CN110806709A - Suspension height stability control method and system based on permanent magnet and electromagnetic mixing - Google Patents
Suspension height stability control method and system based on permanent magnet and electromagnetic mixing Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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- B60L13/04—Magnetic suspension or levitation for vehicles
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a suspension height stability control method and system based on permanent magnet and electromagnetic mixing, which can solve the problem of overlarge suspension height deviation among suspension points caused by permanent magnet suspension by adopting a control algorithm based on magnetic flux-current combined inner loop feedback, thereby improving the experience of passengers and ensuring the normal working performance of a permanent magnet magnetic suspension train.
Description
Technical Field
The invention relates to the technical field of magnetic suspension rail transit, in particular to a suspension height stability control method and system based on permanent magnet and electromagnetic mixing.
Background
The novel permanent magnetic levitation track traffic system is a green, safe and intelligent novel traffic mode and has the advantages of small occupied area, low noise, no friction, no pollution, easiness in disassembly and the like. The method is an ideal solution for solving the problems of urban traffic jam and the last kilometer of public traffic, is particularly suitable for developing public traffic and urban landscape in medium and small cities with beautiful environment, fluctuant terrain and ecotype, and is a first choice of a special small town traffic system.
The permanent magnetic suspension type magnetic suspension train has tracks over the train and the pillars for supporting the tracks are composed of steel bars and concrete. The bogie of the permanent magnet suspension magnetic suspension train is provided with the permanent magnet modules which form strong repulsion with the magnetic tracks arranged at two sides of the track, thereby realizing the suspension of the permanent magnet magnetic suspension train. However, such levitation is only levitation formed by strong repulsion between the permanent magnet and the magnetic track, and as a result, the deviation between the levitation height data of each levitation point in the permanent magnet magnetic levitation train is too large. And because the permanent magnet adjustment of the permanent magnet magnetic suspension train belongs to an open-loop control system, the effective feedback correction can not be carried out on the problems of overlarge difference between suspension height data of each suspension point and the like. This not only seriously affects the ride of the passengers, but also the operating behavior of the permanent-magnet magnetic levitation vehicle. For this purpose, it is necessary to design a control method to maintain the individual levitation points of the permanent magnet magnetic levitation train at the same levitation height.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a suspension height stability control method and system based on the mixture of permanent magnet and electromagnetism, which mainly use the permanent magnet and the electromagnetism as the assistance, so that the permanent magnet can play the repulsion action of a permanent magnet module and a magnetic track to the maximum extent and also play the fine adjustment action of an electromagnet device to the maximum extent, thereby realizing that each suspension point of a permanent magnet magnetic suspension train is under an ideal suspension height data value, and further ensuring that the permanent magnet magnetic suspension train stably advances when running at high speed.
In order to achieve the purpose, the invention adopts the following technical scheme:
a suspension height stability control method based on permanent magnet and electromagnetic mixing comprises the following steps:
s1, firstly, a safety check is carried out before the permanent magnetic suspension train is started, when the passengers on the permanent magnetic suspension train get on and off and the permanent magnetic suspension train is ready to start to move forward, a pressure sensor arranged on a suspension car uploads a pressure value signal to a suspension controller, the suspension controller judges the pressure value signal, and if the permanent magnetic suspension train is overweight, the suspension controller sends a signal to an alarm device to control the alarm device to give an alarm; if the permanent-magnet magnetic levitation train is not overweight, the ideal levitation height value h' of each levitation point is calculated according to the formula (1):
in the formula (1), h' is an ideal suspension height value, AgIs the magnetic pole area of the permanent magnet, α is a correction coefficient, M is the total mass of the permanent magnet maglev train, g is the gravity acceleration, M is the pressure on the suspension car, B is the pressure on the suspension cargThe magnetization of the permanent magnet;
s2, measuring actual suspension height data values h of eight suspension points by using a displacement sensor, measuring suspension current values i of the eight suspension points by using current sensors respectively, and quickly and accurately obtaining magnetic flux densities B of the eight suspension points by using a magnetic flux sensor;
s3, uploading the measured signals to a suspension controller by a displacement sensor, a current sensor and a magnetic flux sensor, and comparing the actual suspension height values h of the eight suspension points obtained by measurement with ideal suspension height values h' corresponding to each suspension point by the suspension controller;
if the actual suspension height value of the suspension point is larger than or smaller than the ideal suspension height value of the suspension point, obtaining a proper control instruction according to a control algorithm based on a magnetic flux-current combined inner loop feedback system, converting the control instruction into a PWM (pulse width modulation) signal with a certain duty ratio by using a DSP (digital signal processor), transmitting the PWM signal to a suspension chopper of the suspension point in a PWM (pulse width modulation) wave form, converting the PWM signal into the current required by the electromagnet device by the suspension chopper, and further reducing or increasing the electromagnetic force required by the suspension point to enable the suspension point to be subjected to downward or upward resultant force to move downwards or upwards so as to reduce the absolute value △ h' of the difference value between the actually measured suspension height value and the ideal suspension height value;
the control algorithm based on the magnetic flux-current combined inner loop feedback system is a control method based on the magnetic flux-current combined inner loop and using a suspension height difference value as an outer loop feedback, the real-time change of △ h 'of different suspension points needs to adjust the size of electromagnetic force required by the suspension point, the required electromagnetic force provides the suspension point to move upwards or downwards to make up the △ h' size of the suspension point, and further the stability of the data value of the suspension height of each suspension point of the permanent magnetic suspension train is realized, as shown in formula (2):
wherein F is electromagnetic force, mu0For magnetic permeability, a is the magnetic pole area, h (t) is the levitation height at time t, N is the number of coil turns, i (t) is the current value of the coil at time t, b (t) is the magnetic flux density value at time t;
in each suspension point, the magnetic track is opposite to the electromagnet device and generates electromagnetic force required by reaching the ideal suspension height, so that the permanent magnetic suspension train realizes the stable suspension of each suspension point; the model is first built for the floating point structure as shown in the following set of equations:
u (t) is the voltage value of the coil at time t, and R is the coil resistance; i (t) is the current value of the coil at time t, h (t) is the levitation height from the levitation point to the magnetic track, A is the magnet area, N is the number of coil turns, μ0Is magnetic permeability;
carrying out linearization treatment on formulas (3) to (6), and taking B as B0+ΔB，F＝F0+ΔF，h＝h0+Δh，i＝i0+Δi，B0、F0、h0、i0The magnetic flux density, the electromagnetic force, the suspension height from the suspension point to the magnetic track and the initial value of the coil current are respectively, and the delta B, the delta F, the delta h and the delta i are respectively the change values of the magnetic flux density, the electromagnetic force, the suspension height from the suspension point to the magnetic track and the coil current; then, the formulas (3) to (6) are sorted to obtain a suspension height change value, a suspension height change speed and a current change value
The state space equation for a linear model of the state variables is:
wherein
Is the acceleration of the change in the flying height,for the speed of current change, the equation is arranged to obtain a transfer function with input of voltage increment delta u and output of suspension height difference delta h;
in a magnetic flux-current combined inner loop based feedback system, the principle of a suspension point is includedOutputting a desired levitation height value h', an adjusted levitation height data value h, a desired voltage increment △ u, and a levitation controller CBHMagnetic flux feedback controller CBFeedback gain k of current intensity signaliThe feedback gain k of the magnetic induction intensity signalBFeedback gain coefficient kTCoefficient of proportionality kqProportionality coefficient k between △ B and △ ic，
Feedback gain factor kTIs the proportionality coefficient of h and △ B;
as shown in the following formula:
the above equation shows that Δ v is a transfer function of the magnetic flux density Δ B, and the change of the magnetic flux loop △ B is affected by Δ u and the output feedback kTInfluence of (a) kTh-Δi·kcΔ B, wherein
The closed loop system based on the magnetic flux-current combined inner loop feedback system comprises a current loop, wherein the transfer function of the current loop is
In which the time constant of the current loop
When the current loop feedback is introduced, the time constant tau can be enabled1Is changed by adjusting the current feedback gain kiTo change the time constant tau of the current loop1Thus, the change of the current magnitude in the electromagnet device can be increased or decreased to a desired value in a short time;
the closed loop system based on the flux-current combined inner loop feedback system also comprises a flux loop, and the transfer function of the flux loop is as follows:
time constant of magnetic flux loop0＝NAkc/(CBkckB+R+CBki) In order to make the time constant of the magnetic flux loop smaller, the method can be realized by adjusting each parameter in the denominator; the introduction of the magnetic flux feedback reduces the time constant of a magnetic flux loop and accelerates the change speed of the magnetic flux density; the electromagnetic force required by the suspension point is independently determined by the magnetic flux density B, so that the magnetic flux feedback can overcome the instability caused by a magnetic circuit by adjusting the magnetic flux loop under the condition of no suspension height signal;
the transfer function based on the flux-current joint feedback system is thus as follows:
the transfer function reflects the relation that the ideal suspension height value h 'of a single suspension point is used as input, the suspension height h of the suspension point after adjustment is output as output based on a magnetic flux-current control algorithm, and the suspension controller converts the corresponding parameter value information after debugging into a corresponding control instruction only when △ h' of each suspension point is zero, and sends the control instruction to the suspension chopper in a PWM mode to keep the corresponding electromagnet device to continue working under the rated current.
Further, the fly height controller is designed as a PID controller, i.e.
Wherein k isBPIs a proportionality coefficient, kBDIs a differential coefficient, kBIIs an integral coefficient.
Further, CBDesigning the flux feedback controller as a proportional link, i.e. CB＝kCB，kCBIs a coefficient of proportionality。
Further, the debugging of the magnetic flux ring is divided into the following steps:
firstly, forming magnetic flux feedback by using signals of a magnetic flux sensor, observing output magnetic flux signals of the magnetic flux sensor, and continuously adjusting magnetic flux feedback gain so that an actual output magnetic flux density signal can quickly control and track a controlled object;
secondly, the magnetic flux signals actually measured by each suspension point are compared with a group of magnetic flux signals corresponding to the group, and the difference value of the two magnetic flux signals is used as a signal for continuously correcting the control command;
finally, the change of the electromagnetic force after the debugging of the magnetic flux ring is checked, and as a result, each suspension point of the permanent magnetic suspension train is kept under the same ideal suspension height, the debugging effect condition of the magnetic flux ring is checked and judged according to the electromagnetic force after the debugging.
Further, design kB＝10NAWn，WnThe outer loop frequency band.
Further, the suspension chopper adopts a full bridge circuit.
Furthermore, in the magnetic flux sensor, a coil is additionally wound outside each excitation coil to serve as a measuring coil of the magnetic flux sensor, and the measuring coil and the excitation coils are only wound on the same iron core and are electrically insulated from each other.
The invention also provides a suspension height stability control system based on the permanent magnet and electromagnetic mixing for realizing the method, which comprises a main circuit and a control circuit, wherein the main circuit mainly comprises an electromagnet device, a suspension controller, a suspension chopper and a main power supply; the control circuit mainly comprises a pressure sensor, a displacement sensor, a current sensor, a magnetic flux sensor, a signal processing circuit, a driving circuit and an alarm device;
four electromagnet devices are respectively arranged on a front bogie and a rear bogie of the permanent magnetic levitation train to form eight suspension points; the electromagnet device comprises a coil and a silicon steel material, the coil matched with the required power is wound outside the silicon steel material, after the silicon steel material is electrified, the silicon steel material is magnetized by the magnetic field of the electrified solenoid coil, and the magnetized silicon steel also becomes a magnet; in the embodiment, two electromagnet devices are respectively arranged at the front and the back of two sides of the front bogie, and two electromagnet devices are respectively arranged at the front and the back of two sides of the rear bogie;
the pressure sensor is used for measuring the pressure of the suspension car, the displacement sensor is used for measuring the actual suspension height data value h of eight suspension points, the current sensor is used for measuring the current value i of the eight suspension points, the magnetic flux sensor is used for quickly and accurately obtaining the magnetic flux density B of the eight suspension points, the pressure sensor, the displacement sensor, the current sensor and the magnetic flux sensor respectively pass through a signal processing circuit, the signal processing circuit is connected to the suspension controller through the driving circuit, the signal processing circuit performs filtering and denoising and other processing on signals collected by the pressure sensor, the displacement sensor, the current sensor and the magnetic flux sensor, and the driving circuit is used for amplifying the signals; the alarm device is in communication connection with the suspension controller, adopts voice alarm and is wirelessly controlled by the suspension controller; the suspension controller is a core part of the system and is used for obtaining a proper output control instruction through analysis and processing of a control algorithm based on a magnetic flux-current combined inner loop feedback system, and the suspension chopper converts the received output control instruction of the suspension controller into the current in the electromagnet device.
Further, the signal processor selects model C28 of TMS320C2000 series DSP, namely TMS320F 2808.
The invention has the beneficial effects that: the method of the invention takes permanent magnet as a main part and electromagnetism as an auxiliary part, so that the method can play the repulsion action of the permanent magnet module and the magnetic track to the maximum extent and also play the fine adjustment action of the electromagnet device to the maximum extent, thereby realizing that each suspension point of the permanent magnet maglev train is under an ideal suspension height data value, and further ensuring that the permanent magnet maglev train stably advances when running at high speed.
Drawings
FIG. 1 is a diagram of a permanent magnet and electromagnetic hybrid suspension system according to an embodiment of the present invention;
FIG. 2 is a diagram of a single point levitation scheme in an embodiment of the present invention;
FIG. 3 is a block diagram of a levitation control algorithm based on a magnetic flux-current combined feedback system according to an embodiment of the present invention;
FIG. 4 is a schematic block diagram of a permanent magnet and electromagnetic hybrid levitation control in an embodiment of the present invention;
FIG. 5 is a flow chart illustrating a variation of the flying height difference according to an embodiment of the present invention;
FIG. 6 is a front view of a levitation bogie of a permanent magnet levitation train in an embodiment of the present invention;
fig. 7 is a top view of a levitation bogie of a permanent magnet levitation train in an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and it should be noted that the present embodiment is based on the technical solution, and the detailed implementation and the specific operation process are provided, but the protection scope of the present invention is not limited to the present embodiment.
The permanent magnetic suspension train has tracks over the train and the pillars for supporting the tracks are composed of steel bars and concrete. The bogie of the permanent magnet suspension magnetic suspension train is provided with the permanent magnet modules which form strong repulsion with the magnetic tracks arranged at two sides of the track, thereby realizing the suspension of the permanent magnet magnetic suspension train. In order to keep each suspension point in the permanent magnet suspension maglev train at an ideal suspension height, the embodiment provides a suspension height stability control system and method based on the mixture of permanent magnets and electromagnetism.
The suspension height stability control system based on the mixture of permanent magnet and electromagnetism comprises a main circuit and a control circuit, wherein the main circuit mainly comprises an electromagnet device, a suspension controller, a suspension chopper and a main power supply; the control circuit mainly comprises a pressure sensor, a displacement sensor, a current sensor, a magnetic flux sensor, a signal processing circuit, a driving circuit and an alarm device. The system composition is shown in figure 1;
as shown in fig. 6-7, four electromagnet devices 3 are respectively arranged on a front bogie 1 and a rear bogie 2 of the permanent magnetic levitation train to form eight levitation points; the electromagnet device comprises a coil and a silicon steel material, the coil matched with the required power is wound outside the silicon steel material, after the silicon steel material is electrified, the silicon steel material is magnetized by the magnetic field of the electrified solenoid coil, and the magnetized silicon steel also becomes a magnet; in the embodiment, two electromagnet devices are respectively arranged at the front and the back of two sides of the front bogie, and two electromagnet devices are respectively arranged at the front and the back of two sides of the rear bogie;
the pressure sensor is used for measuring the pressure of the suspension car, the displacement sensor is used for measuring the actual suspension height data value h of eight suspension points, the current sensor is used for measuring the current value i of the eight suspension points, the magnetic flux sensor is used for quickly and accurately obtaining the magnetic flux density B of the eight suspension points, the pressure sensor, the displacement sensor, the current sensor and the magnetic flux sensor respectively pass through a signal processing circuit, the signal processing circuit is connected to the suspension controller through the driving circuit, the signal processing circuit performs filtering and denoising and other processing on signals collected by the pressure sensor, the displacement sensor, the current sensor and the magnetic flux sensor, and the driving circuit is used for amplifying the signals; the alarm device is in communication connection with the suspension controller, adopts voice alarm and is wirelessly controlled by the suspension controller (the alarm device can be arranged at the upper right corner of the suspension car door); the suspension controller is a core part of the system and is used for obtaining a proper output control instruction through analysis and processing of a control algorithm based on a magnetic flux-current combined inner loop feedback system, and the suspension chopper converts the received output control instruction of the suspension controller into the current in the electromagnet device.
The suspension height stability control method based on the permanent magnet and electromagnetic mixing comprises the following specific processes:
s1, because the technical solution of this embodiment is to solve the problem that the suspension height deviation between each suspension point is too large due to the strong repulsion force formed between the permanent magnet module and the magnetic track, before the permanent magnet maglev train is started, a safety check is first performed, when the boarding and alighting of the permanent magnet maglev train are completed and the start is ready to move forward, the pressure sensor installed on the suspension car uploads the pressure value signal to the suspension controller, the suspension controller judges the pressure value signal, and if the permanent magnet maglev train is overweight, the suspension controller sends a signal to the alarm device to control the alarm device to give an alarm; if the permanent-magnet magnetic levitation train is not overweight, the ideal levitation height value h' of each levitation point is calculated according to the formula (1):
in the formula (1), h' is an ideal suspension height value, AgIs the magnetic pole area of the permanent magnet, α is a correction coefficient, M is the total mass of the permanent magnet maglev train, g is the gravity acceleration, M is the pressure on the suspension car, B is the pressure on the suspension cargThe magnetization of the permanent magnet.
S2, measuring actual suspension height data values h of eight suspension points by using a displacement sensor, measuring suspension current values i of the eight suspension points by using current sensors respectively, and quickly and accurately obtaining magnetic flux densities B of the eight suspension points by using a magnetic flux sensor;
s3, uploading the measured signals to a suspension controller by a displacement sensor, a current sensor and a magnetic flux sensor, and comparing the actual suspension height values h of the eight suspension points obtained by measurement with ideal suspension height values h' corresponding to each suspension point by the suspension controller;
if the actual suspension height value of the suspension point is larger than or smaller than the ideal suspension height value of the suspension point, obtaining a proper control instruction according to a control algorithm based on a magnetic flux-current combined inner loop feedback system, converting the control instruction into a PWM (pulse width modulation) signal with a certain duty ratio by using a DSP (digital signal processor), transmitting the PWM signal to a suspension chopper of the suspension point in a PWM (pulse width modulation) wave form, converting the PWM signal into the current required by the electromagnet device by the suspension chopper, and further reducing or increasing the electromagnetic force required by the suspension point to enable the suspension point to be subjected to downward or upward resultant force to do downward or upward movement, so that the absolute value △ h' of the difference value between the actually measured suspension height value and the ideal suspension height value is reduced;
through continuous adjustment, the suspension controller can ensure stable suspension height between the electromagnet and the magnetic track, and the final aim of the suspension controller is to achieve and realize △ h' dynamic balance of eight suspension points, so that the eight suspension points are all ensured to be under ideal suspension height values, and the permanent magnet magnetic suspension train is ensured to stably suspend and advance.
The main idea is that the actual suspension height h and the ideal suspension height h ' of eight suspension points obtained through measurement are differentiated to obtain an absolute value △ h ' of the difference, and the dynamic balance of △ h ' of the eight suspension points is equal by adjusting parameters such as a magnetic flux ring and a current ring, and the real-time change of △ h ' of different suspension points requires adjusting the size of electromagnetic force required by the suspension point, so that the required electromagnetic force provides the suspension point to move upwards or downwards to make up the size of △ h ' of the suspension point, and further, the stability of the data value of the suspension height of each suspension point of the permanent magnet magnetic suspension train is realized, as shown in formula (2):
wherein F is electromagnetic force, mu0For magnetic permeability, a is the magnetic pole area, h (t) is the flying height (i.e. the distance between the magnetic track and the electromagnet device) at time t, N is the number of coil turns, i (t) is the current value of the coil at time t, and b (t) is the magnetic flux density value at time t, and from equation (2), the square of the electromagnetic force and the magnetic field density of the coil are in direct proportion (a is a constant) and are related to the current value i of the coil.
The current method for realizing suspension stability of the permanent magnetic suspension train adopts a method based on current feedback, the suspension control method can solve the suspension control problem, but the parameter stability range is small, and the frequency band of a closed-loop system is wide. The suspension control method adopting magnetic flux feedback has the advantages of simple algorithm, convenience in debugging and the like, but the method is not easy to debug and control. However, in essence, the three physical quantities of the magnetic flux density value, the current value and the levitation height value are related by the magnetic density formula, and if two of the physical quantities are known, the remaining one depends on the other. Therefore, the adjustment and correction of the difference value of the suspension height signals can be completely carried out on the basis of the magnetic flux signals and the current signals. Therefore, it is completely feasible to design a control algorithm method based on the magnetic flux-current combination as an inner loop for feedback and taking the suspension height difference as outer loop feedback to realize stable suspension.
Fig. 2 is a structural diagram of a levitation point, in which a magnetic track 4 is opposite to an electromagnet device 3 and generates an electromagnetic force required to reach an ideal levitation height, so that a permanent magnetic levitation train realizes stable levitation at each levitation point. A model is first built for the suspension point structure, as shown in the following equation set:
u (t) is the voltage value of the coil at time t, and R is the coil resistance; i (t) is the current value of the coil at time t, h (t) is the levitation height from the levitation point to the magnetic track, A is the magnet area, N is the number of coil turns, μ0Is magnetic permeability. In FIG. 2, φmIs the air gap flux, phiTIs a main magnetic flux.
Carrying out linearization treatment on formulas (3) to (6), and taking B as B0+ΔB，F＝F0+ΔF，h＝h0+Δh，i＝i0+Δi，B0、F0、h0、i0The magnetic flux density, the electromagnetic force, the suspension height from the suspension point to the magnetic track and the initial value of the coil current are respectively, and the delta B, the delta F, the delta h and the delta i are respectively the change values of the magnetic flux density, the electromagnetic force, the suspension height from the suspension point to the magnetic track and the coil current; then, the formulas (3) to (6) are sorted to obtain a suspension height change value, a suspension height change speed and a current change valueThe state space equation for a linear model of the state variables is:
wherein 
Is the acceleration of the change in the flying height,
for the speed of current change, the equation is arranged to obtain a transfer function with input of voltage increment delta u and output of suspension height difference delta h;
the instability of the single floating point has been demonstrated according to the Routh criterion; therefore, in this embodiment, the magnetic flux-current combination is used as an inner loop for feedback, and the suspension height difference is used as an outer loop feedback control algorithm to realize stable suspension.
FIG. 3 is a block diagram of a flux-current based joint inner loop feedback system, where h' is an ideal levitation height value of a levitation point, h is an actual levitation height value of the levitation point, Δ u is an ideal voltage increment, and CBHAs a levitation height controller, CBAs a flux feedback controller, kiAnd kBFeedback gains, k, of current strength and magnetic strength signals, respectivelyTIs a feedback gain coefficient, i.e. a proportionality coefficient of h and △ B, kcIs a proportionality coefficient between △ B and △ ie is error and is h-h ═ e; s is a laplace operator; k is a radical ofqIs a coefficient of proportionality that is,
Δ v to voltageChanging the value; the fly-height controller is designed as a PID controller, i.e.
(where k isBPIs a proportionality coefficient, kBDIs a differential coefficient, kBIIntegral coefficients) mainly because the PID controller can be adjusted quickly and it has good steady-state performance; cBDesigned as a proportional link (i.e., C) for flux feedback controllersB＝kCB，kCBProportional coefficient), and the design as a proportional link can make the divergence speed of the system slow down.
As shown in the following formula:
the above equation shows that Δ v is a transfer function of the magnetic flux density Δ B, and the change of the magnetic flux loop △ B is affected by Δ u and the output feedback kTInfluence of (a) kTh-Δi·kcΔ B, wherein
Of course, it is also possible to consider the flux-current based combined inner loop feedback system as two subsystems, i.e., a pre-stage control system and a flux-current based combined feedback (inner loop), h' to △ u being referred to as pre-stage control, which is added to the fly height controller CBHAnd unit feedback (the unit feedback is that the feedback channel function value is 1, and the output suspension height value is directly fed back to be compared with the ideal suspension height value) becomes the outer loop structure of the system, and the sections △ u to △ B comprise negative feedback regulation performed by △ i and negative feedback regulation performed by △ B, and the sections form the inner loop structure of the system.
In FIG. 3, the closed loop system formed by △ i through △ u is referred to as a current loop, and the transfer function of the current loop is
In which the time constant of the current loop
It has been found that the time constant tau can be made when introducing current loop feedback1Is changed by adjusting the current feedback gain kiTo change the time constant tau of the current loop1This allows the change in the magnitude of the current in the electromagnet arrangement to be raised or lowered to a desired value in a short time. The introduction of the current loop accelerates the response speed of the system. Meanwhile, the influence caused by inductance in the coil of the electromagnet device can be overcome by introducing the current loop.
Also in fig. 3, the closed loop system consisting of △ B through △ u is referred to as a flux ring, and the transfer function of the flux ring is:
time constant of magnetic flux loop0＝NAkc/(CBkckB+R+CBki) In order to make the time constant of the magnetic flux loop smaller, the time constant can be realized by adjusting each parameter in the denominator. Time constant τ of the system when no flux feedback is introduced0＝NAkcand/R, obviously, the introduction of the magnetic flux feedback reduces the time constant of a magnetic flux loop and accelerates the change speed of the magnetic flux density. And the electromagnetic force required by the suspension point can be independently determined by the magnetic flux density B, so that the magnetic flux feedback can overcome the instability caused by a magnetic circuit by adjusting the magnetic flux ring under the condition of no suspension height signal.
The debugging of the magnetic flux loop can be divided into the following steps, firstly, the magnetic flux feedback is formed by using the signal of the magnetic flux sensor, the output magnetic flux signal of the magnetic flux sensor is observed, and the gain of the magnetic flux feedback is continuously adjusted, so that the actual output magnetic flux density signal can quickly control and track the controlled object. And secondly, comparing the actually measured magnetic flux signals of each suspension point with the corresponding group of magnetic flux signals, and taking the difference value of the two magnetic flux signals as an input to continuously correct the control command signal. Finally, the change of the electromagnetic force after the adjustment of the magnetic flux loop is checked, as a result of which the suspension points of the permanent magnet magnetic levitation vehicle are maintained at the same ideal suspension height. Therefore, the debugging effect condition of the magnetic flux ring can be checked and judged according to the electromagnetic force after debugging.
The transfer function based on the flux-current joint feedback system is thus as follows:
the transfer function reflects the relation that the ideal suspension height value h 'of a single suspension point is used as input, and the suspension height h of the suspension point after adjustment is output as output based on a magnetic flux-current control algorithm, and the suspension controller converts the corresponding parameter value information after debugging into a corresponding control instruction only when △ h' of each suspension point is zero, and sends the control instruction to the suspension chopper in a PWM mode, so that the corresponding electromagnet device of the suspension chopper can be kept to work continuously under the rated current.
Therefore, the eight suspension points adopted by the invention are used for adjusting the electromagnetic device to realize stable suspension, △ h ' of each suspension point is different, the control algorithm is used for realizing the consistency of △ h ' of eight points, meanwhile, the suspension height of each suspension point changes in real time when the permanent magnet magnetic suspension train rapidly advances, and in order to quickly ensure the dynamic balance of △ h ' of each point, the response time of the inner ring is required to be short enough and the speed is high enough, when the outer ring is designed, the inner ring can be regarded as a proportional link, if the response of the inner ring is required to be 10 times faster than that of the outer ring, k is designedB＝10NAWn，WnThe outer ring frequency band is adopted, so that parameters such as current, magnetic induction and the like in the inner ring can be debugged firstly, all points meet the requirement to reach △ h' consistency, and the stable suspension of the permanent magnetic suspension train is ensured.
It should be noted that, based on the permanent magnet and electromagnetic hybrid magnetic levitation system, a large number of signals need to be received, such as a real-time levitation height data value signal of each levitation point, a levitation current value signal, a magnetic flux density signal and a speed signal of the permanent magnet magnetic levitation train when the permanent magnet magnetic levitation train moves forward. For the above data processing needs to be fast and timely, in this embodiment, the signal processor used is the TMS320F2808 model of C28 of TMS320C2000 DSP, which integrates the features of microcontroller and high-performance DSP and also supports the program written in high-level language, so that the designer can realize fast floating point calculation on the fixed-point processor, and the signal processor has strong information processing capability and control capability and can realize complex control algorithm. Meanwhile, a rapid interrupt management unit and an automatic key register protection mechanism are integrated, so that the series of DSPs can process a plurality of asynchronous events with smaller interrupt delay. The TMS320F2808 DSP chip integrates a high-performance DSP core, an internal 64k multiplied by 16 Flash memory, an ADC module, an ePWM module, an SCI module and the like, provides peripheral modules required by the permanent magnet and electromagnetic hybrid magnetic suspension system, and can ensure the working rapidity, accuracy and real-time performance of the permanent magnet and electromagnetic hybrid magnetic suspension system. These characteristics make TMS320F2808 the ideal choice for this hybrid permanent magnet and electromagnetic magnetic levitation system. The DSP signal processor performs A/D sampling on a plurality of input signals from the sensors, converts the input signals into PWM signals with a certain duty ratio according to a preset control algorithm, transmits the PWM signals to a suspension chopper of the electromagnetic adjusting module in a PWM (pulse width modulation) wave form, and controls the current required in the electromagnetic adjusting module, so that the electromagnetic force required by the electromagnetic adjusting module is controlled, and the suspension point is ensured to be always kept at an ideal suspension height.
It should be noted that the electromagnetic force required for each levitation point has a fast regulation speed, which is expressed in the form that the current inside the coil can be increased or decreased rapidly. The suspension chopper is an execution component of a permanent magnet and electromagnetic mixed magnetic suspension system, the chopper used in a common magnetic suspension train only provides unidirectional current, and in the permanent magnet and electromagnetic mixed magnetic suspension system, the suspension chopper can provide bidirectional current due to the existence of permanent magnet attraction. Therefore, the suspension chopper of the invention adopts a full bridge circuit.
It should be noted that the present embodiment employs a control algorithm based on a flux-current joint inner loop feedback system. The magnetic flux sensor is used for rapidly and accurately obtaining the magnetic flux density of each suspension point, and is an essential tool for realizing magnetic flux feedback. The magnetic flux sensor is designed by additionally winding a coil outside each excitation coil to serve as a measuring coil of the magnetic flux sensor, and the measuring coil and the excitation coils are only wound on the same iron core and are electrically insulated from each other. The advantage of this kind of design can be with installing synchronous completion when making electromagnetic means of measuring coil, also can make the stability and the security of detecting coil promote greatly to because sensor coil volume is very little, required space is more limited, so can be ignored to the influence of magnet excitation coil. In actual operation, the sensitivity of detection of the magnetic flux sensor can be improved by increasing the number of turns of the coil, if necessary. The magnetic flux sensor can be installed by digging a proper groove on the pole surface of the electromagnet and installing the magnetic flux sensor at the center of the inner part of the groove, because the measuring element at the center of the groove can better reflect the air gap magnetic field.
Various corresponding changes and modifications can be made by those skilled in the art based on the above technical solutions and concepts, and all such changes and modifications should be included in the protection scope of the present invention.
Claims (9)
1. A suspension height stability control method based on permanent magnet and electromagnetic mixing is characterized by comprising the following steps:
s1, firstly, a safety check is carried out before the permanent magnetic suspension train is started, when the passengers on the permanent magnetic suspension train get on and off and the permanent magnetic suspension train is ready to start to move forward, a pressure sensor arranged on a suspension car uploads a pressure value signal to a suspension controller, the suspension controller judges the pressure value signal, and if the permanent magnetic suspension train is overweight, the suspension controller sends a signal to an alarm device to control the alarm device to give an alarm; if the permanent-magnet magnetic levitation train is not overweight, the ideal levitation height value h' of each levitation point is calculated according to the formula (1):
in the formula (1), h' is an ideal suspension height value, AgIs the magnetic pole area of the permanent magnet, α is a correction coefficient, M is the total mass of the permanent magnet maglev train, g is the gravity acceleration, M is the pressure on the suspension car, B is the pressure on the suspension cargThe magnetization of the permanent magnet;
s2, measuring actual suspension height data values h of eight suspension points by using a displacement sensor, measuring suspension current values i of the eight suspension points by using current sensors respectively, and quickly and accurately obtaining magnetic flux densities B of the eight suspension points by using a magnetic flux sensor;
s3, uploading the measured signals to a suspension controller by a displacement sensor, a current sensor and a magnetic flux sensor, and comparing the actual suspension height values h of the eight suspension points obtained by measurement with ideal suspension height values h' corresponding to each suspension point by the suspension controller;
if the actual suspension height value of the suspension point is larger than or smaller than the ideal suspension height value of the suspension point, obtaining a proper control instruction according to a control algorithm based on a magnetic flux-current combined inner loop feedback system, converting the control instruction into a PWM (pulse width modulation) signal with a certain duty ratio by using a DSP (digital signal processor), transmitting the PWM signal to a suspension chopper of the suspension point in a PWM (pulse width modulation) wave form, converting the PWM signal into the current required by the electromagnet device by the suspension chopper, and further reducing or increasing the electromagnetic force required by the suspension point to enable the suspension point to be subjected to downward or upward resultant force to move downwards or upwards so as to reduce the absolute value △ h' of the difference value between the actually measured suspension height value and the ideal suspension height value;
the control algorithm based on the magnetic flux-current combined inner loop feedback system is a control method based on the magnetic flux-current combined inner loop and using a suspension height difference value as an outer loop feedback, the real-time change of △ h 'of different suspension points needs to adjust the size of electromagnetic force required by the suspension point, the required electromagnetic force provides the suspension point to move upwards or downwards to make up the △ h' size of the suspension point, and further the stability of the data value of the suspension height of each suspension point of the permanent magnetic suspension train is realized, as shown in formula (2):
wherein F is electromagnetic force, mu0For magnetic permeability, a is the magnetic pole area, h (t) is the levitation height at time t, N is the number of coil turns, i (t) is the current value of the coil at time t, b (t) is the magnetic flux density value at time t;
in each suspension point, the magnetic track is opposite to the electromagnet device and generates electromagnetic force required by reaching the ideal suspension height, so that the permanent magnetic suspension train realizes the stable suspension of each suspension point; the model is first built for the floating point structure as shown in the following set of equations:
u (t) is the voltage value of the coil at time t, and R is the coil resistance; i (t) is the current value of the coil at time t, h (t) is the levitation height from the levitation point to the magnetic track, A is the magnet area, N is the number of coil turns, μ0Is magnetic permeability;
carrying out linearization treatment on formulas (3) to (6), and taking B as B0+ΔB，F＝F0+ΔF，h＝h0+Δh，i＝i0+Δi，B0、F0、h0、i0Are respectively asThe magnetic flux density, the electromagnetic force, the suspension height from the suspension point to the magnetic track and the initial value of the coil current are respectively the change values of the magnetic flux density, the electromagnetic force, the suspension height from the suspension point to the magnetic track and the coil current; then, the formulas (3) to (6) are sorted to obtain a suspension height change value, a suspension height change speed and a current change value
The state space equation for a linear model of the state variables is:
wherein
Is the acceleration of the change in the flying height,
for the speed of current change, the equation is arranged to obtain a transfer function with input of voltage increment delta u and output of suspension height difference delta h;
in the magnetic flux-current combined inner loop feedback system, the ideal suspension height value h' of the suspension point, the output adjusted suspension height data value h, the ideal voltage increment △ u and the suspension controller C are includedBHMagnetic flux feedback controller CBFeedback gain k of current intensity signaliThe feedback gain k of the magnetic induction intensity signalBFeedback gain coefficient kTCoefficient of proportionality kqProportionality coefficient k between △ B and △ ic，
Feedback gain factor kTIs the proportionality coefficient of h and △ B;as shown in the following formula:
the above equation shows that Δ v is a transfer function of the magnetic flux density Δ B, and the change of the magnetic flux loop △ B is affected by Δ u and the output feedback kTInfluence of (a) kTh-Δi·kcΔ B, wherein
The closed loop system based on the magnetic flux-current combined inner loop feedback system comprises a current loop, wherein the transfer function of the current loop is
In which the time constant of the current loop
When the current loop feedback is introduced, the time constant tau can be enabled1Is changed by adjusting the current feedback gain kiTo change the time constant tau of the current loop1Thus, the change of the current magnitude in the electromagnet device can be increased or decreased to a desired value in a short time;
the closed loop system based on the flux-current combined inner loop feedback system also comprises a flux loop, and the transfer function of the flux loop is as follows:
time constant of magnetic flux loop0＝NAkc/(CBkckB+R+CBki) In order to make the time constant of the magnetic flux loop smaller, the method can be realized by adjusting each parameter in the denominator; the introduction of the magnetic flux feedback reduces the time constant of a magnetic flux loop and accelerates the change speed of the magnetic flux density; the electromagnetic force required by the suspension point is independently determined by the magnetic flux density B, so that the magnetic flux feedback can overcome the instability caused by a magnetic circuit by adjusting the magnetic flux loop under the condition of no suspension height signal;
the transfer function based on the flux-current joint feedback system is thus as follows:
the transfer function reflects the relation that the ideal suspension height value h 'of a single suspension point is used as input, the suspension height h of the suspension point after adjustment is output as output based on a magnetic flux-current control algorithm, and the suspension controller converts the corresponding parameter value information after debugging into a corresponding control instruction only when △ h' of each suspension point is zero, and sends the control instruction to the suspension chopper in a PWM mode to keep the corresponding electromagnet device to continue working under the rated current.
2. Method according to claim 1, characterized in that the fly-height controller is designed as a PID-controller, i.e. as a PID-controller
Wherein k isBPIs a proportionality coefficient, kBDIs a differential coefficient, kBIIs an integral coefficient.
3. The method of claim 1, wherein C isBDesigning the flux feedback controller as a proportional link, i.e. CB＝kCB，kCBIs a scaling factor.
4. Method according to claim 1, characterized in that the adaptation of the flux ring is divided into the following steps:
firstly, forming magnetic flux feedback by using signals of a magnetic flux sensor, observing output magnetic flux signals of the magnetic flux sensor, and continuously adjusting magnetic flux feedback gain so that an actual output magnetic flux density signal can quickly control and track a controlled object;
secondly, the magnetic flux signals actually measured by each suspension point are compared with a group of magnetic flux signals corresponding to the group, and the difference value of the two magnetic flux signals is used as a signal for continuously correcting the control command;
finally, the change of the electromagnetic force after the debugging of the magnetic flux ring is checked, and as a result, each suspension point of the permanent magnetic suspension train is kept under the same ideal suspension height, the debugging effect condition of the magnetic flux ring is checked and judged according to the electromagnetic force after the debugging.
5. The method of claim 1, wherein k is designedB＝10NAWn，WnThe outer loop frequency band.
6. The method of claim 1, wherein the floating chopper is a full bridge circuit.
7. The method of claim 1, wherein the magnetic flux sensor further comprises a coil wound outside each of the exciting coils to serve as a measuring coil of the magnetic flux sensor, and the measuring coil and the exciting coils are wound around a same core and electrically insulated from each other.
8. A suspension height stability control system based on the combination of permanent magnet and electromagnetism for realizing the method according to any one of claims 1-7, characterized by comprising a main circuit and a control circuit, wherein the main circuit mainly comprises an electromagnet device, a suspension controller, a suspension chopper and a main power supply; the control circuit mainly comprises a pressure sensor, a displacement sensor, a current sensor, a magnetic flux sensor, a signal processing circuit, a driving circuit and an alarm device;
four electromagnet devices are respectively arranged on a front bogie and a rear bogie of the permanent magnetic levitation train to form eight suspension points; the electromagnet device comprises a coil and a silicon steel material, the coil matched with the required power is wound outside the silicon steel material, after the silicon steel material is electrified, the silicon steel material is magnetized by the magnetic field of the electrified solenoid coil, and the magnetized silicon steel also becomes a magnet; in the embodiment, two electromagnet devices are respectively arranged at the front and the back of two sides of the front bogie, and two electromagnet devices are respectively arranged at the front and the back of two sides of the rear bogie;
the pressure sensor is used for measuring the pressure of the suspension car, the displacement sensor is used for measuring the actual suspension height data value h of eight suspension points, the current sensor is used for measuring the current value i of the eight suspension points, the magnetic flux sensor is used for quickly and accurately obtaining the magnetic flux density B of the eight suspension points, the pressure sensor, the displacement sensor, the current sensor and the magnetic flux sensor respectively pass through a signal processing circuit, the signal processing circuit is connected to the suspension controller through the driving circuit, the signal processing circuit performs filtering and denoising and other processing on signals collected by the pressure sensor, the displacement sensor, the current sensor and the magnetic flux sensor, and the driving circuit is used for amplifying the signals; the alarm device is in communication connection with the suspension controller, adopts voice alarm and is wirelessly controlled by the suspension controller; the suspension controller is a core part of the system and is used for obtaining a proper output control instruction through analysis and processing of a control algorithm based on a magnetic flux-current combined inner loop feedback system, and the suspension chopper converts the received output control instruction of the suspension controller into the current in the electromagnet device.
9. The method of claim 8, wherein the signal processor is selected from the TMS320F2808 model C28 of the TMS320C2000 series DSP.
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