CN112583273B - Double-output power supply for magnetic suspension vehicle and control method thereof - Google Patents
Double-output power supply for magnetic suspension vehicle and control method thereof Download PDFInfo
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- CN112583273B CN112583273B CN202010625419.1A CN202010625419A CN112583273B CN 112583273 B CN112583273 B CN 112583273B CN 202010625419 A CN202010625419 A CN 202010625419A CN 112583273 B CN112583273 B CN 112583273B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
- H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
- H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
- H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/33561—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having more than one ouput with independent control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M3/00—Feeding power to supply lines in contact with collector on vehicles; Arrangements for consuming regenerative power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M3/00—Feeding power to supply lines in contact with collector on vehicles; Arrangements for consuming regenerative power
- B60M3/02—Feeding power to supply lines in contact with collector on vehicles; Arrangements for consuming regenerative power with means for maintaining voltage within a predetermined range
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/14—Arrangements for reducing ripples from dc input or output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
- H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
- H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
- H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/33507—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of the output voltage or current, e.g. flyback converters
- H02M3/33523—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of the output voltage or current, e.g. flyback converters with galvanic isolation between input and output of both the power stage and the feedback loop
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- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Dc-Dc Converters (AREA)
Abstract
The present invention relates to a dual output power supply, a control method thereof, a power supply system, and a computer-readable storage medium. The power supply includes: the first buck chopper module is suitable for taking power from a direct-current power supply network to output direct-current intermediate voltage; the isolation conversion module is suitable for carrying out isolation conversion on the intermediate voltage so as to output two paths of direct current supply voltages, wherein the first supply voltage is suitable for serving as the first path of output voltage to supply power for a suspension controller and/or a suspension battery of the magnetic-levitation train; and the second buck chopping module is suitable for chopping and regulating voltage of a second power supply voltage and outputting a second path of output voltage to supply power for a direct-current auxiliary load and/or an auxiliary battery of the magnetic-levitation train. The invention can simultaneously solve the problems of power supply by suspension power and power supply by other direct current auxiliary loads, improve the integration level of the system and optimize the volume, the weight and the cost of a power supply system.
Description
Technical Field
The invention belongs to the technical field of power electronic converter systems, and particularly relates to a double-output power supply for a magnetic levitation train, a control method of the double-output power supply for the magnetic levitation train, and a power supply system suitable for high-voltage direct-current input and double-direct-current isolated output of the magnetic levitation train.
Background
The magnetic suspension train is a modern high-tech rail vehicle, realizes non-contact suspension and guidance between the train and the rail through electromagnetic force, and can reduce the friction force between the train and the rail by using the electromagnetic force generated by the linear motor to draw the train to run, thereby having very high transport capacity. However, the power supply system of the existing maglev train generally has the defects of complex circuit structure, large volume, heavy weight, high cost and the like.
Referring to fig. 1A and 1B, fig. 1A is a schematic diagram illustrating a conventional power supply system of a maglev train. Fig. 1B shows a schematic architecture diagram of a charger power supply system of an existing magnetic-levitation train.
As shown in fig. 1A and 1B, a levitation power supply is required to be disposed under each car of the conventional medium-low speed maglev train for providing levitation power to the cars. The whole train of maglev trains also needs to be provided with two chargers to supply power for other auxiliary direct current loads of the trains. That is to say, the existing three-marshalling medium-low speed maglev train needs to be provided with at least five sets of power supply products such as three suspension power supplies and two chargers, so that the total weight and volume of the train are increased, and the transport capacity of the train is reduced.
From the design of power supply products, the floating power supply obtains electricity from a direct-current power supply network, and has higher voltage level and larger capacity. Half of the existing scheme is realized by adopting a series-parallel connection mode of a bridge type DC/DC isolation conversion circuit, the circuit is complex, the working frequency is low, and the size, the weight and the cost have no advantages. The charger takes electricity from a three-phase alternating current bus of the train, needs to be additionally designed for electrical isolation, has a relatively complex circuit structure, and also has no advantages in volume, weight and cost.
In order to overcome the above-mentioned defects in the prior art, there is a need in the art for a power electronic technology for simultaneously solving the problems of power supply by suspension power and power supply by other dc auxiliary loads, improving the integration level of the system, and optimizing the volume, weight and cost of the power supply system.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
In order to overcome the defects in the prior art, the invention provides a double-output power supply for a magnetic levitation train, a control method of the double-output power supply for the magnetic levitation train, a power supply system of the magnetic levitation train and a computer readable storage medium, which are used for solving the problems of power supply of levitation power and power supply of other direct current auxiliary loads, improving the integration level of the system and optimizing the volume, weight and cost of the power supply system.
The invention provides a double-output power supply for a magnetic suspension vehicle, which comprises: the first buck chopper module is suitable for taking power from a direct-current power supply network to output direct-current intermediate voltage; the isolation conversion module is suitable for carrying out isolation conversion on the intermediate voltage so as to output two paths of direct current supply voltages, wherein the first supply voltage is suitable for serving as the first path of output voltage to supply power for a suspension controller and/or a suspension battery of the magnetic-levitation train; and the second buck chopping module is suitable for chopping and regulating voltage of a second power supply voltage and outputting a second path of output voltage to supply power for a direct-current auxiliary load and/or an auxiliary battery of the magnetic-levitation train.
Preferably, in some embodiments of the present invention, the power supply may further comprise a processor. The processor is communicatively connected to the first buck chopper module, the isolation transformation module, and the second buck chopper module, and is configured to: responding to the starting of the power supply, controlling the first buck chopper module to smoothly boost the output intermediate voltage of the first buck chopper module from the lowest voltage to a target voltage so as to ensure the stability of the first output voltage; in response to the output of the intermediate voltage, controlling the isolation transformation module to isolate transform the intermediate voltage into the first supply voltage and the second supply voltage; and responding to the output of the second power supply voltage, and controlling the second buck chopping module to chop and regulate the second power supply voltage so as to output the second output voltage.
Preferably, in some embodiments of the present invention, the processor may be further configured to: performing closed-loop control on the first buck chopper module, and adjusting the amplitude of the output voltage of the first buck chopper module to realize voltage stabilization of the first output voltage; and performing closed-loop control on the second buck chopper module, and adjusting the amplitude of the output voltage of the second buck chopper module to realize voltage stabilization of the second output voltage.
Preferably, in some embodiments of the present invention, the processor may be further configured to: collecting the temperature of the suspension battery as a compensation feedback value to perform output given control on the first buck chopper module; and acquiring the temperature of the auxiliary battery as a compensation feedback value to perform output given control of the second buck chopper module.
Optionally, in some embodiments of the invention, the first buck chopper module is adapted to output an intermediate voltage with an adjustable amplitude. The isolated conversion module includes, but is not limited to, an LLC resonant circuit. The LLC resonant circuit is suitable for realizing soft switching of a primary side circuit and a secondary side circuit of the transformer by utilizing the resonance characteristics among the excitation inductance, the leakage inductance and the capacitance of the transformer. The LLC resonant circuit is suitable for being matched with the first buck chopper module to realize voltage stabilization of the first output voltage.
Preferably, in some embodiments of the present invention, the LLC resonant circuit includes, but is not limited to, a three-phase LLC resonant circuit. The three-phase LLC resonant circuit may include a high-frequency transformer, one primary winding and two secondary windings of which are connected in delta. The three-phase LLC resonant circuit is suitable for sharing energy by using three LLC resonant branches to reduce the current stress of each resonant branch, and is suitable for improving the output frequency of the isolation conversion module to reduce ripples of the first power supply voltage and the second power supply voltage.
Optionally, in some embodiments of the present invention, the first buck chopper module may include a three-level buck chopper circuit. The three-level buck chopper circuit is suitable for reducing the voltage stress of a power tube, reducing the current ripple of a filter inductor and reducing the capacity requirement on a filter capacitor.
Optionally, in some embodiments of the present invention, the second buck chopper module includes, but is not limited to, a multiple chopper circuit. The multiple chopper circuit may include a plurality of chopper units controlled by phase-staggered chopping, and is adapted to improve the output frequency of the second buck chopper module by phase-staggered chopping, so as to reduce ripples of the second output voltage, reduce current stress of each chopper, and reduce the capacity requirement of a filter in the second buck chopper module.
Optionally, in some embodiments of the present invention, the power supply may further include: the first anti-reverse circuit is arranged at the output end of the first path of output voltage and is suitable for preventing circuit energy from reversely flowing back to the power supply from the suspension controller; and/or a second anti-reverse circuit which is arranged at the output end of the second output voltage and is suitable for preventing circuit energy from reversely flowing back to the power supply from the direct current auxiliary load.
According to another aspect of the invention, a control method of a double-output power supply for a magnetic suspension vehicle is further provided.
The control method provided by the invention comprises the following steps: controlling a first buck chopper module to take power from a direct-current power supply network so as to output direct-current intermediate voltage; the control isolation conversion module is used for carrying out isolation conversion on the intermediate voltage so as to output two paths of direct current supply voltages, wherein the first supply voltage is suitable for serving as the first path of output voltage to supply power for a suspension controller and/or a suspension battery of the magnetic-levitation train; and controlling a second buck chopping module to chop and regulate the voltage of a second power supply voltage, and outputting a second output voltage to supply power for a direct-current auxiliary load and/or an auxiliary battery of the magnetic-levitation train.
Preferably, in some embodiments of the present invention, the step of outputting the intermediate voltage may include: and responding to the starting of the power supply, and controlling the first buck chopper module to smoothly boost the output intermediate voltage from the lowest voltage to a target voltage so as to ensure the stability of the first output voltage. The step of outputting the two power supply voltages may include: and responding to the output of the intermediate voltage, controlling the isolation conversion module to convert the intermediate voltage into the first power supply voltage and the second power supply voltage in an isolation mode. The step of outputting the second output voltage may include: and responding to the output of the second power supply voltage, and controlling the second buck chopping module to chop and regulate the voltage of the second power supply voltage so as to output the second output voltage.
Preferably, in some embodiments of the present invention, the control method may further include: performing closed-loop control on the first buck chopper module, and adjusting the amplitude of the output voltage of the first buck chopper module to realize voltage stabilization of the first output voltage; and performing closed-loop control on the second buck chopper module, and adjusting the amplitude of the output voltage of the second buck chopper module to realize voltage stabilization of the second output voltage.
Preferably, in some embodiments of the present invention, the step of performing closed-loop control on the first buck chopper module may further include: and collecting the temperature of the suspension battery as a compensation feedback value to perform output given control on the first buck chopper module. The step of performing closed-loop control on the second buck chopper module may further include: and acquiring the temperature of the auxiliary battery as a compensation feedback value to perform output given control on the second buck chopper module.
Optionally, in some embodiments of the invention, the first buck chopper module is adapted to output an intermediate voltage with an adjustable amplitude. The isolated conversion module includes, but is not limited to, an LLC resonant circuit. The step of controlling the isolation transformation module to perform isolation transformation on the intermediate voltage may include: and realizing soft switching of a primary side circuit and a secondary side circuit of the transformer by utilizing the resonance characteristics among the excitation inductance, the leakage inductance and the capacitance of the transformer of the LLC resonance circuit. The step of performing closed-loop control on the first buck chopper module may include: and adjusting the amplitude of the intermediate voltage by using the first buck chopper module to cooperate with the LLC resonant circuit to realize the voltage stabilization of the first output voltage.
Preferably, in some embodiments of the present invention, the LLC resonant circuit includes, but is not limited to, a three-phase LLC resonant circuit. The three-phase LLC resonant circuit may include a high-frequency transformer. One primary winding and two secondary windings of the high-frequency transformer are connected in a delta connection mode. The step of controlling the isolation transformation module to perform isolation transformation on the intermediate voltage may further include: three LLC resonance branches of the three-phase LLC resonance circuit are used for sharing energy so as to reduce the current stress of each resonance branch; and improving the output frequency of the isolation conversion module by using the three LLC resonant branches to reduce ripples of the first power supply voltage and the second power supply voltage.
Optionally, in some embodiments of the present invention, the first buck chopper module includes, but is not limited to, a three-level buck chopper circuit. The step of outputting the intermediate voltage may include: and performing three-level buck chopping on the direct-current voltage input by the direct-current power supply network so as to reduce the voltage stress of a power tube of the three-level buck chopper circuit, reduce the current pulsation of a filter inductor of the three-level buck chopper circuit, and reduce the capacity requirement on a filter capacitor of the three-level buck chopper circuit.
Optionally, in some embodiments of the present invention, the second buck chopper module includes, but is not limited to, a multiple chopper circuit. The multiple chopper circuit may include a plurality of phase-staggered controlled chopper cells. The step of outputting the second output voltage may include: and performing phase-staggered chopping on the second power supply voltage, and increasing the output frequency of the second buck chopper module to reduce ripples of the second output voltage, reduce the current stress of each chopper, and reduce the capacity requirement of a filter in the second buck chopper module.
According to another aspect of the present invention, there is also provided a power supply system for a magnetic-levitation train.
The power supply system provided by the invention comprises a plurality of power supplies. The power supply may be the power supply provided by any of the embodiments described above. The first output voltage of each power supply is suitable for supplying power to a suspension controller and/or a suspension battery of the magnetic-levitation train, and the second output voltage of each power supply is suitable for supplying power to a direct-current auxiliary load and/or an auxiliary battery of the magnetic-levitation train.
Preferably, in some embodiments of the present invention, the power supply system may further include: the high-voltage wires of the first output bus are respectively connected with the high-voltage input ends of the suspension controllers, and the low-voltage wires of the first output bus are respectively connected with the low-voltage output ends of the first output voltage of each power supply; and the high-voltage wires of the second output bus are respectively connected with the high-voltage input ends of the direct-current auxiliary loads, and the low-voltage wires of the second output bus are respectively connected with the low-voltage output ends of the second output voltages of the power supplies. The first output bus, the second output bus and the direct current power supply network of the magnetic suspension train can be mutually and electrically isolated.
According to another aspect of the present invention, a computer-readable storage medium is also provided herein.
The present invention provides the above computer readable storage medium having stored thereon computer instructions. When executed by a processor, the computer instructions may implement the control method provided by any of the above embodiments, thereby simultaneously solving the problems of the floating power supply and the other dc auxiliary loads.
Drawings
The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
Fig. 1A shows a schematic architecture of a levitating power supply system of a conventional magnetic-levitation train.
Fig. 1B shows a schematic architecture diagram of a charger power supply system of an existing magnetic-levitation train.
Fig. 2 illustrates an architectural schematic of a dual output power supply provided according to some embodiments of the present invention.
Fig. 3 is a flow chart illustrating a control method of a dual output power source for a magnetic levitation train according to some embodiments of the present invention.
Figure 4 illustrates an architectural schematic of a power supply system of a magnetic-levitation train provided in accordance with some embodiments of the present invention.
Reference numerals
1a first buck chopper module;
2, isolating the transformation module;
3 a second buck chopper module;
4 a first anti-reverse circuit;
5 a second anti-reverse circuit;
301-303 two-way output power source.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in connection with the preferred embodiments, there is no intent to limit its features to those embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Additionally, the terms "upper," "lower," "left," "right," "top," "bottom," "horizontal," "vertical" and the like as used in the following description are to be understood as referring to the segment and the associated drawings in the illustrated orientation. The relative terms are used for convenience of description only and do not imply that the described apparatus should be constructed or operated in a particular orientation and therefore should not be construed as limiting the invention.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, regions, layers and/or sections, these elements, regions, layers and/or sections should not be limited by these terms, but rather are used to distinguish one element, region, layer and/or section from another element, region, layer and/or section. Thus, a first component, region, layer or section discussed below could be termed a second component, region, layer or section without departing from some embodiments of the present invention.
As mentioned above, the existing three-marshalling medium-low speed maglev train needs to be configured with at least five sets of power supply products, such as three suspension power supplies and two chargers, and generally has the defects of complex circuit structure, large volume, heavy weight, high cost, and the like.
In order to overcome the defects in the prior art, the invention provides a double-output power supply for a magnetic levitation train, a control method of the double-output power supply for the magnetic levitation train, a power supply system of the magnetic levitation train and a computer readable storage medium, which are used for solving the problems of power supply of levitation power and power supply of other direct current auxiliary loads, improving the integration level of the system and optimizing the volume, weight and cost of the power supply system.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating an architecture of a dual output power supply according to some embodiments of the invention.
As shown in fig. 2, in some embodiments of the present invention, a dual output power source for a magnetic levitation train may include a first buck chopper module 1, an isolation converter module 2, and a second buck chopper module 3.
The first buck chopper module 1 is suitable for taking electricity from a direct current power supply network of a magnetic suspension train, performing buck chopping processing on high-voltage direct current voltage provided by the direct current power supply network, and outputting direct current intermediate voltage obtained after chopping processing to the isolation conversion module 2. In some embodiments, the first buck chopper module 1 may adopt a three-level buck chopper circuit.
By selecting the three-level buck chopper circuit, the voltage stress on the switching tube and the freewheeling diode of the first buck chopper module 1 is only half of the input voltage. That is, compared with the common buck chopper circuit, the voltage stress on the switching tube and the freewheeling diode of the three-level buck chopper circuit is reduced by half. Therefore, in the application scene of the same input voltage, the switching tube with lower voltage resistance can be selected to achieve the effect of buck chopping, so that the production cost of the first buck chopping module 1 is reduced. And secondly, under the working conditions of the same filter inductance, the same switching frequency and constant input, change and output, the ripple of the inductive current of the three-level buck chopper circuit is smaller than that of the common buck chopper circuit converter. Particularly, when the duty ratio D is 0.5, the inductor current ripple of the three-level step-down chopper circuit can reach the minimum value of zero. Thirdly, the ripple current frequency of the filter capacitor output by the three-level buck chopper circuit is 2 times of the switching frequency, and the ripple current frequency of the filter capacitor of the common buck chopper circuit is equal to the switching frequency. Therefore, under the condition of the same output voltage ripple, the invention can select a filter capacitor with smaller capacity as an output filter, thereby reducing the production cost of the first buck chopper module 1, reducing the volume of the first buck chopper module 1 and reducing the weight of the first buck chopper module 1.
As shown in fig. 2, the isolation conversion module 2 is adapted to perform isolation conversion on the intermediate voltage provided by the first buck chopper module 1, and output two paths of dc power supply voltages isolated from each other. The first power supply voltage is suitable for being used as a first output voltage of the power supply, and supplies power to a suspension controller and/or a suspension battery of the magnetic suspension train through a first output interface of the power supply. The second supply voltage is suitable for being output to the second buck chopper module 3 at the back end for subsequent buck chopping. The first supply voltage and the second supply voltage are electrically isolated from each other and from the dc supply network.
In some embodiments, the isolation conversion module 2 may be a direct current/direct current (DC/DC) isolation conversion module adapted to isolate and convert an input DC intermediate voltage into an output DC supply voltage. Specifically, the isolation conversion module 2 may use an LLC resonant soft switching circuit to electrically isolate the first supply voltage, the second supply voltage, and the dc supply network by using a high-frequency transformer. By adopting the LLC resonant circuit to carry out the isolation conversion, the invention can realize the soft switching of the primary side and the secondary side of the transformer by utilizing the resonance characteristics among the exciting inductance, the leakage inductance and the capacitance of the transformer in the LLC resonant circuit, thereby enabling the voltage or the current of the switching tube to be zero at the switching moment so as to reduce the turn-on loss and the turn-off loss of the switching tube.
In some embodiments, the LLC resonant circuit 2 may preferably be a three-phase LLC resonant circuit. The three-phase LLC resonant circuit 2 may comprise a high-frequency transformer. One primary winding of the high-frequency transformer can be connected with the output end of the first buck chopper module 1 and is used for acquiring the intermediate voltage provided by the first buck chopper module 1. Two secondary windings of the high-frequency transformer can be respectively connected with a first output interface of a power supply and an input end of the second buck chopper module 3, and are suitable for respectively outputting two paths of output voltages which are mutually electrically isolated. The two output voltages can be converted into direct-current power supply voltages after being rectified and filtered by the isolation conversion module 2, and then are respectively output to a first output interface of the power supply and an input end of the second buck chopper module 3. One primary winding and two secondary windings of the high-frequency transformer can adopt a delta connection method.
By adopting the three-phase LLC resonant circuit to carry out the isolation and voltage transformation, the invention can utilize three LLC resonant branches of the three-phase LLC resonant circuit to share energy, thereby reducing the current stress on each resonant branch to one third of that of a single-phase LLC resonant circuit. Meanwhile, three phases of the three-phase LLC resonant circuit can be alternately output according to a phase difference of 120 degrees, so that the output frequency of the isolation conversion module 2 is improved, and ripples of the first power supply voltage and the second power supply voltage are reduced. Therefore, the three-phase LLC resonant circuit is more suitable for realizing high-frequency and large-capacity DC/DC isolation conversion.
As shown in fig. 2, the second buck chopper module 3 is adapted to perform chopping and voltage regulation on the second supply voltage to obtain a second output voltage of the direct current. The second output voltage can supply power for the DC auxiliary load and/or the auxiliary battery of the magnetic-levitation train through the second output port of the power supply.
In some embodiments, the second buck chopper module 3 may be a multiple chopper circuit. The multiple chopper circuit can comprise a plurality of chopper units controlled in a phase-staggered mode, and the multiple chopper circuit is suitable for performing phase-staggered chopping on the second power supply voltage so as to improve the output frequency of the second buck chopper module. In some embodiments of double-staggered phase chopping, the switching phase difference for each chopping may be 180 °. In some embodiments of triple-staggered phase chopping, the switching phase difference for each chopping may be 120 °. In some six-interleaved phase chopping embodiments, the phase difference of the switches of each chopping may be 60 °. By adopting the multiple chopper circuit, the output frequency of the whole circuit can be obviously improved, so that the ripples of the second output voltage are reduced, the current stress of each chopper tube is reduced, the capacity requirement on the filter capacitor in the second buck chopper module 3 is reduced, the size of the second buck chopper module 3 is reduced, and the weight of the second buck chopper module is reduced.
As shown in fig. 2, in some embodiments of the present invention, the two-way output power supply for a magnetic levitation vehicle may further include two-way anti-reverse circuits 4 and 5. The two anti-reverse circuits 4 and 5 can be respectively arranged on two output main lines of the power supply and are suitable for preventing the circuit energy of the load from reversely flowing into the power supply from two output interfaces by utilizing the one-way conduction characteristic of the diode, so that the anti-reverse protection function is provided.
Specifically, the first anti-reverse circuit 4 may be disposed at the output end of the first output voltage, and is adapted to prevent the circuit energy from flowing back to the power supply from the floating controller in a reverse direction. The levitation controller can represent a levitation power device of the local train of the maglev train. The first power supply voltage output from the isolation conversion module 2 can be transmitted to the first output interface of the power supply through the first anti-reverse circuit 4, so as to respectively supply power to the suspension controller and the suspension battery of the carriage. The levitation battery may be a dedicated battery for the levitation controller and adapted to store electrical energy to power the levitation controller.
A second anti-kickback circuit 5 may be provided at the output of the second output voltage adapted to prevent reverse flow of circuit energy from the dc auxiliary load back to the power supply. The dc auxiliary load includes, but is not limited to, a low voltage dc load of a magnetic levitation train. The dc voltage output from the second buck chopper module 3 may be transferred to the second output interface of the power supply via the second anti-reverse circuit 5, so as to supply power to the dc auxiliary load and the auxiliary battery of the vehicle cabin, respectively. The auxiliary battery may be a dedicated battery for low voltage dc loads, adapted to store electrical energy to power the dc auxiliary load.
In some embodiments of the present invention, the dual output power supply for a magnetic levitation vehicle may further comprise a processor. The processor can be in communication connection with the first buck chopper module 1, the isolation conversion module 2 and the second buck chopper module 3, and is used for implementing a control method of a power supply to solve the problems of power supply of suspended power and power supply of other direct-current auxiliary loads at the same time. In some embodiments, the processor may be a dedicated processor of the dual output power supply for the magnetic levitation vehicle, and is disposed in the dual output power supply for the magnetic levitation vehicle. In other embodiments, the processor may also be a processor of a magnetic levitation train, which is disposed in an equipment bay of each car of the magnetic levitation train or a cab of the magnetic levitation train.
The operation principle of the power supply will be described below in conjunction with some control methods of the power supply. The control method may be implemented by a processor of the power supply described above. It will be appreciated by those skilled in the art that these control methods are only a few non-limiting examples, which are intended to clearly illustrate the broad concepts of the present invention and to provide some detailed illustrations of its implementation to the public, and not to limit the scope of the invention.
Referring to fig. 3, fig. 3 is a flow chart illustrating a control method of a dual output power source for a magnetic levitation vehicle according to some embodiments of the present invention.
As shown in fig. 3, the control method provided by the present invention may include step 301: and controlling the first buck chopper module to take power from the direct-current power supply network so as to output direct-current intermediate voltage.
In some embodiments of the present invention, in response to the power supply being turned on, the processor may control the first step-down chopper module 1 to smoothly boost the intermediate voltage output therefrom from the lowest voltage to the target voltage. By adopting the soft start control mode, the first power supply voltage output by the isolation conversion module 2 is smoothly promoted along with the intermediate voltage, so that the stability of the first output voltage is ensured.
In some preferred embodiments, the first buck chopper module 1 may adopt a three-level buck chopper circuit. The processor can control the three-level buck chopper circuit 1 to perform three-level buck chopping on the direct-current voltage input by the direct-current power supply network so as to reduce the voltage stress of a power tube of the three-level buck chopper circuit, reduce the current ripple of a filter inductor of the three-level buck chopper circuit, and reduce the capacity requirement on a filter capacitor of the three-level buck chopper circuit.
As shown in fig. 3, the control method provided by the present invention may further include step 302: and controlling the isolation conversion module to perform isolation conversion on the intermediate voltage so as to output two paths of direct current supply voltages.
In the above embodiment, in response to the intermediate voltage output by the first buck chopper module 1, the processor may perform open-loop control on the isolation conversion module 2 to perform isolation conversion on the input intermediate voltage into the first power supply voltage and the second power supply voltage which are isolated from each other. After the rectification and filtering of the isolation conversion module 2, the amplitude of the first power supply voltage is adapted to the working voltage of the suspension controller, and the first power supply voltage can be transmitted to the first output interface of the power supply through the first anti-reverse circuit 4, so that the first output voltage is used for respectively supplying power to the suspension controller and the suspension battery of the maglev train. After the second power supply voltage is rectified and filtered by the isolation conversion module 2, the second power supply voltage can be output to the second buck chopper module 3 at the rear end for further chopping and voltage regulation.
In some preferred embodiments, the isolation conversion module 2 may use an LLC resonant circuit. The processor can utilize the resonance characteristics among the excitation inductance, the leakage inductance and the capacitance of the transformer of the LLC resonant circuit 2 to realize the soft switching of the primary side circuit and the secondary side circuit of the transformer.
In some preferred embodiments, the LLC resonant circuit may preferably be a three-phase LLC resonant circuit. The processor can share energy by using three LLC resonant branches of the three-phase LLC resonant circuit 2 to reduce current stress of each resonant branch. In addition, the processor may further utilize three LLC resonant branches to increase the output frequency of the isolation conversion module 2, so as to reduce ripples of the first and second supply voltages.
As shown in fig. 3, the control method provided by the present invention may further include step 303: and controlling a second step-down chopping module to chop and regulate the voltage of the second power supply voltage, and outputting a second path of output voltage to supply power for a direct-current auxiliary load and/or an auxiliary battery of the magnetic-levitation train.
In the above embodiment, in response to the second supply voltage output by the isolation conversion module 2, the processor may control the second buck chopper module 3 to chop and regulate the second supply voltage, and buck chop the second supply voltage to the working voltage of the dc auxiliary load. The direct-current voltage output by the second buck chopper module 3 can be transmitted to the second output interface of the power supply through the second anti-reverse circuit 5, so as to be used as the second output voltage to respectively supply power to the direct-current auxiliary load and the auxiliary battery of the magnetic-levitation train.
In some preferred embodiments, the second buck chopper module 3 may be a multiple chopper circuit. The multiple chopper circuit 3 may include a plurality of chopper units controlled by the phase error. The processor can perform phase-staggered chopping on the second power supply voltage according to the actual number of the chopping units, and improve the output frequency of the second buck chopping module to reduce ripples of the second output voltage, reduce the current stress of each chopping tube, and reduce the capacity requirement of the filter in the second buck chopping module.
In some embodiments of the present invention, after outputting two output voltages to respectively supply power to the levitated power system of the maglev train and other dc auxiliary loads, the processor of the power supply may further monitor feedback parameters provided by each load, and implement the voltage stabilization closed-loop control of the first output voltage and the second output voltage according to the monitored feedback parameters.
Specifically, the processor may monitor the temperature of the floating battery in real time as the compensation feedback value of the first output. And then, the processor can perform output given control on the first buck chopper module 1 according to the temperature compensation feedback value, adjust the amplitude of the intermediate voltage by using the first buck chopper module 1, and realize voltage stabilization closed-loop control on the first output voltage by matching with the LLC resonant circuit 2. In addition, the processor can also monitor the temperature of the auxiliary battery in real time to serve as a compensation feedback value of the second output. The processor can perform output given control on the second buck chopper module 2 according to the temperature compensation feedback value, and adjust the amplitude of the output voltage of the second buck chopper module 2 to realize voltage stabilization closed-loop control on the second output voltage. By adopting the temperature compensation feedback charging method, the invention can further prolong the service life of the suspension battery and the auxiliary battery.
It will be appreciated by those skilled in the art that the above-described solution, in which all the controls are implemented centrally by a processor of the power supply, is only a non-limiting example, intended to illustrate the main idea of the invention and to provide a concrete solution that is easy to implement for the public, and not to limit the scope of protection of the invention. Alternatively, in other embodiments, the above control steps may be implemented by a power supply and/or multiple processors of the maglev train.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
According to another aspect of the present invention, there is also provided a power supply system for a magnetic-levitation train. The power supply system can get electricity from a direct-current power supply network of the magnetic-levitation train to provide two paths of mutually electrically isolated outputs, and is used for simultaneously solving the problems of power supply of levitation power and power supply of other direct-current auxiliary loads, thereby improving the integration level of the system and optimizing the size, weight and cost of the power supply system.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating an architecture of a power supply system of a magnetic-levitation train according to some embodiments of the present invention.
As shown in fig. 4, in some embodiments of the present invention, a train of magnetic-levitation trains may include three cars. Accordingly, the power supply system of a magnetic-levitation train may include three power supplies. The power supply may be a dual output power supply as provided in any of the embodiments described above. And each two-way output power supply can be respectively configured in the corresponding compartment and used for supplying power to the suspension power system and the direct current auxiliary system of the corresponding compartment.
In particular, a first power supply disposed at the first car may provide two output voltages, one of which is adapted to power the levitation controller and the levitation battery of the first car, and the other of which is adapted to power the dc auxiliary load and the auxiliary battery of the first car. The second power supply disposed in the second car may provide two output voltages, one of which is adapted to power the levitation controller and the levitation battery of the second car, and the other of which is adapted to power the dc auxiliary load and the auxiliary battery of the second car. A third power supply disposed in the third car may provide two output voltages, one of which is adapted to power the levitation controller and the levitation battery of the third car, and the other of which is adapted to power the dc auxiliary load and the auxiliary battery of the third car.
In some preferred embodiments, the power supply system of the magnetic-levitation train may further include two output buses. The first output bus bar may include a first high voltage line and a first low voltage line. The first high-voltage line is suitable for being respectively connected with the high-voltage input ends of the suspension controllers, so that the power supplies can carry out redundant voltage-sharing output on the suspension controllers of the magnetic-levitation train. When any power supply fails to provide the first output voltage, the power supplies of the rest compartments can supply power to the suspension power device of the failed compartment through the first high-voltage line so as to guarantee the suspension force of the failed compartment. The first low-voltage line is suitable for being respectively connected with the low-voltage output end of the first path of output voltage of each power supply so as to ensure that the first output end of each compartment power supply, the suspension battery and the suspension controller are grounded.
Accordingly, the second output bus may include a second high voltage line and a second low voltage line. The second high-voltage line is suitable for being respectively connected with the high-voltage input ends of the direct-current auxiliary loads, so that the direct-current auxiliary loads of all the carriages can be output in a redundant voltage-sharing mode by all the power supplies. When any power supply fails to provide the second output voltage, the power supplies of the rest compartments can supply power to the direct-current auxiliary load of the failed compartment through the second high-voltage line so as to ensure the normal operation of the direct-current auxiliary load of the failed compartment. The second low-voltage line is suitable for being respectively connected with the low-voltage output ends of the second output voltage of each power supply so as to ensure that the second output end of each compartment power supply, the auxiliary battery and the direct-current auxiliary load are grounded together.
In some embodiments, the levitating power system and the dc assist system of the magnetic levitation train may have different operating voltages. Accordingly, the first output bus and the second output bus should be electrically isolated from each other. Through the isolation transformation of the isolation transformation module 2, the first output bus and the second output bus can be electrically isolated from a direct current power supply network of the magnetic suspension train.
According to another aspect of the present invention, a computer-readable storage medium is also provided herein.
The present invention provides the above computer readable storage medium having stored thereon computer instructions. When executed by a processor, the computer instructions may implement the control method provided by any of the above embodiments, thereby simultaneously solving the problems of the floating power supply and the other dc auxiliary loads.
Although the processors described in the above embodiments may be implemented by a combination of software and hardware. It will be appreciated that the processor may also be implemented solely in software or hardware. For a hardware implementation, the processor may be implemented on one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), digital signal processing devices (DAPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic devices designed to perform the functions described herein, or a selected combination thereof. For a software implementation, the processor may be implemented by means of separate software modules, such as program modules (procedures) and function modules (functions), running on a common chip, which each may perform one or more of the functions and operations described herein.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (16)
1. The utility model provides a two-way output power supply for magnetic levitation train which characterized in that includes:
the first buck chopper module is suitable for taking power from a direct-current power supply network to output direct-current intermediate voltage;
the isolation conversion module is suitable for carrying out isolation conversion on the intermediate voltage so as to output two paths of direct current supply voltages, wherein the first supply voltage is suitable for serving as the first path of output voltage to supply power for a suspension controller and/or a suspension battery of the magnetic-levitation train;
the second buck chopping module is suitable for chopping and regulating voltage of a second power supply voltage and outputting a second path of output voltage to supply power for a direct-current auxiliary load and/or an auxiliary battery of the magnetic-levitation train; and
a processor communicatively connected to the first buck chopper module, the isolation transform module, and the second buck chopper module, and configured to:
collecting the temperature of the suspension battery as a compensation feedback value to perform output given control of closed-loop control on the first buck chopper module, so as to adjust the amplitude of the output voltage of the first buck chopper module to realize voltage stabilization of the first output voltage; and
and acquiring the temperature of the auxiliary battery as a compensation feedback value to perform output given control of closed-loop control on the second buck chopper module, so as to adjust the amplitude of the output voltage of the second buck chopper module to realize voltage stabilization of the second output voltage.
2. The power supply of claim 1, wherein the processor is further configured to:
responding to the starting of the power supply, controlling the first buck chopper module to smoothly boost the output intermediate voltage of the first buck chopper module from the lowest voltage to a target voltage so as to ensure the stability of the first output voltage;
in response to the output of the intermediate voltage, controlling the isolation transformation module to isolate transform the intermediate voltage into the first supply voltage and the second supply voltage; and
and responding to the output of the second power supply voltage, and controlling the second buck chopping module to chop and regulate the second power supply voltage so as to output the second output voltage.
3. The power supply of claim 1, wherein the first buck chopper module is adapted to output an intermediate voltage of adjustable magnitude, the isolated converter module includes an LLC resonant circuit, wherein,
the LLC resonant circuit is suitable for realizing the soft switching of a primary circuit and a secondary circuit of the transformer by utilizing the resonance characteristics among the exciting inductance, the leakage inductance and the capacitance of the transformer,
the LLC resonant circuit is suitable for being matched with the first buck chopper module to realize voltage stabilization of the first output voltage.
4. The power supply of claim 3, wherein the LLC resonant circuit comprises a three-phase LLC resonant circuit, the three-phase LLC resonant circuit comprising a high-frequency transformer, one primary winding and two secondary windings of the high-frequency transformer being connected in delta,
the three-phase LLC resonant circuit is suitable for sharing energy by using three LLC resonant branches to reduce the current stress of each resonant branch, and is suitable for improving the output frequency of the isolation conversion module to reduce ripples of the first power supply voltage and the second power supply voltage.
5. The power supply of claim 1, wherein the first buck chopper module comprises a three-level buck chopper circuit adapted to reduce voltage stress on its power transistor, to reduce current ripple on its filter inductor, and to reduce capacity requirements on its filter capacitor.
6. The power supply of claim 1, wherein the second buck chopper module comprises a multiple chopper circuit comprising a plurality of chopper cells controlled by an alternate phase, and wherein the multiple chopper circuit is adapted to increase the output frequency of the second buck chopper module by alternate phase chopping to reduce ripple on the second output voltage, reduce current stress on each chopper, and reduce capacity requirements of a filter in the second buck chopper module.
7. The power supply of claim 1, further comprising:
the first anti-reverse circuit is arranged at the output end of the first path of output voltage and is suitable for preventing circuit energy from reversely flowing back to the power supply from the suspension controller; and/or
And the second anti-reverse circuit is arranged at the output end of the second output voltage and is suitable for preventing circuit energy from reversely flowing back to the power supply from the direct current auxiliary load.
8. A control method of a double-output power supply for a magnetic levitation train is characterized by comprising the following steps:
controlling a first buck chopper module to take power from a direct-current power supply network so as to output direct-current intermediate voltage;
the control isolation conversion module is used for carrying out isolation conversion on the intermediate voltage so as to output two paths of direct current supply voltages, wherein the first supply voltage is suitable for serving as the first path of output voltage to supply power for a suspension controller and/or a suspension battery of the magnetic-levitation train;
controlling a second step-down chopper module to perform chopping and voltage regulation on a second power supply voltage, and outputting a second path of output voltage to supply power for a direct-current auxiliary load and/or an auxiliary battery of the magnetic-levitation train;
collecting the temperature of the suspension battery as a compensation feedback value to perform output given control of closed-loop control on the first buck chopper module, so as to adjust the amplitude of the output voltage of the first buck chopper module to realize voltage stabilization of the first output voltage; and
and acquiring the temperature of the auxiliary battery as a compensation feedback value to perform output given control of closed-loop control on the second buck chopper module, so as to adjust the amplitude of the output voltage of the second buck chopper module to realize voltage stabilization of the second output voltage.
9. The control method of claim 8, wherein the step of outputting the intermediate voltage comprises: responding to the starting of the power supply, controlling the first buck chopper module to smoothly boost the output intermediate voltage from the lowest voltage to a target voltage so as to ensure the stability of the first output voltage,
the step of outputting the two paths of the power supply voltages comprises the following steps: controlling the isolation transformation module to isolate transform the intermediate voltage into the first supply voltage and the second supply voltage in response to an output of the intermediate voltage,
the step of outputting the second output voltage comprises the following steps: and responding to the output of the second power supply voltage, and controlling the second buck chopping module to chop and regulate the voltage of the second power supply voltage so as to output the second output voltage.
10. The control method of claim 8, wherein the first buck chopper module is adapted to output an intermediate voltage having an adjustable magnitude, the isolated converter module includes an LLC resonant circuit,
the step of controlling the isolation transformation module to perform isolation transformation on the intermediate voltage comprises the following steps: the soft switching of the primary side circuit and the secondary side circuit of the transformer is realized by utilizing the resonance characteristics among the excitation inductance, the leakage inductance and the capacitance of the transformer of the LLC resonant circuit,
the step of performing closed-loop control on the first buck chopper module comprises: and adjusting the amplitude of the intermediate voltage by using the first buck chopper module to cooperate with the LLC resonant circuit to realize the voltage stabilization of the first output voltage.
11. The control method according to claim 10, wherein the LLC resonant circuit comprises a three-phase LLC resonant circuit, the three-phase LLC resonant circuit comprises a high-frequency transformer, one primary winding and two secondary windings of the high-frequency transformer are connected in a delta connection,
the step of controlling the isolation transformation module to perform isolation transformation on the intermediate voltage further includes:
three LLC resonance branches of the three-phase LLC resonance circuit are used for sharing energy so as to reduce the current stress of each resonance branch; and
and the three LLC resonant branches are utilized to increase the output frequency of the isolation conversion module so as to reduce the ripples of the first power supply voltage and the second power supply voltage.
12. The control method according to claim 8, wherein the first buck chopper module includes a three-level buck chopper circuit, and the step of outputting the intermediate voltage includes:
and performing three-level buck chopping on the direct-current voltage input by the direct-current power supply network so as to reduce the voltage stress of a power tube of the three-level buck chopper circuit, reduce the current pulsation of a filter inductor of the three-level buck chopper circuit, and reduce the capacity requirement on a filter capacitor of the three-level buck chopper circuit.
13. The control method according to claim 8, wherein the second buck chopper module includes a multiple chopper circuit including a plurality of chopper cells controlled by a wrong phase, and the step of outputting the second output voltage includes:
and performing phase-staggered chopping on the second power supply voltage, and increasing the output frequency of the second buck chopper module to reduce ripples of the second output voltage, reduce the current stress of each chopper, and reduce the capacity requirement of a filter in the second buck chopper module.
14. A power supply system for a magnetic-levitation train, comprising:
a plurality of power supplies according to any one of claims 1 to 7, wherein a first output voltage of each of the power supplies is adapted to power a levitation controller and/or a levitation battery of the magnetic-levitation train, and a second output voltage of each of the power supplies is adapted to power a DC auxiliary load and/or an auxiliary battery of the magnetic-levitation train.
15. The power supply system of claim 14, further comprising:
the high-voltage wires of the first output bus are respectively connected with the high-voltage input ends of the suspension controllers, and the low-voltage wires of the first output bus are respectively connected with the low-voltage output ends of the first output voltage of each power supply; and
a second output bus, wherein the high voltage lines of the second output bus are respectively connected with the high voltage input ends of the DC auxiliary loads, the low voltage lines of the second output bus are respectively connected with the low voltage output ends of the second output voltage of the power supplies, wherein,
the first output bus and the second output bus are electrically isolated from the direct current power supply network of the magnetic suspension train.
16. A computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions, when executed by a processor, implement the control method of any one of claims 8 to 13.
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