WO2023236834A1 - 一种磁轮驱动装置及驱动方法 - Google Patents

一种磁轮驱动装置及驱动方法 Download PDF

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Publication number
WO2023236834A1
WO2023236834A1 PCT/CN2023/097471 CN2023097471W WO2023236834A1 WO 2023236834 A1 WO2023236834 A1 WO 2023236834A1 CN 2023097471 W CN2023097471 W CN 2023097471W WO 2023236834 A1 WO2023236834 A1 WO 2023236834A1
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WIPO (PCT)
Prior art keywords
wheel
permanent magnet
vehicle body
magnetic
magnetic wheel
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PCT/CN2023/097471
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English (en)
French (fr)
Inventor
邓自刚
李凯文
刘新
石洪富
梁乐
郑珺
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西南交通大学
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Publication of WO2023236834A1 publication Critical patent/WO2023236834A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/08—Sliding or levitation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
    • B60L13/10—Combination of electric propulsion and magnetic suspension or levitation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/006—Magnetic wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
    • B60L13/04—Magnetic suspension or levitation for vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
    • B60L13/04—Magnetic suspension or levitation for vehicles
    • B60L13/06—Means to sense or control vehicle position or attitude with respect to railway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to the technical field of maglev trains, and specifically to a magnetic wheel driving device and a driving method.
  • the object of the present invention is to provide a magnetic wheel driving device and a driving method to improve the above problems.
  • the technical solutions adopted by the present invention are as follows:
  • This application provides a magnetic wheel drive device, which includes: a car body, a guide rail system, a magnetic wheel system and a power system.
  • the guide rail system includes two conductor plates, and the two conductor plates are respectively arranged on the car body.
  • On both sides there are at least two magnetic wheel systems, wherein two of the magnetic wheel systems are symmetrically arranged on both sides of the vehicle body, and there are gaps between all of the magnetic wheel systems and the conductor plate.
  • the power system drives each of the magnetic wheel systems to rotate.
  • the magnetic wheel system includes a hub and a permanent magnet wheel.
  • the hub is arranged parallel to the ground.
  • the inner ring of the hub is rotationally connected to the vehicle body.
  • the permanent magnet wheel is arranged on the outer ring of the hub.
  • the permanent magnet wheel includes several permanent magnet units, and the plurality of permanent magnet units are according to The magnetization direction is set into a ring structure according to the Halbach periodic array.
  • the permanent magnet wheel includes 16 permanent magnet monomers, and every two adjacent permanent magnet monomers are arranged in a 90° clockwise rotation according to the magnetization direction.
  • the power system includes an electric motor and a transmission assembly.
  • the electric motor is arranged in the vehicle body.
  • the electric motor is rotationally connected to all the magnetic wheel systems through the transmission assembly.
  • the magnetic wheel systems on both sides rotate. In the opposite direction.
  • the transmission component is a transmission shaft.
  • One end of the transmission shaft is fixedly connected to the output shaft of the motor, and the other end is connected to the output shaft of the motor.
  • the magnetic wheel system is fixedly connected.
  • This application also provides a magnetic wheel driving method.
  • Using the magnetic wheel driving device includes: receiving a first control command, where the first control command includes a command to control the startup of the power system; responding to the first control command.
  • Control command send a second control command, the second control command includes a command to energize the power system. After the power system is energized, it drives the magnetic wheel system to rotate. The magnetic wheel system interacts with the conductor plate during the rotation.
  • the joint action generates the driving force for driving the movement of the vehicle body; detects the movement speed value of the vehicle body, and when the movement speed value reaches the preset speed value, sends a third control command, the third control command includes adjusting the magnetic wheel
  • the rotation speed of the system causes the vehicle body to move at a constant speed at a preset speed; the distance between the position of the vehicle body and the preset deceleration point is detected, and when the position of the vehicle body reaches the preset deceleration point, a signal is sent
  • the fourth control command includes a command to reduce the rotation speed of the magnetic wheel system to a preset rotation speed to stop the vehicle body at a preset parking point.
  • the magnetic wheel system interacts with the conductor plate during the rotation process to generate a driving force for driving the movement of the vehicle body, including: the rotation of the permanent magnet wheel on the magnetic wheel system causes the conductor plate to generate induced eddy currents, the The induced eddy current forms a mirror magnetic field in the opposite direction to the rotating magnetic field of the permanent magnet wheel, so The mirror magnetic field interacts with the permanent magnet wheel rotating magnetic field to generate a driving force that drives the movement of the vehicle body.
  • adjusting the rotation speed of the magnetic wheel system so that the vehicle body first increases to a preset speed includes: adjusting the rotation speed of the magnetic wheel system so that the equivalent linear speed of the magnetic wheel system Greater than the horizontal movement speed of the car body, the rotation of the permanent magnet wheel on the magnetic wheel system causes the conductor plate to generate induced eddy currents.
  • the induced eddy current forms a mirror magnetic field in the opposite direction to the rotating magnetic field of the permanent magnet wheel.
  • the mirror magnetic field The driving force generated by the rotating magnetic field of the permanent magnet wheel is greater than zero, thereby realizing the accelerated operation state of the vehicle body.
  • adjusting the rotation speed of the magnetic wheel system to make the vehicle body move at a constant speed at a preset speed includes: adjusting the rotation speed of the magnetic wheel system so that the equivalent speed of the magnetic wheel system The linear speed is equal to the horizontal movement speed of the car body.
  • the rotation of the permanent magnet wheel on the magnetic wheel system causes the conductor plate to generate induced eddy currents.
  • the induced eddy currents form a mirror magnetic field in the opposite direction to the rotating magnetic field of the permanent magnet wheel, so The driving force generated by the mirror magnetic field and the rotating magnetic field of the permanent magnet wheel is zero, realizing the uniform running state of the vehicle body.
  • the rotation speed of the magnetic wheel system is reduced to a preset rotation speed
  • the command to stop the car body at a preset parking point includes: adjusting the output speed of the power system to decrease, so that the magnetic wheel system The equivalent linear speed is less than the horizontal movement speed of the car body.
  • the rotation of the permanent magnet wheel on the magnetic wheel system causes the conductor plate to generate induced eddy currents.
  • the induced eddy current forms a mirror magnetic field in the opposite direction to the rotating magnetic field of the permanent magnet wheel.
  • the driving force generated by the mirror magnetic field and the permanent magnet wheel rotating magnetic field becomes a braking force.
  • the braking force hinders the movement of the vehicle body, causing the vehicle body to decelerate until it stops at a preset parking point. .
  • the present invention controls the motor to drive the magnetic wheel system to rotate to a certain working speed.
  • the motor control is simple, and the magnetic wheel system is installed on the car body, and the conductor plates are installed on both sides of the car body. Compared with the primary winding of long-distance guide rails, its construction cost is greatly reduced.
  • the present invention drives the magnetic levitation vehicle body to move by converting the braking force of the magnetic wheel into driving force.
  • the working speed is low, the required motor power is low, the driving force provided is large, and the energy loss is lower than that of an ordinary asynchronous motor. It is said that only the eddy current loss in the conductor plate is increased, the working efficiency can reach more than 90%, and it has the advantages of large driving force and high efficiency.
  • Figure 1 is a structural diagram of the magnetic wheel drive device
  • Figure 2 is a top view of the magnetic wheel drive device
  • Figure 3 is a cross-sectional view along line A-A in Figure 2;
  • Figure 4 is an enlarged view of position I in Figure 3;
  • Figure 5 is a structural diagram of the magnetic wheel system.
  • Existing maglev vehicles are usually driven by various types of linear motors, mainly including long-stator linear synchronous motors and short-stator linear induction motors.
  • the long-stator linear synchronous motor is driven by adjusting the current size and direction of the stator pole windings. It generates a traveling wave magnetic field and interacts with the vehicle's rotor winding to achieve traction.
  • the long stator winding needs to be switched and energized in sections.
  • the control system needs to consider many factors, the control strategy is complex, and the primary winding of the long stator linear synchronous motor It is laid on the guide rail and the secondary is set at the bottom of the vehicle.
  • this embodiment provides a magnetic wheel drive device, which includes a vehicle body 1, a guide rail system 2, a magnetic wheel system 3 and a power system 4.
  • the guide rail system 2 includes two conductor plates 22 , two conductor plates 22 are respectively arranged on both sides of the vehicle body 1, and at least two magnetic wheel systems 3 are provided, wherein the two magnetic wheel systems 3 are symmetrically arranged on both sides of the vehicle body 1, and all the magnetic wheel systems 3 are connected with the conductor plates There is a gap between 22, and the power system 4 drives each magnetic wheel system 3 to rotate.
  • the car body 1 is arranged on the guide rail system 2, and there are multiple magnetic wheel systems 3 installed symmetrically on the car body 1.
  • the wheel plate On both sides of the wheel plate, it forms a wheel plate combination with the conductor plate 22.
  • the power system 4 to drive the rotation of the magnetic wheel system 3 and adjusting the rotation speed, the magnetic wheel system 3 and the conductor plate 22 couple with each other to realize the acceleration of the vehicle body 1. Uniform and decelerated motion.
  • Figure 2 shows that in some embodiments, there are two magnetic wheel systems 3, which are symmetrically installed on both sides of the vehicle body 1.
  • the guide rail system 2 is a U-shaped structure
  • the track 21 is set parallel to the ground
  • the track 21 provides the car body 1 with a magnetic levitation force vertical to the ground
  • two conductor plates 22 are set vertical to the ground on the track 21
  • the distance between the conductor plate 22 and the magnetic wheel system 3 is 10-40 mm. Within this distance range, the interaction between the conductor plate 22 and the magnetic wheel system 3 generates the largest driving force and the highest working efficiency.
  • Figure 4 shows that the magnetic wheel system 3 includes a hub 31 and a permanent magnet wheel 32.
  • the hub 31 is arranged parallel to the ground.
  • the inner ring of the hub 31 is rotationally connected to the vehicle body 1.
  • the permanent magnet wheel 32 is arranged on the hub 31.
  • On the outer ring it can be understood that such an arrangement makes the magnetic field generated by the magnetic wheel system 3 be in line with the ground. It is distributed flatly and will not produce any force in the vertical ground direction when interacting with the conductor plate 22, which will affect the stable operation of the magnetic levitation vehicle body 1.
  • the permanent magnet wheel 32 includes several permanent magnet monomers 321.
  • the plurality of permanent magnet monomers 321 are arranged in a ring structure according to the magnetization direction according to the Halbach periodic array. This structure utilizes the arrangement of special magnet units to enhance The field strength at the periphery of the magnetic wheel enables the permanent magnet wheel 32 to generate a stronger magnetic field with a smaller amount of magnets.
  • Figure 5 shows that the permanent magnet wheel 32 includes 16 permanent magnet monomers 321, and each two adjacent permanent magnet monomers 321 are arranged to rotate 90° clockwise according to the magnetization direction.
  • Fc represents the lateral force
  • Fq represents the driving force
  • the arrow represents the magnetization direction of the permanent magnet unit 321.
  • the mirror magnetic field interacts with the rotating magnetic field of the permanent magnet wheel 32 to generate a lateral force perpendicular to the conductor plate 22 and directed to the inside of the vehicle body 1 and a driving force parallel to the vehicle body 1.
  • the two sides of the vehicle body 1 The lateral forces on both sides cancel each other out, and the two driving forces work together to push the vehicle body 1 to accelerate, uniformly and decelerate.
  • the power system 4 includes an electric motor 41 and a transmission assembly 42.
  • the electric motor 41 is arranged in the vehicle body 1.
  • the electric motor 41 is rotationally connected to all the magnetic wheel systems 3 through the transmission assembly 42.
  • the rotation directions of the magnetic wheel systems 3 are opposite.
  • This design drives all the magnetic wheel systems 3 to rotate by controlling the rotation of the motor 41 and the power transmission of the transmission assembly 42.
  • the magnetic wheel systems 3 on both sides turn in opposite directions, so that both sides of the car body 1
  • the lateral forces generated by the magnetic wheel system 3 and the conductor plate 22 are in opposite directions and cancel each other out.
  • the generated driving forces are in the same direction and work efficiency is maximized.
  • the two electric motors 41 are provided.
  • the two electric motors 41 rotate in opposite directions.
  • the transmission assembly 42 is a transmission shaft. One end of the transmission shaft is fixedly connected to the output shaft of the electric motor 41, and the other end of the transmission shaft is fixedly connected to the output shaft of the motor 41. It is fixedly connected to the magnetic wheel system 3 through the connecting key 421.
  • the arrangement of the two electric motors 41 makes the magnetic wheel drive device more powerful, and when the single-sided motor 41 fails, the magnetic wheel drive device can operate normally, and the electric motor 41 Power transmission through the drive shaft reduces power losses in the process.
  • This embodiment provides a magnetic wheel driving method, using the magnetic wheel driving device in Embodiment 1.
  • these include:
  • the first control command includes a command to control the startup of the power system 4; in response to the first control command, send a second control command, the second control command includes a command to energize the power system 4, after the power system 4 is powered on , drives the magnetic wheel system 3 to rotate.
  • the magnetic wheel system 3 cooperates with the conductor plate 22 during the rotation process to generate the driving force to drive the movement of the vehicle body 1; detect the movement speed value of the vehicle body 1, and when the movement speed value reaches the preset speed value Finally, a third control command is sent.
  • the third control command includes adjusting the rotation speed of the magnetic wheel system 3 so that the vehicle body 1 moves at a constant speed at a preset speed; detecting the distance between the position of the vehicle body 1 and the preset deceleration point.
  • a fourth control command is sent.
  • the fourth control command includes a command to reduce the rotation speed of the magnetic wheel system 3 to the preset rotation speed so that the body 1 stops at the preset parking point.
  • the magnetic wheel system 3 cooperates with the conductor plate 22 during the rotation process to generate a driving force for driving the movement of the vehicle body 1, including:
  • the rotation of the permanent magnet wheel 32 on the magnetic wheel system 3 causes the conductor plate 22 to generate induced eddy currents.
  • the induced eddy current forms a mirror magnetic field in the opposite direction to the rotating magnetic field of the permanent magnet wheel 32.
  • the mirror magnetic field interacts with the rotating magnetic field of the permanent magnet wheel 32 to generate a driving vehicle.
  • the driving force of body 1 movement is not limited to.
  • the adjustment of the rotating speed of the magnetic wheel system 3 to make the vehicle body 1 move at a constant speed at a preset speed includes:
  • the rotation of the permanent magnet wheel 32 on the magnetic wheel system 3 causes the conductor plate 22 to generate induced eddy currents.
  • a mirror magnetic field is formed in the opposite direction to the rotating magnetic field of the permanent magnet wheel 32. The driving force generated by the mirror magnetic field and the rotating magnetic field of the permanent magnet wheel 32 is zero, thus achieving a uniform running state of the vehicle body 1.
  • the rotation speed of the magnetic wheel system 3 is reduced to the preset rotation speed, and the command to stop the vehicle body 1 at the preset parking point includes:
  • the rotation of the permanent magnet wheel 32 on the magnetic wheel system 3 causes the conductor plate 22 to generate induced eddy currents.
  • a mirror magnetic field is formed in the opposite direction to the rotating magnetic field of the permanent magnet wheel 32.
  • the driving force generated by the mirror magnetic field and the rotating magnetic field of the permanent magnet wheel 32 becomes a braking force.
  • the braking force hinders the movement of the car body 1, causing the car body 1 to decelerate. Until it stops at the preset parking point.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

一种磁轮驱动装置及驱动方法，涉及磁浮列车技术领域，包括车体（1）、导轨***（2）、磁轮***（3）和动力***（4），导轨***（2）包括两个导体板（22），两个导体板（22）分别设置在车体（1）两侧，磁轮***（3）设置有至少两个，其中两个磁轮***（3）对称设置在车体（1）两侧壁上，所有磁轮***（3）与导体板（22）之间设置有空隙，动力***驱动每个磁轮***（3）旋转。优点为通过控制电动机（41）带动磁轮***（3）旋转进行驱动，电动机（41）控制策略简单，建设成本低；通过将磁轮的制动力转换为驱动力带动磁悬浮车体运动，工作效率高且驱动力大。

Description

一种磁轮驱动装置及驱动方法 技术领域
本发明涉及磁浮列车技术领域，具体而言，涉及一种磁轮驱动装置及驱动方法。
背景技术
现有的磁悬浮交通工具通常采用的是各个类型的直线电机进行驱动，主要有长定子直线同步电机和短定子直线感应电机，其中长定子直线同步电机励磁控制***需要考虑因素较多，控制策略复杂，并且长定子直线同步电机需搭建的初级绕组距离长，建设成本高；而短定子直线感应电机效率低、推力小。
发明内容
本发明的目的在于提供一种磁轮驱动装置及驱动方法，以改善上述问题。为了实现上述目的，本发明采取的技术方案如下：
本申请提供了一种磁轮驱动装置，它包括：车体、导轨***、磁轮***和动力***，所述导轨***包括两个导体板，两个所述导体板分别设置在所述车体两侧，所述磁轮***设置有至少两个，其中两个所述磁轮***对称设置在所述车体两侧壁上，所有所述磁轮***与所述导体板之间设置有空隙，所述动力***驱动每个所述磁轮***旋转。
进一步地，所述磁轮***包括轮毂和永磁轮，所述轮毂平行地面设置，所述轮毂的内圈与所述车体转动连接，所述永磁轮设置在所述轮毂外圈上。
进一步地，所述永磁轮包括若干个永磁单体，若干个所述永磁单体根据 磁化方向按Halbach周期阵列设置为环形结构。
进一步地，所述永磁轮包括16个所述永磁单体，每两个相邻所述永磁单体按照磁化方向顺时针旋转90°排列。
进一步地，所述动力***包括电动机和传动组件，所述电动机设置在所述车体内，所述电动机通过所述传动组件与所有所述磁轮***转动连接，两侧的所述磁轮***旋转方向相反。
进一步地，所述电动机设置有两个，两个所述电动机旋转方向相反，所述传动组件为传动轴，所述传动轴一端部与所述电动机的输出轴固定连接，另一端部与所述磁轮***固定连接。
本申请还提供了一种磁轮驱动方法，使用所述的磁轮驱动装置，包括了：接收第一控制命令，所述第一控制命令包括控制动力***启动的命令；响应于所述第一控制命令，发送第二控制命令，所述第二控制命令包括给所述动力***通电的命令，所述动力***通电后，驱动磁轮***旋转，所述磁轮***在旋转过程中与导体板共同作用产生驱动车体运动的驱动力；检测所述车体的运动速度值，当运动速度值达到预设速度值后，发送第三控制命令，所述第三控制命令包括调整所述磁轮***旋转的转速，使所述车体按预设的速度匀速运动；检测所述车体的位置与预设减速点的距离，当所述车体的位置到达所述预设减速点时，发送第四控制命令，所述第四控制命令包括将所述磁轮***的转速降至预设转速，使所述车体在预设停车点停车的命令。
进一步地，所述磁轮***在旋转过程中与导体板共同作用下产生驱动车体运动的驱动力，包括了：所述磁轮***上的永磁轮旋转使得导体板产生感应涡流，所述感应涡流形成一个与永磁轮旋转磁场方向相反的镜像磁场，所 述镜像磁场与所述永磁轮旋转磁场相互作用产生驱动车体运动的驱动力。
进一步地，所述调整所述磁轮***旋转的转速，使所述车体先增加到预设速度，包括了：调整所述磁轮***旋转的转速，使得所述磁轮***等效线速度大于所述车体的水平运动速度，所述磁轮***上的永磁轮旋转使得导体板产生感应涡流，所述感应涡流形成一个与永磁轮旋转磁场方向相反的镜像磁场，所述镜像磁场与所述永磁轮旋转磁场产生的驱动力大于零，实现所述车体的加速运行状态。
进一步地，所述调整所述磁轮***旋转的转速，使所述车体按预设的速度匀速运动，包括了：调整所述磁轮***旋转的转速，使得所述磁轮***的等效线速度与所述车体的水平运动速度相等，所述磁轮***上的永磁轮旋转使得导体板产生感应涡流，所述感应涡流形成一个与永磁轮旋转磁场方向相反的镜像磁场，所述镜像磁场与所述永磁轮旋转磁场产生的驱动力为零，实现所述车体的匀速运行状态。
进一步地，所述磁轮***的转速降至预设转速，使所述车体在预设停车点停车的命令，包括了：调整所述动力***的输出转速减小，使得所述磁轮***的等效线速度小于所述车体的水平运动速度，所述磁轮***上的永磁轮旋转使得导体板产生感应涡流，所述感应涡流形成一个与永磁轮旋转磁场方向相反的镜像磁场，此时所述镜像磁场与所述永磁轮旋转磁场产生的驱动力变为制动力，所述制动力阻碍所述车体的运动，使得所述车体减速运行直到停止在预设停车点。
本发明的有益效果为：
一、本发明通过控制电动机带动磁轮***旋转达到一定的工作速度，电 动机控制简单，而且磁轮***安装在车体上，导体板安装在车体两侧，相对于长距离导轨的初级绕组，其建设成本大大降低。
二、本发明通过将磁轮的制动力转换为驱动力带动磁悬浮车体运动，并且工作转速低，所需电动机功率较低，所提供的驱动力较大，能量损耗相对于普通的异步电机来说仅增加了导体板中的涡流损耗，工作效率可达90％以上，具有驱动力大，效率高的优点。
本发明的其他特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明实施例了解。本发明的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为磁轮驱动装置的结构图；
图2为磁轮驱动装置的顶视图；
图3为图2中的A-A剖视图；
图4为图3中I处的放大视图；
图5为所述磁轮***的结构图。
图中标记：1、车体；2、导轨***；21、轨道；22、导体板；3、磁轮系 统；31、轮毂；32、永磁轮；321、永磁单体；4、动力***；41、电动机；42、传动组件；421、连接键。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本发明实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本发明实施例的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本发明的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
现有的磁悬浮交通工具通常采用的是各个类型的直线电机进行驱动，主要有长定子直线同步电机和短定子直线感应电机，其中长定子直线同步电机是通过调节定子磁极绕组的电流大小和方向来产生行波磁场并与车载的转子绕组相互作用实现牵引的，运行时，需要对长定子绕组分段切换通电，控制***需要考虑因素较多，控制策略复杂，并且长定子直线同步电机的初级绕组铺设在导轨上，次级设置在车底部，要实现磁悬浮车辆长距离运行，所需 搭建的初级绕组距离长，建设成本高；短定子直线感应电机因为其气隙比较大，再加上铁芯开断引起的端部效应将在电机内部产生额外的损耗，因此其效率低、推力小。
实施例1：
如图1至图3所示，本实施例提供了一种磁轮驱动装置，它包括了车体1、导轨***2、磁轮***3和动力***4，导轨***2包括两个导体板22，两个导体板22分别设置在车体1两侧，设置至少两个磁轮***3，其中两个磁轮***3对称设置在车体1两侧壁上，所有磁轮***3与导体板22之间设置有空隙，动力***4驱动每个磁轮***3旋转，在本实施例中，车体1设置在导轨***2上，磁轮***3设置有多个，对称安装在车体1的两侧面上，与导体板22形成轮板组合，通过控制动力***4带动磁轮***3的旋转和调整转动速度，使得磁轮***3和导体板22相互耦合作用实现车体1的加速、匀速和减速的运动。
如图2所示，图2示出了在一些实施例中，磁轮***3设置有两个，对称安装在车体1的两侧壁上，这样的设置使车体1受力平衡，起到稳定运行的作用，其中导轨***2为U形结构，轨道21平行于地面设置，轨道21为车体1提供垂直地面向上的磁悬浮力，两个导体板22垂直地面设置在所述轨道21的两侧，导体板22与所述磁轮***3之间相距10-40mm，在这个距离范围内导体板22与磁轮***3相互作用产生的驱动力最大，工作效率最高。
如图4所示，图4示出了磁轮***3包括轮毂31和永磁轮32，轮毂31平行地面设置，轮毂31的内圈与车体1转动连接，永磁轮32设置在轮毂31外圈上，可以理解的是，这样的设置使得磁轮***3产生的磁场与地面呈水 平分布，在与导体板22相互作用时不会产生垂直地面方向的作用力，影响磁悬浮车体1的稳定运行。
如图5所示，永磁轮32包括若干个永磁单体321，若干个永磁单体321根据磁化方向按Halbach周期阵列设置为环形结构，这样的结构利用特殊的磁体单元的排列，增强磁轮***的场强，使得永磁轮32能够用更少量的磁体产生更强的磁场。
在一些实施例中，如图5所示，图5示出了永磁轮32包括16个永磁单体321，每两个相邻永磁单体321按照磁化方向顺时针旋转90°设置，其中Fc表示侧向力，Fq表示驱动力,箭头表示永磁单体321的磁化方向，可以理解的是，环形Halbach结构的永磁轮32旋转使得导体板22产生感应涡流，感应涡流形成一个与永磁轮32旋转磁场方向相反的镜像磁场，镜像磁场与永磁轮32旋转磁场相互作用产生垂直于导体板22指向车体1内部的侧向力和平行车体1的驱动力，车体1两侧的侧向力相互抵消，两处驱动力共同作用推动车体1做加速、匀速和减速运动。
进一步地，如图4和图5所示，动力***4包括电动机41和传动组件42，电动机41设置在车体1内，电动机41通过传动组件42与所有磁轮***3转动连接，两侧的磁轮***3旋转方向相反，这样的设计通过控制电动机41的旋转，经过传动组件42的动力传递，带动所有磁轮***3旋转，两侧的磁轮***3转向相反，使得车体1两侧磁轮***3与导体板22产生的侧向力方向相反，互相抵消，产生的驱动力方向相同，工作效率最大化。
进一步地，电动机41设置有两个，两个电动机41旋转方向相反，传动组件42为传动轴，传动轴一端部与电动机41的输出轴固定连接，另一端部 与所述磁轮***3通过连接键421固定连接，两个电动机41的设置使得磁轮驱动装置的功率更大，且在单侧电动机41发生故障时，磁轮驱动装置能够正常运行，电动机41通过传动轴进行动力传递减小过程中的功率损耗。
实施例2：
本实施例提供了一种磁轮驱动方法，使用了实施例1中的磁轮驱动装置。
具体而言，包括：
接收第一控制命令，第一控制命令包括控制动力***4启动的命令；响应于第一控制命令，发送第二控制命令，第二控制命令包括给动力***4通电的命令，动力***4通电后，驱动磁轮***3旋转，磁轮***3在旋转过程中与导体板22共同作用产生驱动车体1运动的驱动力；检测车体1的运动速度值，当运动速度值达到预设速度值后，发送第三控制命令，第三控制命令包括调整磁轮***3旋转的转速，使车体1按预设的速度匀速运动；检测车体1的位置与预设减速点的距离，当车体1的位置到达预设减速点时，发送第四控制命令，第四控制命令包括将磁轮***3的转速降至预设转速，使车体1在预设停车点停车的命令。
其中，磁轮***3在旋转过程中与导体板22共同作用产生驱动车体1运动的驱动力，包括：
磁轮***3上的永磁轮32旋转使得导体板22产生感应涡流，感应涡流形成一个与永磁轮32旋转磁场方向相反的镜像磁场，镜像磁场与永磁轮32旋转磁场相互作用产生驱动车体1运动的驱动力。
其中所述的调整磁轮***3旋转的转速，使车体1按预设的速度匀速运动，包括：
调整磁轮***3旋转的转速，使得磁轮***3的等效线速度与车体1的水平运动速度相等，磁轮***3上的永磁轮32旋转使得导体板22产生感应涡流，感应涡流形成一个与永磁轮32旋转磁场方向相反的镜像磁场，镜像磁场与永磁轮32旋转磁场产生的驱动力为零，实现车体1的匀速运行状态。
其中所述的磁轮***3的转速降至预设转速，使车体1在预设停车点停车的命令，包括了：
调整动力***4的输出转速减小，使得磁轮***3的等效线速度小于车体1的水平运动速度，磁轮***3上的永磁轮32旋转使得导体板22产生感应涡流，感应涡流形成一个与永磁轮32旋转磁场方向相反的镜像磁场，此时镜像磁场与永磁轮32旋转磁场产生的驱动力变为制动力，制动力阻碍车体1的运动，使得车体1减速运行直到停止在预设停车点。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。

Claims (5)

  1. 一种磁轮驱动方法，其特征在于，所述方法应用于磁轮驱动装置，所述方法包括：
    接收第一控制命令，所述第一控制命令包括控制动力***(4)启动的命令；
    响应于所述第一控制命令，发送第二控制命令，所述第二控制命令包括给所述动力***(4)通电的命令，所述动力***(4)通电后，驱动磁轮***(3)旋转，所述磁轮***(3)在旋转过程中与导体板(22)共同作用产生驱动车体(1)运动的驱动力；
    检测所述车体(1)的运动速度值，当运动速度值达到预设速度值后，发送第三控制命令，所述第三控制命令包括调整所述磁轮***(3)旋转的转速，使所述车体(1)按预设的速度匀速运动；
    检测所述车体(1)的位置与预设减速点的距离，当所述车体(1)的位置到达所述预设减速点时，发送第四控制命令，所述第四控制命令包括将所述磁轮***(3)的转速降至预设转速，使所述车体(1)在预设停车点停车的命令；
    调整所述磁轮***(3)的转速，使所述车体(1)先加速到预设速度值，然后再按预设的速度匀速运动，包括：
    调整所述磁轮***(3)旋转的转速，使得所述磁轮***(3)的等效线速度大于所述车体(1)的水平运动速度，所述磁轮***(3)上的永磁轮(32)旋转使得导体板(22)产生感应涡流，所述感应涡流形成一个与永磁轮(32)旋转磁场方向相反的镜像磁场，所述镜像磁场与所述永磁轮(32)旋转磁场产生驱动力，实现所述车体(1)的加速运行状态；然后调整所述磁轮***(3)旋转的转速，使得所述磁轮***(3)的等效线速度与所述车体(1)的水平运动速度相等，所述磁轮***(3)上的永磁轮(32)旋转使得导体板(22)产生感应涡流，所述感应涡流形成一个与永磁轮(32)旋转磁场方向相反的镜像磁场，所述镜像磁场与所述永磁轮(32) 旋转磁场产生的驱动力为零，实现所述车体(1)的匀速运行状态；
    其中，所述磁轮驱动装置，包括：
    车体(1)；
    导轨***(2)，所述导轨***(2)包括两个导体板(22)，两个所述导体板(22)分别设置在所述车体(1)两侧；
    磁轮***(3)，所述磁轮***(3)设置有至少两个，其中两个所述磁轮***(3)对称设置在所述车体(1)两侧壁上，所有所述磁轮***(3)与所述导体板(22)之间设置有空隙；以及
    动力***(4)，所述动力***(4)驱动每个所述磁轮***(3)旋转；
    所述磁轮***(3)包括轮毂(31)和永磁轮(32)，所述轮毂(31)平行地面设置，所述轮毂(31)的内圈与所述车体(1)转动连接，所述永磁轮(32)设置在所述轮毂(31)外圈上；
    所述导轨***(2)为U形结构，所述导轨***(2)包括轨道(21)和两个所述导体板(22)，所述轨道(21)平行于地面设置，两个所述导体板(22)垂直地面，且设置在所述轨道(21)的两侧；
    所述动力***(4)包括电动机(41)和传动组件(42)，所述电动机(41)设置在所述车体(1)内，所述电动机(41)通过所述传动组件(42)与所有所述磁轮***(3)转动连接，两侧的所述磁轮***(3)旋转方向相反；
    所述电动机(41)设置有两个，两个所述电动机(41)旋转方向相反，所述传动组件(42)为传动轴，所述传动轴一端部与所述电动机(41)的输出轴固定连接，另一端部与所述磁轮***(3)固定连接。
  2. 根据权利要求1所述的磁轮驱动方法，其特征在于，所述磁轮***(3)在旋转过程中与导体板(22)共同作用产生驱动车体(1)运动的驱动力，包括：
    所述磁轮***(3)上的永磁轮(32)旋转使得导体板(22)产生感应涡流，所述感应涡流形成一个与永磁轮(32)旋转磁场方向相反的镜像磁场，所述镜像磁场与所述永磁轮(32)旋转磁场相互作用产生驱动车体(1)运动的驱动力。
  3. 根据权利要求1所述的磁轮驱动方法，其特征在于，所述磁轮***(3)的转速降至预设转速，使所述车体(1)在预设停车点停车的命令，包括：
    调整所述动力***(4)的输出转速减小，使得所述磁轮***(3)的等效线速度小于所述车体(1)的水平运动速度，所述磁轮***(3)上的永磁轮(32)旋转使得导体板(22)产生感应涡流，所述感应涡流形成一个与永磁轮(32)旋转磁场方向相反的镜像磁场，此时所述镜像磁场与所述永磁轮(32)旋转磁场产生的驱动力变为制动力，所述制动力阻碍所述车体(1)的运动，使得所述车体(1)减速运行直到停止在预设停车点。
  4. 根据权利要求1所述的磁轮驱动方法，其特征在于：所述永磁轮(32)包括若干个永磁单体(321)，若干个所述永磁单体(321)根据磁化方向按Halbach周期阵列设置为环形结构。
  5. 根据权利要求4所述的磁轮驱动方法，其特征在于：所述永磁轮(32)包括16个所述永磁单体(321)，每两个相邻所述永磁单体(321)按照磁化方向顺时针旋转90°设置。
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