JPH082194B2 - Linear synchronous motor controller - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a drive control system for a vehicle in a high-speed railway system represented by a linear synchronous motor, particularly an induction repulsion type magnetic levitation railway using a superconducting electromagnet or the like. The present invention relates to a linear synchronous motor control device used as.

[Prior art and its problems]

In a magnetic levitation railway such as an induction repulsion type that uses a superconducting electromagnet, it is possible to support, guide, and drive a vehicle in a completely non-contact manner. Especially, paying attention to its low pollution and low noise and high speed due to non-adhesive drive, it can be said that the advantages of the magnetic levitation railway are maximized in the ultra-high speed railway.

The running resistance of a magnetic levitation railway has a peak in the low speed range and a magnetic drag force that decreases as the speed increases,
The air resistance, which is approximately proportional to the square of the velocity, is largely determined. Therefore, in order to drive the vehicle at ultra high speed,
A power supply with sufficient capacity to overcome the large air resistance and drive the vehicle is required. In addition, when supplying electricity, divide the business line into several sections and install a dedicated power station for each section, or install a substation for each section to generate electricity from the commercial power grid. Will be supplied. The former power station installation method is difficult to realize from the viewpoint of operating efficiency of the power station and labor costs, etc., and the latter method of receiving power from the commercial power system via the substation is a more realistic method. It is believed that. However, in this scheme,
A linear synchronous motor in which the length of the vehicle, that is, the length of the magnetic field is finite, and the number of armature coils included in the one-stroke section, that is, the length of the armature is finite. Due to the so-called section crossing due to the peculiarity of the above, the power source power factor fluctuates during traveling of the vehicle, which adversely affects other consumers connected to the commercial power system.

FIG. 1 shows a voltage vector diagram of a linear synchronous motor. The armature current ia flows from the induced voltage c of the armature circuit by an internal power factor angle γ, and the terminal voltage s of the armature circuit is determined by the vector sum of the impedance drop of the armature circuit and the induced voltage. The phase difference angle is δ. Second conventional linear synchronous motor controller for levitating railway
Shown in the figure. That is, the position of the vehicle driven by the linear synchronous motor 1 is detected. The traveling speed of the vehicle is obtained from the output signal of the position detection device 2, and the traveling speed of the vehicle is compared with the target speed to determine the thrust required to reach the target speed. The absolute value of the armature current calculated to obtain the thrust by the thrust calculation unit 3 is calculated by the current absolute value command calculation unit 4, while the induced voltage of the linear synchronous motor armature circuit is calculated from the vehicle position detection signal. Is calculated by the phase reference calculation unit 5, and the frequency calculation value of the armature current that the vehicle can travel without stepping out is calculated by the frequency calculation unit 6 from the speed calculation result of the target speed, and in phase with the induced voltage. The current waveform of the frequency and unit magnitude (usually a sine wave) is obtained by the calculation of the unit current waveform calculation unit 7, and this output is multiplied by the current absolute value by the multiplier 8, and the result is obtained by the power converter 9 Current finger to the current control circuit of By the signal,
The linear synchronous motor 1 is supplied with a current for generating a predetermined thrust to perform control such that the vehicle speed obtained by the speed calculator 10 approaches the target speed.

In such a conventional device, the internal power factor γ = 0 in FIG. 1, and the absolute value of the current required to generate a predetermined thrust can be reduced, It has the drawback that the power factor becomes worse.

For example, when driving a magnetic levitation train 11 traveling on a track, as shown in FIG. 3, the armature coil groups 12 arranged on the track are divided into feeding sections 13 at fixed intervals, The outputs of the two power converters 14 are connected to the section switch 15
To switch and supply power according to the running of the vehicle.
The so-called combined power feeding method is used. In this power feeding method, when the vehicle travels across two adjacent feeder sections 13, the voltage induced in the armature circuit changes not only with the vehicle speed but also with the position in the section 13 of the vehicle. Change.
Therefore, in the conventional linear synchronous motor control device, the power factor greatly changes depending on the speed of the vehicle and the position of the vehicle in the feeding section, and the commercial power system that is the primary side of the power converter. Furthermore, it will have a great adverse effect on other customers 18 connected to the grid.

[Object of the Invention]

The present invention is an improvement over the drawbacks of the conventional device as described above, and it is possible to always operate at a high power source power factor regardless of the speed of the moving body and the position of the moving body in the feeding section. It is an object of the present invention to provide a linear synchronous motor control device that can be used.

[Outline of Invention]

The present invention relates to a moving body position detecting device for detecting the position of a moving body driven by a linear synchronous motor, a speed calculating unit for calculating a traveling speed of the moving body from an output signal of the moving body position detecting device, and this speed. Based on the thrust of the moving body obtained from the running speed of the moving body and the target speed obtained as the output signal of the arithmetic unit, a linear synchronous motor for matching the running speed of the moving body to the target speed A mechanical output calculation unit that calculates a mechanical output, an internal power factor angle calculation unit that calculates a combination of an absolute value of an armature current of a linear synchronous motor and an internal power factor angle for obtaining the mechanical output, and the moving body position. The phase reference of the armature current is calculated from the output signal of the detection device, and the output signal of the speed calculation section has a phase deviated from the phase reference by a phase corresponding to the calculation result of the internal power factor angle calculation section. Or A unit current waveform calculation unit that generates a current waveform of a unit magnitude at the obtained frequency, a multiplication unit that multiplies the output signal of this unit current waveform calculation unit and the absolute value of the armature current, and this multiplication unit output signal In a linear synchronous motor control device configured by a power conversion unit that outputs a current command value signal of a current control circuit and a linear synchronous motor driven by the power conversion unit, the moving object is output from the output signal of the position detection device. The position in the feeding section is obtained to find the induced voltage generated in the armature circuit, and the mechanical output to be generated by the linear synchronous motor corresponding to this feeding section is obtained and the linear synchronous motor is supplied with power. The combination of the absolute value of the armature current and the internal power factor angle satisfying the condition for maximizing the power factor of the power conversion unit is set in the position and transfer in the feeder section of the moving body. Determined as a function of the body speed, with the result, a linear synchronous motor control device configured to obtain a current signal to the current control circuit of the power conversion unit.

〔The invention's effect〕

As described above, according to the present invention, it is possible to perform operation control that always keeps the power supply power factor to the maximum by adding a slight arithmetic function to a part of the control circuit of the power converter that drives the linear synchronous motor. Becomes In particular, in a linear synchronous motor used to drive a levitation railway, in order to compensate the reactive power on the primary side of the power converter, a large-capacity capacitor or a device for absorbing the reactive power is used as a power converter. A large and expensive device with a size almost the same as the main body was installed. Therefore, the present invention is mainly applied to a transportation system for carrying a person or a high-class transportation system, such as a space saving effect, a low cost effect according to the present invention, and an improvement in reliability due to a decrease in the number of parts of a control device. The effect of the invention is very large.

Example of Invention

Hereinafter, examples of the present invention will be described in detail. still,
The same parts as those of the conventional configuration will be described with the same reference numerals. FIG. 4 shows an apparatus according to the present invention, the structure of which is a vehicle position detection apparatus 2 for detecting the position of a moving body driven by the linear synchronous motor 1, for example, the vehicle 11 in FIG. A speed calculation unit 10 for calculating the traveling speed of the vehicle from the output signal, and an output signal from the thrust calculation unit 3 obtained using the moving speed and the target speed of the moving body, which are the output signals of the speed calculation unit 10. , By inputting the output signals from the intra-section position calculation unit 22 (signals as a function of the intra-section position of the train, the mechanical output received by the entire train, the train length, etc.), the mechanical output of the linear synchronous motor 1
A mechanical output calculation unit 19 that calculates Pm, and an internal power factor that calculates a combination of the absolute value of the armature current and the internal power factor angle of the linear synchronous motor 1 that gives the mechanical output obtained as a result of this calculation. The phase reference calculation unit 5 calculates the phase reference of the armature current from the output signals of the angle calculation unit 20 and the vehicle position detection device 2, and only the phase corresponding to the calculation result of the internal power factor angle calculation unit 20 is calculated. A unit current waveform calculation unit 21 having a phase deviated from the phase reference and generating a unit-size current waveform at the frequency calculated by the frequency calculation unit 6 from the output signal of the speed calculation unit 10, and this unit current waveform Multiplier 8 for multiplying the output signal of the calculation unit 21 and the output signal of the absolute current value calculation unit 23
And a power converter 9 that uses the output signal of the multiplier 8 as a current command signal of the current control circuit, and an intra-section position calculation unit 22 that calculates the position in the power section based on the output signal of the vehicle position detection device 2. This linear synchronous motor control device determines the position in the feeder section of the vehicle from the output signal of the vehicle position detection device 2 in the feeder section position calculation unit 22 and generates an induced voltage in the armature circuit. The linear synchronous motor corresponding to this feeder section 1
The absolute value of the armature current and the internal value that satisfy the conditions for maximizing the power factor of the power source such as the power converter 9 that supplies power to the linear synchronous motor 1. The combination of power factor angles is determined as a function of position in the feeder section of the vehicle and vehicle speed, and the result is used to obtain a current command signal to the current control circuit of the power converter. The absolute current value calculation unit 23
Then, from the mechanical output calculation result, for example, a calculation is performed such that the electromotive force coefficient determined by the configuration of the linear synchronous motor 1 and the number of phases of the armature winding are multiplied to gradually divide the mechanical output command value. Be seen.

 Next, the operation of the device of the present invention will be described.

In the voltage vector diagram of the linear synchronous motor shown in FIG. 1, the armature current, the induced voltage, and the terminal voltage of the armature circuit can be expressed as in equations (1), (2), and (3), respectively. ^{_{a = I a e j (wt}} -γ) (1) c = e c (x) · e jwt (2) s = E s e j (wt + δ) (3) However, x is the vehicle position in the feeder section, l is the vehicle (train) length, and L is the feeder section length.

Ra and La in Fig. 1 are the resistance of the armature circuit,
It is the inductance.

 In FIG. 1, the following voltage equation holds.

Es cos δ = ec (x) + RaIa cos γ + ωLa Ia sin γ ... (5
a) Es sin δ = -RaIa sin γ + ωLaIa cos γ (5b) Here, to set the (power supply) power factor to 1, cos ψ = cos (δ + γ) = 1 ∴ δ = -γ (5c) Note that δ is the internal phase difference angle. (The phase difference between s and c), γ is the internal power factor angle (the phase difference between c and a). Rewriting Eqs. (5a) and (5b) using Eq. (5c), Es cos γ = ec (x) + RaIa cos γ + ωLaIa sin γ ... (6
a) −Es sin γ = −RaIa sin γ + ωLa Ia cos γ (6b) (6a) × sin γ + (6b) × cos γ Equation (6c) is obtained.

ec (x) sinγ + ωLaIa = 0 (6c) When the linear synchronous motor has three phases, its mechanical output
Pm is given by equation (7a).

ec (x) is a function of x proportional to the speed determined by the motor shape and dimensions, and Pm is a value given from the system specifications. Therefore, the equations (6c) and (7a) are combined and Ia, γ
When is calculated, the following formula is obtained.

When crossing a section where a vehicle travels across two sections, drive from one section in proportion to the ratio of the length of the vehicle (train) belonging to the section to the total length of the train (train). If the force is to be obtained, the mechanical output Pm (x) generated by the linear synchronous motor corresponding to the section is the mechanical output of the entire vehicle (train).
When expressed using Pm _T , it becomes as follows.

By substituting Eqs. (4) and (8) into Eqs. (7b) and (7c), the absolute value Ia of the armature current that generates the predetermined mechanical output Pm _T and maximizes the power factor is obtained. And the internal power factor angle γ
Is required.

The operation of the present invention will be described below with reference to the control block diagram shown in FIG.

First, the value obtained by calculating the traveling speed of the moving body by the speed calculating unit 10 from the output signal of the moving body position detecting device 2 for detecting the position of the moving body such as a vehicle and the target speed are used as the input signals of the thrust calculating unit 3. The thrust calculation unit 3 is prepared in advance with the running resistance to the running speed in the form of a function or a table. The thrust required to accelerate the moving body to the target speed by obtaining the running resistance to the actual running speed and the target speed. Calculate the command value of F.
In the mechanical output calculation unit 19, the mechanical output PmT of the entire vehicle (train) obtained by multiplying the designated value of the thrust F obtained by the thrust calculation unit 3 and the target speed v and the output signal of the vehicle position detector 2 Then, using the vehicle position x in the section obtained by the in-section position calculation unit 22, the command value of the mechanical output (Pm (x) (= Fv (x))) is obtained from the equation (8). The obtained machine output command value is output to the current absolute value calculation unit 4 that calculates the current absolute value command value and the internal power factor angle calculation unit 20 that calculates the internal power factor angle (current phase) command value γ.

On the other hand, the phase reference calculation unit 5 obtains the position information of the magnetic field of the linear synchronous motor from the output signal of the vehicle position detector 2 and outputs it to the unit current waveform calculation unit 21. Unit current waveform calculator 21
Is a unit current waveform (for example, sine wave) whose amplitude is a unit amount (for example, L) is prepared in advance in the form of a function or a table for the phase, and the motor field position (phase ), The internal power factor angle (phase) command calculator 20
A unit current waveform (for example, a sine wave) whose phase is shifted by the phase command obtained in step 3 is calculated. The multiplier 8 multiplies the output of the current absolute value calculation unit 4 and the output of the unit current waveform calculation unit 2 to obtain a current (instantaneous value) command value, and inputs it to the power converter current control circuit 9 to input the linear synchronous motor. By controlling the armature current of No. 1 to a desired value, the speed of the moving body is controlled to match the target speed.

In the embodiment of the invention shown in FIG. 4, when the vehicle travels over two feeder sections, the ratio of the length of the vehicle contained in the feeder section to the total vehicle length is: How the power source power factor, the reactive power, and the apparent power change is shown by solid lines in FIGS. 5, 6, and 7, respectively. Curves shown by broken lines in these figures show respective characteristics of the conventional control device in which the internal power factor angle γ is controlled so as to always be kept at zero. Compared with the conventional device, the improvement effect of the present invention considering the fact that the power supply capacity required for driving the levitation railway is very large, such as improvement of power supply power factor, reduction of reactive power, decrease of apparent input, etc. Is obvious.

[Brief description of drawings]

FIG. 1 is a voltage vector diagram of a linear synchronous motor, FIG. 2 is a control block diagram for explaining a conventional linear synchronous motor control device, and FIG. 3 is an explanatory diagram for explaining a conventional power feeding system to the linear synchronous motor. FIG. 4 is a control block diagram for explaining the linear synchronous motor control device of the present invention, FIG. 5 is a characteristic diagram for showing the effect of power source power factor improvement by the present invention, and FIG. 6 is an invalidity by the present invention. FIG. 7 is a characteristic diagram for explaining the effect of power reduction, and FIG. 7 is a characteristic diagram for showing the effect of apparent power reduction according to the present invention. 1 ... Linear synchronous motor, 2 ... Vehicle position detection device, 3
...... Thrust calculation unit, 5 ...... Phase reference calculation unit, 6 …… Frequency calculation unit, 8 …… Multiplier, 9 …… Power converter, 10 …… Speed calculation unit, 19 …… Machine calculation unit, 20 ・ ・ ・... Internal power factor angle calculator,
21 …… Unit current waveform calculator, 22 …… Section position calculator, 23 …… Absolute current value calculator.

Claims (1)

[Claims] 1. A moving body position detecting device for detecting a position of a moving body driven by a linear synchronous motor, and a speed calculating section for calculating a traveling speed of the moving body from an output signal of the moving body position detecting device. The thrust of the moving body is obtained from the running speed and the target speed of the moving body obtained as the output signal of the speed calculation unit, and the running speed of the moving body is set to the target speed based on the thrust and the target speed. A mechanical output calculation unit that calculates the mechanical output of the linear synchronous motor for matching, and an internal power factor angle that calculates the combination of the absolute value of the armature current of the linear synchronous motor and the internal power factor angle to obtain this mechanical output. A calculation unit and a calculation of the phase reference of the armature current from the output signal of the moving body position detection device, having a phase deviated from the phase reference by a phase corresponding to the calculation result of the internal power factor angle calculation unit, Or A unit current waveform calculation unit that generates a current waveform of a unit magnitude at a frequency obtained from the output signal of the speed calculation unit, and a multiplication that multiplies the output signal of the unit current waveform calculation unit and the absolute value of the armature current. In the linear synchronous motor control device including a power conversion unit that uses the output signal of the multiplication unit as a current command value signal of the current control circuit, and a linear synchronous motor that is driven by the power conversion unit. The position in the feeder section of the moving body is obtained from the output signal of the device to obtain the induced voltage generated in the armature circuit, and the mechanical output to be generated by the linear synchronous motor corresponding to this feeder section is obtained. The combination of the absolute value of the armature current and the internal power factor angle satisfying the condition that maximizes the power factor of the power conversion unit that supplies power to the linear synchronous motor is determined by the feeding sensor of the moving body. Determined as a function of the position and the moving body speed in the Deployment, using the result, the linear synchronous motor control device characterized by being configured to obtain a current signal to the current control circuit of the power conversion unit.