1238134 玖、發明說明： 【發明所屬之技術領域】 _ 本發明電磁懸浮式線型運動機構是一具有相當完整性 之機電整合裝置，所涉及之技術領域也相當廣泛，其中包 含有電機控制、電力電子、機械結構、微處理機技術；本 發明所牽涉技術領域很廣，但其主要在於規劃出一完善之 機電整合裝置，此裝置以數位訊號處理器為其中央控制系 統之核心，並藉由已訂定完整之驅動控制介面作為相互聯φ 繫的溝通橋樑，使其成為全數位化之電磁懸浮式線型運動 機構。 【先前技術】 目前市面上最常見之運輸工具，以感應機產生推進力 居多，其中可分為旋轉型感應機及直線型感應機兩種：旋 轉型感應機亦即旋轉型馬達，需透過齒輪及皮帶轉成直線 運動，而在運轉的過程會造成齒輪及皮帶的損耗，且產生I 多餘的摩擦耗能；直線型感應機雖能避免齒輪及皮帶的磨 損但轉子與定子間能存在摩擦，會造成不必要磨損及限制 行駛之極速。 目前大眾執道運輸系統皆以感應機產生推進力並作減 速剎車回收電能。為達到高效率的營運目的，確保行車的 安全舒適，必須藉由電力電子元件，進行整流後，再配合 行控中心傳來的速度碼及偵測到之列車重量，決定變壓變 1 頻換流器之電壓與頻率，驅動感應機以維持列車時刻表。 7 1238134 於列車進站時，為提升剎車效能，除 又必㈣感應機當作感應發電機將定。:車之 力並將列車動能回收，苡= 而吕，其動力負载高達四千匹 健運之列車 :一班’整體路網之電能消耗 :二=二分 再生發電以大幅心 見7運輪系統之運用除傳統 外，發展磁浮系統更能節省能 2運輪系統 有軌道面接觸之摩檫力，其本’由於沒 磁浮系統主要可分為兩大脈絡，大為提高。 以線型感應馬錢線型同步馬達運作 力夏， 列車兩側牆面磁極之快速精以=執道面或 超導磁浮電車來說，其運轉速度可高料日=机趣 =一為德國發展之電磁吸引系統，利用電磁鐵或永^里； 與磁性物質間的吸弓丨力使列車懸浮運動，最著二:久磁鐵 1986年德國、磁浮列車速度可達到每最子為 及今年年初中國大陸與德國合作在上海;母區=^里 三十公里長的磁浮示範鐵路，列車時速間 、 ^要之優點，水平位移採用線型感應焉、圭 避免線型水磁馬達異物侵入狀況發生；垂直方^採可 鐵懸斤，>肖除傳統運m之摩擦消耗，還可防電磁 久磁鐵時磁石飛散發生並且能解決利用超導體低速時^ 1238134 產生感應斥力的現象，除此之外，其還具備以下 h本裝置f磁浮電磁鐵控㈣統經㈣位訊號處^占可 凋整所需要之氣隙，將四只磁浮電磁鐵進行解執控制 二且在載重發生變化及水平位移時能維持所需之懸浮高 2. 本裝置設有直角固定塊，可固定物平台底 之間垂直度避免因不當外力使運動平台底座變形; 3. 本裝置設有辅助輪，其巾縱向伽輪可在料電 作用或者故障時仍可使線型錢馬達做水平運動 向辅助輪則是避免在對垂直及水平方向進行控制時產= 之不預期橫向㈣使運動平台底鼓生橫向移動造成磨 損。 4. 本裝置具有保護功能，在線型感應馬達兩端裝有防撞播 板，防止失控時運輸車體底座毀損。 田 【發明内容】 本發明電磁懸浮式線型運動機構之機械架構如「第一 圖」所示，圖中1〇〇為混泥土結構體，主要為避免在1〇1 運動平台行進或懸浮所產生之震動對整個系統的諧振效 應；102工字樑為軌道本體以1〇3膨脹螺釘固定在1〇()混 泥土結構體之上，1〇2工字樑以低碳鋼製作並經表面處理， 除了增加防鏽功能更確保表面水平度；1〇4線型感應馬達 定子固定座置於102工字樑上方平台中央並將1〇5線型感 應馬達定子固定其上；1〇1運動平台橫跨於1〇2工字樑上 1238134 方平台，101運動平台上可加裝運輸裝置載運物品，其水 平位移由106線型編碼器測量，並在102工字樑上方四個 角落亦即105線型感應馬達兩端終點設置107防撞檔板避 免因不當撞擊造成101運動平台損傷；108縱向輔助輪可 經調整保持固定高度，在101運動平台未懸浮前做為支撐 之用，當101運動平台懸浮時則不與102工字樑接觸；109 磁浮電磁鐵共四組，置於101運動平台下方，利用109磁 浮電磁鐵吸引102工字樑使得101運動平台保持懸浮的效 果；110氣隙感測器量測101運動平台與102工字樑間之 氣隙，間接可量得101運動平台懸浮之高度；為確保換算 出的懸浮高度與所量測到之氣隙值關係怪定，在1 〇 1運動 平台之良導體板結合處加裝111直角固定塊，使101運動 平台之兩良導體板間在任何情況下都維持垂直；112橫向 輔助輪作為導引之用，當101運動平台出現橫向位移時， 能避免102工字樑與101運動平台之側邊產生摩擦，並降 低兩者間之摩擦力。 本發明電磁懸浮式線型運動機構之詳細機械設計圖如 「第二圖」、「第三圖」、「第四圖」所示 【實施方式】 本發明裝置利用數位訊號處理器作為控制中心，其系 統驅動控制方塊如「第五圖」所示，圖中可分成500磁浮 電磁鐵驅動控制系統及501線型感應馬達驅動控制系統兩 部分，其中500磁浮電磁鐵驅動控制系統使502磁浮電磁 10 1238134 鐵產生吸引力而使運動平台懸浮，其懸浮高度由5〇3氣隙 感測器量測，經由504類比/數位轉換器傳送至5〇5數位 訊號處理器，再與所需要懸浮高度比較計算出一適合的命 令經由506輸出埠送出；507電流放大器由508電源供應 為提供旎罝’將506輸出埠送出之命令作一適當能量調整， 亚驅動502磁浮電磁鐵之線圈且控制其吸引力以達到控制 目的；5G1線型感應馬達驅動控制系統中之則線型感應 馬達分為轉子導體與定子線圈兩部分，其巾轉子導體為運 動平台底座上方良導體板，定子線圈為固定在工字樑上方 平台中央，運動平台的水平行進位移由51G線型編碼器量 測，經由504類比/數位轉換器傳送至5〇5數位訊號處理 器，再與所希望之水平位置比較計算出一適合的命令經由 511脈波寬度調變輸出埠送出；512線型感應馬達驅動器 為增加實用性供應電源採用-般513市電，驅動方式為利 用511脈波寬度調變輸出埠送出之命令，調整傳送給5〇9 線型感應馬達之冑b畺大小，以控制其行進位置及速度以達 到控制目的。 【圖式簡單說明】 第一圖表示本發明電磁懸浮式線型運動機構之架構圖 100混泥土結構體 101 運動平台 102 工字樑 103 膨脹螺釘 1238134 104線型感應馬達定子固定座 105 線型感應馬達 106 線型編碼器 107 防撞檔板 108 縱向輔助輪 109磁浮電磁鐵 110 氣隙偵測器 111 直角固定塊 112橫向輔助輪 第二圖表示本發明電磁懸浮式線型運動機構實施例之細 部機械設計橫向剖面圖。 第三圖表示本發明電磁懸浮式線型運動機構實施例之細 部機械設計側向剖面圖。 第四圖表示本發明電磁懸浮式線型運動機構實施例之細 部機械設計縱向剖面圖。 第五圖表示本發明電磁懸浮式線型運動機構驅動控制方 塊圖。 500磁浮電磁鐵驅動控制系統 5 01 線型感應馬達驅動控制系統 502磁浮電磁鐵 503 氣隙感測器 504類比/數位轉換器 505 數位訊號處理器 1238134 506輸出埠 507 電流放大器 508 電源供應器 509 線型感應馬達 510 線型編碼器 511脈波寬度調變輸出琿 512線型感應馬達驅動器 市電 5131238134 发明 Description of the invention: [Technical field to which the invention belongs] _ The electromagnetic suspension linear motion mechanism of the present invention is a mechanical and electrical integration device with considerable integrity, and the technical field involved is also quite extensive, including motor control, power electronics , Mechanical structure, microprocessor technology; the present invention involves a wide range of technical fields, but it mainly consists in planning a perfect electromechanical integration device, which uses a digital signal processor as the core of its central control system, and Set up a complete drive control interface as a communication bridge that interconnects φ systems, making it a fully digital electromagnetic suspension linear motion mechanism. [Previous technology] At present, the most common transportation tools on the market are mainly driven by induction machines, which can be divided into two types: rotary induction machines and linear induction machines: rotary induction machines, that is, rotary motors, which require gears And the belt turns into a linear motion, and during the running process, it will cause the loss of gears and belts, and generate excess friction energy consumption; although the linear induction machine can avoid the wear of gears and belts, there can be friction between the rotor and the stator, Will cause unnecessary wear and limit the extreme speed. At present, Volkswagen's transportation systems use induction machines to generate propulsion force and use decelerating brakes to recover electrical energy. In order to achieve high-efficiency operation and ensure safe and comfortable driving, power electronics must be used for rectification, and then coordinated with the speed code and the detected train weight from the driving control center, it is necessary to change the voltage to 1 frequency. The voltage and frequency of the inverter drive the induction machine to maintain the train schedule. 7 1238134 When the train enters the station, in order to improve the braking performance, the induction machine must be used as an induction generator. : The power of the car and the kinetic energy of the train recovered, 苡 = and Lu, with a power load of up to 4,000 healthy trains: one group of the overall road network power consumption: two = two points of regenerative power generation to see the 7-wheel system In addition to the traditional application, the development of the magnetic levitation system can further save the frictional force of the track surface contact of the two-wheel system. Because of the absence of the magnetic levitation system, it can be divided into two major veins, which is greatly improved. With the linear induction horse money linear synchronous motor operating force, the speed of the magnetic poles on both sides of the train is fast. For example, the running speed can be higher than that of the superconducting maglev tram. Electromagnetic attraction system, using electromagnets or permanent magnets; Suction bow between magnetic materials to make the train levitate, the most outstanding two: long magnet in 1986, the speed of magnetic levitation trains in Germany can reach the highest rate and the beginning of this year in mainland China Cooperate with Germany in Shanghai; home area = 30 kilometers long maglev demonstration railway, the advantages of train speed per hour, ^ essential advantages, horizontal displacement using linear induction, to avoid the invasion of linear water magnetic motor foreign matter; vertical square ^ Using iron suspension, in addition to the traditional frictional consumption, Xiao can also prevent the magnet from scattering when the electromagnetic long magnet is used, and can solve the phenomenon of inductive repulsion when using superconductors at low speed ^ 1238134. In addition, it also has In the following, the device f magnetic levitation electromagnetism control system will receive the air gap required for deflation. The four magnetic levitation electromagnets will be deactivated and controlled. The load will change and level. Can maintain the required suspension height when moving 2. This device is equipped with a right-angle fixing block, which can fix the verticality between the bottom of the platform to avoid deformation of the base of the moving platform due to improper external forces; 3. This device is equipped with auxiliary wheels, whose towels are longitudinal The gamma wheel can still make the linear money motor move horizontally to the auxiliary wheel in the event of electrical or electrical faults. The auxiliary wheel is to prevent the vertical and horizontal direction from being produced. Unexpected lateral movement causes the bottom of the moving platform to cause lateral movement. abrasion. 4. This device has a protection function. Anti-collision seeding boards are installed at both ends of the in-line induction motor to prevent damage to the base of the transport vehicle when it is out of control. Tian [Content of the invention] The mechanical structure of the electromagnetic suspension linear motion mechanism of the present invention is shown in the "first picture". The figure 100 is a concrete structure, mainly to avoid the travel or suspension caused by the 101 motion platform. The resonance effect of the vibration on the whole system; 102 I-beam is the track body and is fixed on the 10 () concrete structure with 10 3 expansion screws, and the 102 I-beam is made of low carbon steel and surface treated. In addition to increasing the rust prevention function, the surface levelness is also ensured; the 104 linear induction motor stator fixing seat is placed in the center of the platform above the 102 I-beam and the 105 linear induction motor stator is fixed thereon; the 101 motion platform spans The 1238134 square platform on the 102-shaped I-beam, and the 101 movement platform can be equipped with a transport device to carry items. The horizontal displacement is measured by a 106 linear encoder, and the four corners above the 102-shaped I-beam are 105 linear induction motors. Both ends are equipped with 107 anti-collision baffles to avoid damage to the 101 platform due to improper impact; 108 longitudinal auxiliary wheels can be adjusted to maintain a fixed height, and used as support before the 101 platform is not suspended. When the platform is suspended, it does not contact the 102 I-beam; there are four groups of 109 magnetic levitation electromagnets, which are placed under the 101 moving platform. The 109 magnetic levitation electromagnet is used to attract the 102 I-shaped beam to keep the 101 moving platform suspended; 110 air gap The measuring device measures the air gap between the 101 moving platform and the 102 I-beam, which can indirectly measure the height of the suspension of the 101 moving platform; in order to ensure that the converted suspension height is strangely related to the measured air gap value, it is 1 〇1 The 111-angle fixed block is installed at the joint of the good conductor plate of the moving platform, so that the two good conductor plates of the 101 moving platform can maintain verticality under any circumstances; 112 lateral auxiliary wheels are used for guidance. When the 101 moving platform appears During lateral displacement, it is possible to avoid friction between the side of the 102 I-beam and the 101 moving platform, and reduce the friction between the two. The detailed mechanical design drawings of the electromagnetic suspension type linear motion mechanism of the present invention are shown in the "second image", "third image", and "fourth image" [Embodiment] The device of the present invention uses a digital signal processor as a control center. The system drive control block is shown in the "fifth figure", which can be divided into two parts: a 500 maglev electromagnet drive control system and a 501 linear induction motor drive control system. The 500 maglev electromagnet drive control system enables 502 maglev electromagnetic 10 1238134 iron. The attraction causes the motion platform to levitate, and its levitating height is measured by a 503 air-gap sensor, transmitted to a 505 digital signal processor via a 504 analog / digital converter, and compared with the required levitating height to calculate A suitable command is sent through the 506 output port; the 507 current amplifier is supplied by the 508 power supply. The command sent from the 506 output port is adjusted for an appropriate energy. The coil of the 502 magnetic levitation electromagnet is driven and its attraction is controlled to achieve Control purpose; 5G1 linear induction motor drive control system, linear induction motor is divided into two parts: rotor conductor and stator coil The towel rotor conductor is a good conductor plate above the base of the moving platform, and the stator coil is fixed at the center of the platform above the I-beam. The horizontal travel displacement of the moving platform is measured by a 51G linear encoder and transmitted to 5 through an 504 analog / digital converter. 5 digital signal processor, and compare with the desired horizontal position to calculate a suitable command to send through the 511 pulse width modulation output port; 512-line induction motor driver is used to increase the practical power supply.-513 mains power, driving method In order to use the command sent by the 511 pulse width modulation output port, the size of 胄 b 畺 sent to the 509 linear induction motor is adjusted to control its travel position and speed for control purposes. [Brief description of the figure] The first figure shows the architecture diagram of the electromagnetic suspension linear motion mechanism of the present invention. 100 Concrete structure 101 Movement platform 102 I-beam 103 Expansion screw 1238134 104 Linear induction motor stator fixing base 105 Linear induction motor 106 Linear Encoder 107 Anti-collision baffle 108 Longitudinal auxiliary wheel 109 Maglev electromagnet 110 Air-gap detector 111 Right-angle fixing block 112 Lateral auxiliary wheel The second figure shows the detailed mechanical design of the embodiment of the electromagnetic suspension linear motion mechanism of the present invention. . The third figure shows a detailed mechanical design side sectional view of an embodiment of the electromagnetic suspension type linear motion mechanism of the present invention. The fourth figure shows a longitudinal sectional view of a detailed mechanical design of an embodiment of the electromagnetic suspension type linear motion mechanism of the present invention. The fifth figure shows a driving control block diagram of the electromagnetic suspension type linear motion mechanism of the present invention. 500 magnetic levitation electromagnet drive control system 5 01 linear induction motor drive control system 502 magnetic levitation electromagnet 503 air gap sensor 504 analog / digital converter 505 digital signal processor 1238134 506 output port 507 current amplifier 508 power supply 509 linear induction Motor 510 Linear encoder 511 Pulse width modulation output 珲 512 Linear induction motor driver Mains 513