JPS631003B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a magnetic levitation propulsion and guide device used in magnetic levitation trains, transport devices, and the like.

(Prior Art) Figures 1a and 1b show the configuration of a conventional magnetic levitation propulsion and guide device, in which 1 is a truck section on which the levitation propulsion device is installed, 2 is an air spring, and 3 is a car body on which passengers or luggage are placed. , 4 is the orbit. The bogie section 1 is equipped with levitation electromagnets MA ₁ , MA ₂ , MA ₃ , MA ₄ , guide electromagnets MB ₁ , MB ₂ , MB ₃ , MB ₄ and an armature LIM of a propulsion linear induction motor. .
The mounting positional relationship of this armature and the electromagnets for levitation and guidance is shown in FIG. 1b. Further, a flat rail RL ₁ made of a ferromagnetic material such as iron is attached to the track 4 so as to face the levitation electromagnets MA ₁ and MA ₃ , and the levitation electromagnets MA ₂ and
Flat rail made of ferromagnetic material facing MA ₄
RI ₂ is installed. In addition, on the track 4, there is a rail opposite to the guide electromagnets MB ₁ and MB _2.
RL ₃ is installed and the guide electromagnet
Rail RL ₄ is installed opposite MB ₂ and MB ₄ ,
Furthermore, the armature of the linear induction electric machine for propulsion
A rail RL made of a conductive and ferromagnetic material (for example, an aluminum plate attached to a steel plate) is attached opposite the LIM.

In the conventional magnetic levitation propulsion system configured as described above, an electromagnet for obtaining levitation force is required.An electromagnet for obtaining guiding force is required, and a linear induction motor for obtaining propulsion force is also required. It had the disadvantage of increasing As a result, the electric power required for levitation has increased, posing a major problem in that the capacity of the control device must also be increased accordingly.

On the other hand, among the above-mentioned conventional techniques, there is one in which the levitation force and the propulsive force are obtained by one armature, and the two forces are performed by controlling the slip frequency (for example, Japanese Patent Application Laid-Open No. 1983-97210). Even in this case,
A guiding force is required, and it is necessary to provide electromagnets and rails for this purpose as described above. Therefore, the weight is heavy, and when the rails have to be rearranged every time the layout in the office is changed, such as in the case of a transportation device in an office, such a complex The rail structure cannot accommodate such layout changes.

Also, although it is not directly related to the magnetic levitation propulsion device,
For example, if a vehicle is magnetically levitated in a vehicle device with a structure such as that disclosed in Japanese Patent Publication No. 50-2796, it can be propelled along a stator provided in a figure-eight shape; The vehicle will run on a stator installed in the vehicle, wobbling left and right, and this vibration will not be attenuated.
Therefore, a floating vehicle device having such a structure cannot be used as a conveyance device or the like.

(Problems to be Solved by the Invention) As described above, in the conventional device, the weight of the vehicle itself is heavy, the rail structure is complicated, and furthermore, the vehicle itself may sway from side to side. Due to this problem, it cannot be used as a transportation device in an office or as a magnetic levitation train.

This invention was made in view of the above points,
It is an object of the present invention to provide a magnetic levitation propulsion device that has a simplified configuration and can promote weight reduction and cost reduction.

[Structure of the invention]

(Means for Solving the Problems) The present invention includes a bogie portion that supports a car body, two rails made of a ferromagnetic material fixed to the track side, and two rails that are opposite to these two rails and that are arranged on the left and right sides of the car body. The left and right armatures are arranged at least at the front and rear of the vehicle body and fixed to the bogie portion, and the left and right armatures are arranged in one set, and the left and right armatures are arranged at least in the front and rear of the vehicle body and fixed to the bogie portion. armature windings formed to be inclined in opposite directions; means for controlling levitation force by maintaining a constant and stable gap length between the armature and the rail; and means for controlling the slip frequency of the armature. The magnetic levitation propulsion and guide device includes means for controlling the propulsion force by using the magnetic levitation device, and means for controlling the guiding force by controlling the slip frequency of each armature of the left and right armatures.

(Function) The present invention provides at least two sets of armatures arranged on the left and right sides of the vehicle body corresponding to the two rails, and at least two sets of armatures arranged at the front and rear of the vehicle body, and Since the left and right armatures are tilted in opposite directions to form armature windings, the levitation force can be controlled by controlling the armature current.
The propulsion force is controlled by controlling the slip frequency of the armature, and the guiding force is controlled by controlling the respective slip frequencies of a pair of left and right armatures. By providing at least two sets of the front and rear wheels, the rotational force of the vehicle body is suppressed. Therefore, since the rail has a simple structure, it can flexibly respond to changes in the layout within the office, and the weight is reduced because each armature serves as the levitation force, propulsion force, and guiding force. Furthermore, stable guiding force and levitation force can be obtained.

(Embodiment) An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 shows the configuration of the magnetic levitation propulsion device according to the present invention, in which 11 is a vehicle body for carrying passengers, 12 is a truck, 13 is an air spring, 14 ₁ , 1
4 ₂ is a track, RL ₁ is a rail attached to track 14 ₁ , RL ₂ is a rail attached to track 14 ₂ ,
LIM ₁ and LIM ₂ are armatures of a single-sided linear induction motor. The armature LIM ₁ is attached to the truck part 12 so as to face the rail RL ₁ , and the armature LIM ₂ is attached to the truck part 12 so as to face the rail RL ₂ . This mounting positional relationship is shown in FIG.
Since the truck section 12 is usually supported at four points, there are actually four armatures, but only two armatures, LIM ₁ and LIM ₂ , are shown here, and the others are The two armatures are omitted. Furthermore, since the operating principle is the same, only the operation of the armatures LIM ₁ and LIM ₂ will be explained.

The armature LIM ₁ has an angle θ perpendicular to the direction (z direction) perpendicular to the traveling direction (y direction) of the truck portion 12.
A winding groove S ₁ is formed in a direction _inclined by
The winding groove S ₂ is formed in a direction inclined by . When the winding grooves S of each armature I, IM ₁ , I, IM ₂ are formed in this way, the propulsive force F ₁ acting on armature LIM ₁ is in the forward direction (y direction). It occurs in a direction inclined by an angle θ, and the armature
The propulsive force F ₂ acting on the LIM ₂ is generated in a direction inclined by an angle −θ with respect to the direction of travel (y direction). The propulsive forces F ₁ and F ₂ of the armatures LIM ₁ and LIM ₂ are expressed separately in the traveling direction (y direction) and the guiding direction (z direction) as follows.

Fy ₁ = F ₁ , cosθ Fy ₂ = F ₂ , cos (-θ) = F ₂ cosθ Fz ₁ = F ₁ , sinθ Fz ₂ = F ₂ , sin (-θ) = -F ₂ sinθ Propulsive force of bogie 12 Considering (progressing force in the y direction) Fy ₀ and guiding force Fz ₀ , Fy ₀ = Fy ₁ + Fy ₂ = (F ₁ + F ₂ ) cosθ Fz ₀ = Fz ₁ + Fz ₂ = (F ₁ − F ₂ ) sinθ Become. In addition, between the iron cores of armature LIM ₁ and rail RL ₁ , and between the iron cores of armature LIM ₂ and rail RL ₂ ,
Attraction forces Fx ₁ and Fx ₂ act. This attraction force Fx ₁ , Fx ₂
can be considered to be independent of the slopes of the winding grooves S ₁ and S ₂ .

FIG. 4 is a control block diagram of a magnetic levitation propulsion device according to an embodiment of the present invention. In Figure 4,
The main device is a stationary Leonard device LEO ₁ ,
LEO ₂ , DC smoothing reactor LS ₁ , LS ₂ , inverter device INV ₁ , INV ₂ , linear induction motor armature
There are LIM ₁ , LIM ₂ , rails RL ₁ and RL ₂ made of iron core Fe and secondary conductor Al, and the levitation control device includes a displacement meter that detects displacement in the suction direction (x direction).
X ₁ , X ₂ , accelerometer that detects acceleration in the x direction
A ₁ , A ₂ , gap length setter R ₁ , R ₂ , series compensation element (proportional or integral compensation) G ₁ , G ₂ , parallel compensation element (usually first derivative of displacement) H ₁ , H ₂ , stationary Phase control circuit PH ₁ of Leonard device LEO ₁ , LEO ₂ ,
There are PH ₂ , comparators C ₁ to C ₃ , C ₁₁ to C ₁₃ , and a propulsion control device (slip frequency control device).
Moving pulse generator PG ₁ in the advancing direction (y direction),
PG ₂ , pulse counter (n count) PC ₁ , PC ₂ ,
Ring counter (l base) RC ₁ , RC ₂ , logic circuit
LC ₁ , LC ₂ , gate circuits GC ₁ , GC ₂ of the above inverter devices INV ₁ , INV ₂ , voltage-frequency converter
There are VF ₁ and VF ₂ . In addition, as a guide control device, displacement in the guide direction (z direction) (trajectories 14 ₁ , 1
4 Detection needle Z ₁ that detects the relative displacement in the z direction of ₂ )
Z ₂ , accelerometers AZ and AZ ₂ that detect the acceleration of the bogie section 12 in the Z direction, a guide gap length setter RZ ₁ that takes 1/2 of the sum of the outputs of _the displacement meters Z 1 and Z ₂ , and a series compensation element. (proportional or integral compensation) K ₁ , K ₂ , parallel compensation element (first derivative of displacement) HZ ₁ , HZ ₂ comparator C ₂₁ to C ₂₄ ,
There are C ₃₁ to C ₃₄ and C ₄₁ .

In the magnetic levitation propulsion device configured in this manner, only the guidance control which is the gist of the present invention will be described here. Note that the levitation and propulsion control are the same as those described in Japanese Patent Application Laid-Open No. 149712/1982, so a detailed explanation will be omitted. The guide gap length set value Z ₀ by the guide gap length setter RZ is Z ₀ = 1/2 (Z ₁ +Z ₂ ). First, a deviation εz ₁ =Z ₁ −Z ₀ is generated by the comparator C ₂₁ . Its output is multiplied by K ₁ with a series compensation element K ₁ , and the voltage-to-frequency converter VF ₁ also serves as a setter for the slip frequency control.
becomes the input. The thrust F ₁ of a linear induction motor is
Within a certain slip frequency fsl(max), F ₁ ∝
There is a relationship between fsl ₁ . Similarly, the comparator C ₃₁ generates a deviation εz ₁ = Z ₂ −Z ₀ , and the series compensation element K ₂ produces K ₂ (=
K ₁ ) and becomes the input of the voltage-frequency converter VF ₂ . In addition, there is a relationship of F ₂ ∝fsl ₂ . Here Z ₁ >
In the case of Z ₂ , εz ₁ =Z ₁ −Z ₀ =1/2(Z ₁ −Z ₂ )>0, and F ₁ ∝fsl ₁ ∝εz ₁ is positive. Also, εZ ₂ =Z ₂ −
Z ₀ <0, and F ₂ ∝fsl ₂ ∝εZ ₂ becomes a negative value.
Therefore, guiding force Fz ₀ = Fz ₁ + Fz ₂ = (F ₁ − F ₂ ) sinθ
is a positive value, and the trolley 12 is moved in the z direction (guiding direction)
move to. That is, it is controlled so that the truck 12 = Z ₁ = Z ₂ . At this time, the accelerometer
AZ ₁ , AZ ₂ and parallel compensation element (first derivative of displacement)
HZ ₁ and HZ ₂ serve to stabilize the control system against transient responses. In steady state, it does not operate because it is a first or second order differential of displacement.

Note that the above explanation assumes that the output command value of the propulsion force setting device RY (this is Fy ₀ ′) is Fy ₀ ′=0, but if Fy ₀ ′≠0, the following Become. That is, the sum of K ₁ εz ₁ and Fy ₀ ' is input to the voltage-frequency converter VF ₁ by the comparator C ₂₄ . Therefore, the slip frequency of the armature LIM ₁ is fsl ₁ +fsl ₀ (here, fsl ₀ is a value proportional to Fy ₀ '). Furthermore, the sum of K ₂ εz ₂ and Fy ₀ ' is input to the voltage-frequency converter VF ₂ by the comparator C ₃₄ . Therefore, armature I,
The slip frequency of IM ₂ is fsl ₂ + fsl ₀ . As a result, the relationship between the propulsive force F ₁ of armature LIM ₁ and the propulsive force F ₂ of armature LIM ₂ and the above slip frequency fsl ₁ + fsl ₀ fsl ₂ + fsl ₀ is F ₁ ∝ (fsl ₁ + fsl ₀ ), F ₂ ∝ (fsl ₂ + fsl ₀ ). Therefore, the propulsive force Fy ₀ of the bogie section 12 is Fy ₀ = (F ₁ + F ₂ ) cosθ∝ (fsl ₀ + fsl ₁ + fsl ₂ ), and when the control constants of the guiding force control are the same, εz ₁ = −εz ₂ Since the relationship fsl ₁ = −fsl ₂ holds, it becomes Fy ₀ ∝fsl ₀ ∝Fy ₀ ′. Further, the guiding force Fz ₀ of the truck portion 12 becomes Fz ₀ =(F ₁ −F ₂ )sinθ∝fsl ₁ −fsl ₂ , which is unrelated to fsl ₀ .

As described above, the floating, propulsion, and guidance of the truck section 12 can all be controlled.

By the way, the vehicle body 11 is arranged on the front, rear, left and right sides.
As mentioned above, this is extremely important in controlling the floating and guiding of the vehicle body 11. That is, vehicle 11
If the slip frequencies of the left and right armatures are made unbalanced in order to guide and control _the
Rotational torque is generated in the truck 12 around the center between the LIMs ₂ . Therefore, if the armature is LIM ₁ ,
If there are only two LIMs ₂ , the vehicle body 11 will rotate due to the rotational torque generated in the truck 12. When the car body 11 rotates in this way, the armature
The opposing area between LIM ₁ and LIM ₂ and rails RL ₁ and RL ₂ decreases, and the magnetic attraction force decreases. In order to compensate for this, the armature current is controlled to increase, but since the vehicle body 11 vibrates up and down, it is inevitable that this will hinder the operation of the vehicle.

In this regard, if armatures are placed at at least four locations on the vehicle body 11, even if rotational torque is generated between the left and right armatures, the entire vehicle body will not rotate.
The magnetic coupling between the armature and the rail does not decrease significantly, and stable guidance control is possible without causing fluctuations in the levitation force. That is, the third
In the figure, one set of armatures in front of the truck section 12 is shown.
Let LIM ₁ and LIM ₂ be LIM ₁ and LIM 3 and LIM ₄ be a pair of armatures arranged at the rear of the truck section 12 (not shown). For example, consider a case where the truck section 12 is tilted to the right with respect to the traveling direction. At this time, the pair of armatures LIM ₁ and LIM ₂ at the front of the truck section 12 must be controlled so that they approach the left side with respect to the traveling direction of the truck section 12, and at the same time, the pair of armatures LIM at the rear of the truck section 12 must be controlled so that they approach the left side with respect to the traveling direction of the truck section 12. ₃ , LIM ₄ needs to be controlled so that it approaches the right side with respect to the traveling direction of the truck section 12. Therefore, the force relationship in front of the truck portion 12 is F ₁ >F ₂ . Similarly, the force of LIM ₃ (left side) at the rear of the truck part 12 is F ₃ , and the force of LIM ₄ (right side) is
If F ₄ , then F ₃ > F ₄ . Therefore, the truck part 1
2 is quickly guided to the normal position, and F ₁ ,
Since rotational force is suppressed by F ₃ , stable running is possible with both levitation force and guiding force. Here, the four armatures mentioned above do not need to be fixedly arranged with respect to each other; for example, the front two armatures and the rear two armatures are arranged on different bogies, and the two bogies are connected by a coupler. Even in this case, it can be easily understood that no rotational force is generated in the vehicle body itself. Furthermore, it goes without saying that the effects of the present invention will not be impaired in any way even if the number of armatures is four or more.

In addition, in the above embodiment, control of two units on the front side was explained.

However, by performing the same control for the other two units, the floating of the bogie section 12 and
Needless to say, propulsion and guidance are controlled. Further, the direction of inclination of the groove formed in the armature may be reversed on both sides. Further, the configuration of the truck portion is not limited to that of this embodiment, and may be of a type that embraces the rails as shown in FIG.

〔Effect of the invention〕

As explained above, according to the present invention, the armature of a linear induction motor is used to perform levitation, propulsion, and guidance without using separate electromagnets. It can be made lighter and smaller, and the structure is extremely simple, so the rail structure is also simple, so it is easy to change the layout in an office, and it can also reduce costs. It can be measured and has great practical value.

[Brief explanation of the drawing]

Figures 1a and b are block diagrams of a conventional magnetic levitation propulsion and guide system, Figure 2 is a block diagram showing an embodiment of a magnetic levitation propulsion system according to an embodiment of the present invention, and Figure 3 is an electric machine in the same embodiment. FIG. 4 is a plan view of the child core and its mounting carriage, and a block diagram showing the control system according to the same embodiment. DESCRIPTION OF SYMBOLS 11... Vehicle body, 12... Bogie part, 13... Air spring, 14 ₁ , 14 ₂ ... Track, RL ₁ , RL ₂ ... Rail, LIM ₁ , LIM ₂ ... Armature.

Claims (1)

[Claims] 1. At least one set consists of a bogie part that supports the car body, two rails made of ferromagnetic material fixed to the track side, and rails facing these two rails and placed on the left and right sides of the car body. armatures disposed at the front and rear of the vehicle body and fixed to the bogie portion; and armatures forming the left and right armature set and tilted in opposite directions with respect to the traveling direction of the vehicle body. a winding; means for controlling the levitation force by maintaining a constant and stable gap length between the armature and the rail; a means for controlling the propulsion force by controlling the slip frequency of the armature; What is claimed is: 1. A magnetic levitation propulsion and guide device comprising: means for controlling a guiding force by controlling the slip frequency of each armature of a set of armatures.