The centre of mover 2 displacement double-sided stator 1, has two air gaps 3 between double-sided stator 1 and mover 2, ensureing can contactless free relative motion between mover 2 and stator 1.Described mover just installs to symmetrical on two faces of the mover yoke of air gap the soft iron projection being tied with excitation coil 4, each projection installs N near the surface of air gap, the rectangular permanent magnet 5 that S pole is alternately evenly distributed, and the direction of magnetization of two pieces of permanent magnets 5 of dos-à-dos installation is contrary, permanent magnetism magnetic pole, soft iron projection and excitation coil 4 form the magnetic pole of mixed excitation jointly, simultaneously, excitation coil 4 on the two soft iron projections that dos-à-dos is installed is around to identical, one group of excitation winding in series, like this, form 1 altogether, 2, t (t is the pole number on one side) individual excitation winding, adjacent differential concatenation between this t excitation winding, finally form a unit motor excitation winding.Pass into (enhancing of air gap magnetic) when forward current makes the magnetic field of side permanent magnetism magnetic pole strengthen in unit motor excitation winding, the field weakening (air-gap field weakens) of the permanent magnetism magnetic pole of opposite side, otherwise also set up.In application process, the electric current passed in unit motor excitation winding can be determined according to size of gaps.The direction of magnetization of two pieces of permanent magnets that above-mentioned dos-à-dos is installed also can be identical, but simultaneously, the excitation coil on these two pieces of permanent magnets two projections is below around contrary to palpus.

Based on above-mentioned principle, linear electric motors are applied in magnetic levitation elevator, both can be used for, as propulsion source, above-mentioned principle also can being utilized to adjust air gap, forming the present invention thus.

As shown in Figure 3, a kind of linear electric motors magnetic suspension positioning and guiding control setup, it comprises at least one group of double-flanged end hybrid excited linear motor, often organizing Electromagnetic Drive guide piece double-flanged end hybrid excited linear motor is equipped with for adjusting air gap between double-sided stator and mover, described Electromagnetic Drive guide piece comprises deviator Acquisition Circuit, winding current testing circuit, air gap regulon and driving control unit.

Wherein, deviator Acquisition Circuit Real-time Obtaining is often organized double-flanged end hybrid excited linear motor side-play amount in the X direction and is sent into driving control unit; Winding current testing circuit Real-time Obtaining is often organized the exciting current value in double-flanged end hybrid excited linear motor and is sent into driving control unit; In the present embodiment, air gap regulon comprises X to air gap regulon, is the double-flanged end hybrid excited linear motor be arranged side by side along X-axis normal orientation symmetry; Driving control unit controls air gap regulon according to the side-play amount obtained and exciting current value, following condition is met: pass into the DC excitation electric current of this group air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal to make air gap regulon, the direction of two exciting currents and coil around to while making side excitation field and normal force be enhanced, opposite side is weakened, and total electromagnetic push is identical with before obstructed exciting current or approximate identical.

As shown in Figure 3, described X is ribbon core armature loop or ribbon core armature loop and Permanent Magnet and Electric Excitation electric and magnetic mixed excitation body to double-flanged end hybrid excited linear motor in air gap regulon elementary, secondary is Permanent Magnet and Electric Excitation electric and magnetic mixed excitation body or grooved core, one in its both primary and secondary as stator, another is as mover.Said stator be arranged on fixing U-shaped support assembly 8 relative two inside, mover is two, and two movers are that dos-à-dos is arranged on mover frame 9 liang of outsides.In the present embodiment, air gap regulon only comprises X to air gap regulon, and air gap departure often organizes the displacement pickup 10 of double-flanged end hybrid excited linear motor X-direction by being arranged on, 11 collect.

As Fig. 4, shown in Fig. 6, air gap regulon in the present embodiment also comprises Y-direction air gap regulon, Y-direction air gap regulon is mixed excitation body 12 and stator magnetic-conduction plate 13 mating reaction of permanent magnetism and electric excitation, described mixed excitation body is arranged at the left and right sides of mover frame front and back sides along sense of motion gap or gapless, and coordinate with the ferromagnetic finished surface or ferromagnetic plate of fixing U-shaped support assembly bottom surface and two guided way trailing flanks, both keep certain air gap, pass into and often organize two DC excitation electric currents of air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal, the direction of two exciting currents and coil around to while making its side excitation field and normal force be enhanced, opposite side is weakened.In the present embodiment, air gap departure often organizes the X-direction displacement pickup 10 of double-flanged end hybrid excited linear motor X-direction by being arranged on, 11 and be positioned at the Y-direction displacement pickup 14 of Y-direction, 15 collect, wherein Y-direction displacement pickup 14, the 15 any sides, front and back being arranged on mover frame.

As shown in Fig. 5, Fig. 6, Fig. 7, air gap regulon in the present embodiment also comprises Y-direction air gap regulon, Y-direction air gap regulon is double-flanged end hybrid excited linear motor 16, its mover is arranged at the left and right sides of mover frame front and back sides along sense of motion gap or gapless, and its stator and mover keep fixing air gap to coordinate being arranged on fixed base and fixed guide; And Y-direction air gap regulon meets following condition: pass into the DC excitation electric current of this group air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal, the direction of two exciting currents and coil around to while making side excitation field and normal force be enhanced, opposite side is weakened, and total electromagnetic push is identical with before obstructed exciting current or approximate identical.In the present embodiment, air gap departure often organizes the X-direction displacement pickup 10 of double-flanged end hybrid excited linear motor X-direction by being arranged on, 11 and be positioned at the Y-direction displacement pickup 14 of Y-direction, 15,17,18 collect, wherein Y-direction displacement pickup 14,15,17,18 both sides, front and back being separately positioned on mover frame.

Pass into corresponding adjustment exciting current according to mover deflection situation realize independently controlling at different X, Y-direction air gap regulon.

As shown in Figure 8, a kind of linear electric motors magnetic suspension positioning and guiding control method, it comprises the following steps:

1., deviator Acquisition Circuit Real-time Obtaining is often organized double-flanged end hybrid excited linear motor side-play amount in the X direction and is sent into driving control unit;

2., winding current testing circuit Real-time Obtaining is often organized the exciting current value in double-flanged end hybrid excited linear motor and is sent into driving control unit;

3., driving control unit controls air gap regulon according to the side-play amount obtained and exciting current value, following condition is met: pass into the DC excitation electric current of this group air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal to make air gap regulon, the direction of two exciting currents and coil around to while making side excitation field and normal force be enhanced, opposite side is weakened, and total electromagnetic push is identical with before obstructed exciting current or approximate identical.

Fig. 8 is control system hardware configuration schematic diagram of the present invention, comprising: current rectifying and wave filtering circuit, driving circuit, multichannel bridge inverter main circuit, hybrid excited linear motor system, many group X to Y-direction displacement pickup, displacement Acquisition Circuit, excitation winding current sensor, Central Processing Unit (CPU) etc.Inverter circuit adopts IGBT or MOFET, and central controller adopts micro controller system or DSP digital processing chip.Winding current Acquisition Circuit adopts Hall current sensor to be combined with op amp.Linear electric motors module adopts the rearmounted differential circuit composition of edd current transducer in the displacement bias Acquisition Circuit of X, Y-direction.

As shown in Figure 9, on well enclosure, stator (elementary) module along the opposing parallel layout of hoistway is installed at X, molecular mover module is moved by n segment unit in two row stator modules intermediate arrangement, X to the left and right directions of top and bottom air gap install four X respectively to displacement pickup x1, x2, x3 and x4, detects the air gap value of mover in X-direction respectively.In the vertical direction, when mover module is along X to generation skew, the n segment unit mover in mover module can pass into exciting current respectively and carry out controlling magnetic field size, and then control mover module X to skew.Which unit mover energising concrete is in the same way or oppositely, step is as follows:

The first step, calculates upper end departure distance △ Xu and the lower end departure distance △ Xd of mover module.As shown in Figure 5, for X calculates schematic diagram to air gap side-play amount, suppose air gap even equal time the center of equillibrium line of mover module be positioned between two row stators on line of centers, the mover offset axis after offseting and center of equillibrium line have intersection point M.

Second step, determine intersection point M:

When intersection point M is positioned at mover bottom-to-top-height L scope, the numbering of the subunit at intersection point M place is decided to be m.To be numbered the subunit of m for demarcation line, (m-1) section subunit of its upper end and (n-m) section subunit of lower end pass into the electric current of different directions respectively, and rule is as follows:

If air gap is greater than right side air gap on the left of upper end, (m-1) section subunit of upper end passes into forward current, and the left side air-gap field of upper end (m-1) section subunit is strengthened, and right side air-gap field weakens.If air gap is less than right side air gap on the left of upper end, (m-1) section subunit of upper end passes into counter-current, and the left side air-gap field of upper end (m-1) section subunit is weakened, and right side air-gap field strengthens.

If air gap is less than right side air gap on the left of lower end, (n-m) section subunit of lower end passes into counter-current, and the left side air-gap field of lower end (n-m) section subunit is weakened, and right side air-gap field strengthens.If air gap is greater than right side air gap on the left of lower end, (n-m) section subunit of lower end passes into forward current, and the left side air-gap field of lower end (n-m) section subunit is strengthened, and right side air-gap field weakens.

Intersection point M is calculated as follows:

According to similar triangle theory, calculate the distance Mx of M point to upper end:

$M_x=\frac{L\×{\mathrm{\ΔX}}_u}{{\mathrm{\ΔX}}_u+{\mathrm{\ΔX}}_d}$

Intersection point M place subunit numbering m is by distance Mx and subunit length L ₀then round numbers of being divided by obtains

$m=\mathrm{mod}\left[\frac{M_X}{L_0}\right]$

When intersection point M is not within the scope of mover height L, show that all subunit are all displaced to the side of center of equillibrium line, it is identical that all subunit pass into sense of current, in two kinds of situation:

When all subunit of mover module offset all to the right, all n section subunit all pass into positive current, and left side air-gap field is strengthened, and right side air-gap field weakens, and mover module is retracted balance position left.

When all subunit of mover module offset all to the left, all n section subunit all pass into negative current, and left side air-gap field is weakened, and right side air-gap field strengthens, and mover module is retracted balance position to the right.

3rd step, determines the current value passing into each section of subunit.

Utilize finite element numerical method of calculation, calculated in advance obtains electromagnetism force value when unit mover is in different air gap length, and the exciting current value of correspondence, then these data are stored and form " displacement-electric current " related table, when working control, according to detecting the air gap value obtained, obtained the relation value of difference " displacement-electric current " by look-up table.

Specific strategy is as follows:

1. reference current I ^*: unit motor normal direction offset identity, apart from required exciting current value, can utilize finite element numerical to calculate.

2. the distance x that detects of two, top sensor ₁and x ₂; The distance x that two, bottom sensor detects ₃and x ₄.

A, only occur that normal direction offsets, i.e. x when mover ₁=x ₃, x ₂=x ₄time

Exciting current needed for each unit:

I _i＝(x ₁-x ₂)*I ^*,i＝1,2,3,…,n

In formula:

1) I _ifor the exciting current value needed for each unit excitation coil;

2) x is worked as ₁-x ₂during >0, illustrate that mover offsets to the right, then on the left of mover, each unit exciting current is forward, for strengthening excitation field; On the right side of mover, each unit exciting current is negative sense, and for weakening excitation field, both equal and opposite in directions, direction is contrary, and total exciting current is constant, ensures that thrust is constant.

3) x is worked as ₁-x ₂during <0, illustrate that mover offsets to the left, then on the left of mover, each unit exciting current is negative sense, for weakening excitation field; On the right side of mover, each unit exciting current is forward, and for strengthening excitation field, both equal and opposite in directions, direction is contrary, and total exciting current is constant, ensures that thrust is constant.

B, when mover only occurs that normal direction is reversed

Assuming that center of twist is positioned at m unit, then m unit excitation coil is without the need to passing into exciting current, and the unit excitation coil of its upper and lower need pass into the exciting current of different size, thus overcomes mover torsion.

Exciting current needed for each unit:

$\left[\begin{array}{c}{I}_1\\ .\\ .\\ .\\ I_m\\ I_{m+1}\\ .\\ .\\ .\\ I_n\end{array}\right]=(x_1-x_2)*I^{*}\left[\begin{array}{c}{k}_1\\ .\\ .\\ .\\ k_m\\ 0\\ .\\ .\\ .\\ 0\end{array}\right]+(x_3-x_4)*I^{*}\left[\begin{array}{c}0\\ .\\ .\\ .\\ 0\\ k_{m+1}\\ .\\ .\\ .\\ k_n\end{array}\right]$

In formula:

1) k ₁... k _m... k _m-1..., k _nfor the exciting current coefficient needed for each unit excitation coil, it linearly distributes along center of twist to upper and lower, as m unit k of deflection center _m=0.

2) center of twist m unit top subunit exciting current coefficient formulas is as follows:

$k_i=1-\frac{1}{m-1}(i-1),i=\mathrm{1,2,3},...,m$

3) center of twist m unit bottom subunit exciting current coefficient formulas is as follows:

$k_i=\frac{1}{n-m}(i-m),i=m+1,m+2,...,n$

C, when mover occur normal direction skew while exist normal direction reverse time

Assuming that mover normal direction translation distance is | △ x|; Center of twist is positioned at m unit.

Exciting current needed for each unit:

In formula, ± really normal root according to skew direction determine, to the right skew get+, left skew get-.

More than for n group unit participates in the control policy embodiment of X to attitude regulation simultaneously.Practical application, also upper and lower each one group of unit or upper and lower each some groups of unit can be adopted as X to (normal direction) regulon, remaining element is as thrust regulon (during adjustment, both sides excitation field is made to strengthen simultaneously or weaken simultaneously, maintenance normal force is constant), can normal force adjustment be carried out, thrust can be carried out again and regulate compensation.Meanwhile, they all also produce electromagnetic push as one group or some groups of hybrid excited linear motors and normally drive loaded work piece, and this is that existing hybrid excited linear motor or mixed excitation body all cannot be accomplished.Upper and lower each one group of unit or upper and lower each some groups of unit are as control policy and Y-direction attitude regulation identical of X to (normal direction) regulon.

Be below Y-direction attitude regulation embodiment: shown in Figure 11, for the distribution graph of Y-direction attitude regulation hybrid electromagnetic iron, Y-direction mixed excitation pole is arranged respectively at 8 summits place of former and later two planes of mover module, have 8 mixed excitation poles, for controlling conveniently, being compiled dos-à-dos mixed excitation pole on same elevation is one group, often organize dos-à-dos and arrange the soft iron projection being tied with excitation coil, two noseiron blocks paste permanent magnet on the face of air gap, two pieces of permanent magnet magnetization directions are contrary, be sleeved on the excitation winding on soft iron projection around to identical and head and the tail forward series connection, when passing into forward current, the magnetic field, side of each group of mixed excitation body is strengthened, opposite side field weakening, otherwise, when passing into counter-current, side field weakening, opposite side magnetic field strengthens.According to this principle, Y-direction 8 mixed excitation poles can be organized as: Y1 and Y5 volume is a group echo is Y1-5, it be that one group of Y2-6, Y3 and Y7 compiles be that one group of Y3-7, Y4 and Y8 compiles is one group of Y4-8 that Y2 and Y6 compiles, weave into 4 groups altogether, every Zu Wei mono-tunnel, when controlling to adjust, only needs the size controlling this 4 road exciting current, the i.e. magnetic field force size of adjustable four vertex positions, and then the attitude regulating mover module.The direction of magnetization of two pieces of permanent magnets that above-mentioned dos-à-dos is installed also can be identical, but simultaneously, the excitation coil on these two pieces of permanent magnets two projections below around to must be contrary, to ensure that two magnetic fields, mixed excitation body side are strengthened, opposite side field weakening.

Figure 11 is Y-direction attitude regulation schematic diagram of the present invention, its control process and step as follows:

Utilize 8 Y-direction air gap sensors of installing, obtain Y-direction 8 air gap values, then organized into groups by each air gap sensors, the air gap side-play amount obtaining four vertex positions of Y-direction gas gap plane is as follows:

Upper end Y-direction displacement pickup y1 and y5 is one group, calculates side-play amount Y on the left of upper end _uL

Upper end Y-direction displacement pickup y2 and y6 is one group, calculates side-play amount Y on the right side of upper end _uR

Upper end Y-direction displacement pickup y3 and y7 is one group, calculates side-play amount Y on the left of lower end _dL

Upper end Y-direction displacement pickup y4 and y8 is one group, calculates side-play amount Y on the right side of lower end _dR

The rear skew polarity COEFFICIENT K that upper end offsets backward is set _uLfor+1, front skew polarity COEFFICIENT K during opposite sense _uR=-1; Polarity system K is offset before lower end _dRfor+1, K during opposite sense _dLfor-1.

The exciting current value C utilizing finite element analysis computation to obtain Y-direction electromagnetic force corresponding to mover module Y-direction displacement and " Y-direction displacement-Iy electric current " mapping relations between exciting current Iy can to obtain corresponding to corresponding unit displacement amount ₁, C ₂, C ₃, C ₄.This displacement-current relationship generally adopts finite element analysis software to obtain according to concrete suspension system calculation of parameter, namely Y-direction displacement respectively with control the numerical relation of electric current I y.

The rule that each regulon of Y-direction passes into electric current is respectively as follows:

$\left[\begin{array}{c}{I}_1\\ I_2\\ I_3\\ I_4\end{array}\right]=\left[\begin{array}{c}{K}_{\mathrm{UL}}\\ K_{\mathrm{UR}}\\ K_{\mathrm{DL}}\\ K_{\mathrm{DR}}\end{array}\right]\left[\begin{array}{cccc}{C}_1{Y}_{\mathrm{UL}}& C_2{Y}_{\mathrm{UR}}& C_3{Y}_{\mathrm{DL}}& C_4{Y}_{\mathrm{DR}}\end{array}\right]$

Then for any shift offset of mover guidance set, according to the above-mentioned mapping relations of electric current and shift offset, control in excitation winding, to pass into the displacement that corresponding current regulates Y-direction, control mover module and reply balance position.

Y-direction attitude regulation also can not adopt mixed excitation body and concentrating flux plate scheme, but change hybrid excited linear motor into realize: linear motor stator electric is along sense of motion entire arrangement, mixed excitation body is arranged on upper and lower section of mover or whole section of mover, i.e. adjustable Y-direction attitude, also electromagnetic push can be produced, identical to hybrid excited linear motor attitude regulation of its control policy and X.

Claims (10)

1. a magnetic suspension guide is to directly driving transport systems, it is characterized in that, it comprises at least one group of double-flanged end hybrid excited linear motor, often organizing Electromagnetic Drive guide piece double-flanged end hybrid excited linear motor is equipped with for adjusting air gap between double-sided stator and mover, described Electromagnetic Drive guide piece comprises:

Deviator Acquisition Circuit, Real-time Obtaining is often organized double-flanged end hybrid excited linear motor side-play amount in the X direction and is sent into driving control unit;

Winding current testing circuit, Real-time Obtaining is often organized the exciting current value in double-flanged end hybrid excited linear motor and is sent into driving control unit;

Air gap regulon, comprises X to air gap regulon, is the double-flanged end hybrid excited linear motor be arranged side by side along X-axis normal orientation symmetry;

Driving control unit, it controls air gap regulon according to the side-play amount obtained and exciting current value, following condition is met: pass into the DC excitation electric current of this group air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal to make air gap regulon, the direction of two exciting currents and coil around to while making side excitation field and normal force be enhanced, opposite side is weakened, and total electromagnetic push is identical with before obstructed exciting current or approximate identical.

2. magnetic suspension guide according to claim 1 is to directly driving transport systems, it is characterized in that: described X is ribbon core armature loop or ribbon core armature loop and Permanent Magnet and Electric Excitation electric and magnetic mixed excitation body to the elementary of double-flanged end hybrid excited linear motor in air gap regulon, secondary is Permanent Magnet and Electric Excitation electric and magnetic mixed excitation body or grooved core, one in its both primary and secondary as stator, another is as mover.

3. magnetic suspension guide according to claim 2 is to directly driving transport systems, it is characterized in that: described stator be arranged on fixing U-shaped support assembly relative two inside, described mover is two, and two movers are that dos-à-dos is arranged on outside mover frame two.

4. magnetic suspension guide according to claim 1 is to directly driving transport systems, it is characterized in that: described air gap regulon also comprises Y-direction air gap regulon, Y-direction air gap regulon is mixed excitation body and the concentrating flux plate mating reaction of permanent magnetism and electric excitation, described mixed excitation body is arranged at the left and right sides of mover frame front and back sides along sense of motion gap or gapless, and coordinate with the ferromagnetic finished surface or ferromagnetic plate of fixing U-shaped support assembly bottom surface and two guided way trailing flanks, both keep certain air gap, pass into and often organize two DC excitation electric currents of air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal, the direction of two exciting currents and coil around to while making its side excitation field and normal force be enhanced, opposite side is weakened.

5. magnetic suspension guide according to claim 1 is to directly driving transport systems, it is characterized in that: described air gap regulon also comprises Y-direction air gap regulon, Y-direction air gap regulon is double-flanged end hybrid excited linear motor, its mover is arranged at the left and right sides of mover frame front and back sides along sense of motion gap or gapless, and its stator and mover keep fixing air gap to coordinate being arranged on fixed base and fixed guide; And Y-direction air gap regulon meets following condition: pass into the DC excitation electric current of this group air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal, the direction of two exciting currents and coil around to while making side excitation field and normal force be enhanced, opposite side is weakened, and total electromagnetic push is identical with before obstructed exciting current or approximate identical.

6. the magnetic suspension guide according to claim 4 or 5, to directly driving transport systems, is characterized in that: pass into corresponding adjustment exciting current according to mover deflection situation realize independently controlling at different X, Y-direction air gap regulon.

7. the magnetic suspension guide according to claim 4 or 5, to directly driving transport systems, is characterized in that: described air gap departure collects by being arranged on the displacement pickup often organizing double-flanged end hybrid excited linear motor X-direction and Y-direction both sides.

8. magnetic suspension guide is to a control method of directly driving transport systems, it is characterized in that, it comprises the following steps:

1., deviator Acquisition Circuit Real-time Obtaining is often organized double-flanged end hybrid excited linear motor side-play amount in the X direction and is sent into driving control unit;

2., winding current testing circuit Real-time Obtaining is often organized the exciting current value in double-flanged end hybrid excited linear motor and is sent into driving control unit;

3., driving control unit controls air gap regulon according to the side-play amount obtained and exciting current value, following condition is met: pass into the DC excitation electric current of this group air gap regulon and the product of the excitation coil number of turn and excitation magnetic potential equal and opposite in direction or approximately equal to make air gap regulon, the direction of two exciting currents and coil around to while making side excitation field and normal force be enhanced, opposite side is weakened, and total electromagnetic push is identical with before obstructed exciting current or approximate identical.

9. magnetic suspension guide according to claim 8 is to the control method of directly driving transport systems, it is characterized in that: control policy when described Y-direction air gap regulon adopts the mixed excitation body of permanent magnetism and electric excitation and performing step as follows:

I) calculate " Y-direction displacement-Iy electric current " mapping relations between Y-direction electromagnetic force corresponding to mover module Y-direction displacement and exciting current Iy in advance based on finite element analysis, the exciting current value C corresponding to corresponding unit displacement amount can be obtained ₁, C ₂, C ₃, C ₄;

Ii) obtained the Y-direction displacement of mover guidance set by Y-direction displacement pickup, calculate the air gap side-play amount of four vertex positions of Y-direction gas gap plane: side-play amount Y on the left of upper end _uL, side-play amount Y on the right side of upper end _uR, side-play amount Y on the left of lower end _dLwith side-play amount Y on the right side of lower end _dR;

Iii) the polarity coefficient on each summit is differentiated: on the left of upper end, the polarity coefficient of side-play amount is K _uL, on the right side of upper end, the polarity coefficient of side-play amount is K _uR, the polarity coefficient offseting side-play amount on the left of lower end before lower end is K _dR, on the right side of lower end, the polarity coefficient of side-play amount is K _dL, regulation air gap side-play amount coefficient when balance position is 0, and exceeding value when balance position leans forward is+1, and when exceeding balance position hypsokinesis, value is-1.

Iv) according to the size of Y-direction displacement, obtaining each regulon of Y-direction by " Y-direction displacement-Iy electric current " mapping relations, to pass into electric current respectively as follows:

$\left[\begin{array}{c}{I}_1\\ I_2\\ I_3\\ I_4\end{array}\right]=\left[\begin{array}{c}{K}_{\mathrm{UL}}\\ K_{\mathrm{UR}}\\ K_{\mathrm{DL}}\\ K_{\mathrm{DR}}\end{array}\right]\left[\begin{array}{cccc}{C}_1{Y}_{\mathrm{UL}}& C_2{Y}_{\mathrm{UR}}& C_3{Y}_{\mathrm{DL}}& C_4{Y}_{\mathrm{DR}}\end{array}\right]$

V) by I ₁, I ₂, I ₃and I ₄as given value of current value, respectively by the power tube in current controller control inverter, realize the current control of Y-direction four controlled winding, and then realize the control of Y-direction air gap.

10. magnetic suspension guide according to claim 8 is to the control method of directly driving transport systems, it is characterized in that: described hybrid excited linear motor as X to air gap regulon control policy and performing step as follows:

A, to be obtained mover guidance set X by finite element analysis in advance and come to " X is to the displacement-Ix electric current " mapping relations controlled between electric current I x to electromagnetic force and X to the X that displacement is corresponding, obtain unit motor X to offset identity apart from required exciting current value I with this ^*;

B, obtain two displacement x about mover module top by displacement pickup ₁and x ₂, two displacement x about bottom ₃and x ₄, calculate side-play amount △ Xu and the △ Xd of mover module top and bottom skew balance position;

Mover offset axis after C, calculating offset and the intersection point M of center of equillibrium line, when intersection point M is positioned at the height L scope of mover, the numbering of the subunit at intersection point M place is decided to be m; M point is to the distance of upper end by the total length L of all unit of mover and upper end departure distance △ Xu, and lower end departure distance △ Xd determines: intersection point place subunit numbers the subunit length L by distance Mx and place ₀determine:

Exciting current needed for D, unit is comprehensively write as matrix form:

$\left[\begin{array}{c}{I}_1\\ .\\ .\\ .\\ I_m\\ I_{m+1}\\ .\\ .\\ .\\ I_n\end{array}\right]=\&PlusMinus;\left|\mathrm{\&Delta;x}\right|*I^{*}\left[\begin{array}{c}1\\ .\\ .\\ .\\ 1\\ 1\\ .\\ .\\ .\\ 1\end{array}\right]+(x_1-x_2\stackrel{\&OverBar;}{+}|\mathrm{\&Delta;x}\left|\right)*I^{*}\left[\begin{array}{c}{k}_1\\ .\\ .\\ .\\ k_m\\ 0\\ .\\ .\\ .\\ 0\end{array}\right]+(x_3-x_4\stackrel{\&OverBar;}{+}|\mathrm{\&Delta;x}\left|\right)*I^{*}\left[\begin{array}{c}0\\ .\\ .\\ .\\ 0\\ k_{m+1}\\ .\\ .\\ .\\ k_n\end{array}\right]$

In formula: 1) ± really normal root according to skew direction determine, to the right skew get+, left skew get-; N is the total unit number of mover, and │ △ x │ is that mover X is to translation distance;

2) k ₁... k _m... k _m-1..., k _nfor the exciting current coefficient needed for each unit excitation coil, it linearly distributes along center of twist to upper and lower, as m unit k of deflection center _m=0;

3) center of twist m unit top subunit exciting current coefficient formulas:

$k_i=1-\frac{1}{m-1}(i-1),i=\mathrm{1,2,3},...,m;$

4) center of twist m unit bottom subunit exciting current coefficient formulas:

$k_i=\frac{1}{n-m}(i-m),i=m+1,m+2,...,n.$