TWI810804B - Maglev system with compensation and correction and compensation method for maglev system - Google Patents

Abstract

A maglev system and a correction and compensation method for maglev system are provided in the present disclosure. The maglev system includes a maglev device, a plurality of magnetic force generating elements, a plurality of position detection elements, and a control circuit. The control circuit controls a plurality of magnetic force generating elements to drive the maglev device move in a forward direction and a reverse direction along a direction of a dimension to obtain a first pole position and a second pole position of the maglev device in the direction of the a dimension. The control circuit obtains a correction gain value through the first pole position and the second pole position. The control circuit compares the position of the first position, the second position and the middle position of the direction of a dimension, and obtains a correction deviation value according to the correction gain value. The control circuit finally adjusts the maglev device to a correction position according to the correction gain value and the correction deviation value.

Description

Maglev system with correction compensation and correction compensation method for maglev system

The invention relates to a correction and compensation function, in particular to a magnetic levitation system with compensation and a correction and compensation method for the magnetic levitation system.

The control of the known maglev system, after detecting the difference between the position of the maglev device (such as the rotating shaft) during operation and the preset position, adjusts the magnetic force so that the levitation device tends to the predetermined position (such as the center position of the maglev system); wherein , the position information used for adjustment includes the gain value and the offset value.

However, the maglev system may have deviations in the position of the magnetic components in the maglev system due to processing errors and assembly tolerances, or the performance of the magnetic components may be different, and long-term operation may cause problems such as aging of internal components, connection terminals, and cables, which may cause problems during actual operation. , the gain value and deviation value used to adjust the magnetic levitation device are different from the system preset gain value and deviation value, causing the magnetic levitation device to exceed the preset range when adjusting the position, and a loss of control occurs.

The technical problem to be solved by the present invention is to provide a maglev system with correction and compensation for the deficiencies of the prior art, including: a maglev device; a plurality of magnetic force generating elements for generating magnetic force to make the maglev device float; a plurality of positions A detection element is used to detect the position of the magnetic levitation device; and a control circuit is electrically connected to the plurality of magnetic force generating elements and the plurality of position detection elements; wherein, the control circuit controls the plurality of a magnetic force generating element, driving the magnetic levitation device to move in a forward direction and a reverse direction along a one-dimensional direction, and obtaining a first pole position and a second pole position of the magnetic levitation device in the one-dimensional direction, Obtain a correction gain value through the first pole position and the second pole position, and then compare the first pole position, the second pole position and the center position in the one-dimensional direction, according to the The correction gain value is used to obtain a correction deviation value, and finally the magnetic levitation device is adjusted to a correction position according to the correction gain value and the correction deviation value.

The present invention also discloses a correction and compensation method, which is suitable for a maglev system. The correction and compensation method includes: Step S1: a maglev device of the maglev system moves along a positive direction of a dimension direction to obtain the maglev device A first pole position in the one-dimensional direction; step S2: the maglev device moves along the one-dimensional direction and in a reverse direction opposite to the forward direction to obtain the maglev device in the dimension A second pole position in the direction; Step S3: Obtain a correction gain value of the magnetic levitation device in the one-dimensional direction from the first pole position and the second pole position; Step S4: The first pole position After comparing the position, the second pole position and the center position in the one-dimensional direction, a correction deviation value is obtained according to the correction gain value; and step S5: the maglev system obtains a correction deviation value according to the correction gain value and the The calibration offset corrects the magnetic levitation device towards a calibration position.

One of the beneficial effects of the present invention is that the maglev system with correction compensation provided by the present invention and the correction compensation method for the maglev system can calculate the compensation gain value (Gain) that needs to be compensated through the extreme value of the five-way position signal Compensation and correction actions can be completed with the position information offset value (Offset), which can effectively prevent the maglev system from man-made or system aging, resulting in the actual adjustment of the gain value and offset value of the maglev device during operation. A runaway accident occurred.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings related to the present invention. However, the provided drawings are only for reference and description, and are not intended to limit the present invention.

The implementation of the "correction and compensation system and method" disclosed in the present invention is described below through specific specific examples. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various modifications and changes can be made to the details in this specification based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only for simple illustration, and are not drawn according to the actual size, which is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the protection scope of the present invention. In addition, the term "or" used herein may include any one or a combination of more of the associated listed items depending on the actual situation.

[first embodiment]

Please refer to FIG. 1 and FIG. 2 . FIG. 1 is a schematic diagram of a maglev system with correction and compensation according to a first embodiment of the present invention. FIG. 2 is a schematic diagram of the control circuit of the first embodiment of the present invention.

In this embodiment, a maglev system SYS with correction and compensation is provided. The maglev system SYS includes a maglev device MD1, a plurality of magnetic force generating elements MS1-MS10, a plurality of position detection elements ML1-ML9 and a control circuit 1; wherein, the maglev device MD1 is a high-speed rotating shaft, through which a plurality of magnetic forces After the generating elements MS1-MS10 are floating, they are driven by a driving device (not shown) to rotate at high speed.

A plurality of magnetic force generating elements MS1-MS10 are used to generate magnetic force to make the magnetic levitation device MD1 float. A plurality of position detection elements ML1-ML9 are used to detect the position of the magnetic levitation device MD1. The control circuit 1 is electrically connected to a plurality of magnetic force generating elements MS1-MS10 and a plurality of position detecting elements ML1-ML9.

The control circuit 1 adjusts a plurality of magnetic force generating elements MS1-MS10, so that the magnetic levitation device MD1 moves in a forward direction and a reverse direction along the one-dimensional direction, and obtains a first pole position and a position of the magnetic levitation device MD1 in the one-dimensional direction. Second pole position. The control circuit 1 obtains a correction gain value through the first pole position and the second pole position, and then compares the first pole position, the second pole position, and the position of the magnetic levitation device in a one-dimensional direction, and according to the correction The gain value obtains a corrected offset value. Finally, the control circuit 1 adjusts the magnetic levitation device MD1 to a corrected position according to the corrected gain value and the corrected deviation value.

Wherein, the one-dimensional direction may be a first radial direction R1 of the magnetic levitation device MD1 , a second radial direction R2 perpendicular to the first radial direction R1 , or an axial direction A1 .

The control circuit 1 includes: a position signal processing circuit 11 , a gain deviation adjustment and compensation circuit 12 , an analog digital signal processing circuit 13 , an arithmetic logic circuit 14 , a storage circuit 16 and a power amplification processing circuit 15 .

The position signal processing circuit 11 is electrically connected to a plurality of position detection elements ML1-ML9.

The gain deviation adjustment and compensation circuit 12 is electrically connected to the position signal processing circuit 11 .

The analog digital signal processing circuit 13 is electrically connected to the gain deviation adjustment and compensation circuit 12 . The arithmetic logic circuit 14 is electrically connected to the analog digital signal processing circuit 13 and the gain deviation adjustment and compensation circuit 12 . The storage circuit 16 is electrically connected to the arithmetic logic circuit 14 .

The power amplification processing circuit 15 is electrically connected to the arithmetic logic circuit 14 and a plurality of magnetic force generating elements ML-ML9.

In this embodiment, the magnetic levitation device MD1 includes a first end T1, a second end T2, and a magnetic levitation plate P1.

The second end T2 is opposite to the first end T1. The magnetic levitation plate P1 is adjacent to the second end T2.

A plurality of magnetic force generating elements MS1-MS10 are arranged into a first magnetic force generating element group M1, a second magnetic force generating element group M2 and a third magnetic force generating element group M3.

The first magnetic force generating element group M1 is adjacent to the first end T1 of the magnetic levitation device MD1 .

The first magnetic force generating element group M1 includes a first magnetic force generating element MS1 , a second magnetic force generating element MS2 , a third magnetic force generating element MS3 and a fourth magnetic force generating element MS4 .

Wherein, the first magnetic force generating element MS1 and the third magnetic force generating element MS3 are respectively disposed in the forward direction R11 and the reverse direction R12 of the first radial direction R1.

The second magnetic force generating element MS2 and the fourth magnetic force generating unit MS4 are respectively disposed in the forward direction R21 and the reverse direction R22 of the second radial direction R2.

The second magnetic force generating element group M2 is spaced apart from the first magnetic force generating element group M1. The second magnetic force generating element group M2 includes a fifth magnetic force generating element MS5 , a sixth magnetic force generating element MS6 , a seventh magnetic force generating element MS7 and an eighth magnetic force generating element MS8 .

The fifth magnetic force generating element MS5 and the seventh magnetic force generating element MS7 are respectively arranged in the forward direction R11 and the reverse direction R12 of the first radial direction R1, and correspond to the first magnetic force generating element MS1 and the third magnetic force generating element MS3 respectively. .

The sixth magnetic force generating element MS6 and the eighth magnetic force generating element MS8 are respectively arranged in the forward direction R21 and the reverse direction R22 of the second radial direction R2, and correspond to the second magnetic force generating element MS2 and the fourth magnetic force generating element MS4 respectively. .

The third group of magnetic force generating element groups M3 is disposed on both sides of the magnetic levitation plate P1 at intervals, and sandwiches the magnetic levitation plate P1 therein. The third group of magnetic force generating elements M3 includes a ninth magnetic force generating element MS9 and a tenth magnetic force generating element MS10 .

The ninth magnetic force generating element MS9 and the tenth magnetic force generating element MS10 are respectively arranged in the forward direction A11 and the reverse direction A12 of the axial direction A1 of the maglev plate P1, and the levitation plate P1 is magnetically controlled in the forward direction of the axial direction A1. Move in direction A11 or in reverse direction A12.

A plurality of position detection elements ML1 - ML9 are arranged into a first position detection element group L1 , a second position detection element group L2 and a ninth position detection unit ML9 .

The first position detection element group L1 is spaced apart from the first end T1 of the magnetic levitation device MD1. The first position detection element group L1 includes: a first position detection element ML1 , a second position detection element ML2 , a third position detection element ML3 and a fourth position detection element ML4 .

The first position detection element ML1 and the third position detection element ML3 are respectively disposed in the forward direction R11 and the reverse direction R12 of the first radial direction R1.

The second position detection element ML2 and the fourth position detection element ML4 are respectively disposed in the forward direction R21 and the reverse direction R22 of the second radial direction R2.

The second position detection element group L2 is spaced apart from the first position detection element group L1. The second position detection element group L2 includes: a fifth position detection element ML5, a sixth position detection element ML6, a seventh position detection element ML7, an eighth position detection element ML8 and a ninth position detection element Detect element ML9.

The fifth position detection element ML5 and the seventh position detection element ML7 are respectively disposed in the forward direction R11 and the reverse direction R12 of the first radial direction R1.

The sixth position detection element ML6 and the eighth position detection element ML8 are respectively disposed in the forward direction R21 and the reverse direction R22 of the second radial direction R2.

The ninth position detecting element ML9 is located in the opposite direction A12 of the axial direction A1 of the magnetic levitation plate P1.

Please refer to FIG. 3A to FIG. 3F , the control circuit 1 regulates a plurality of magnetic force generating elements MS1 - MS10 to obtain the schematic diagrams of correction gain values.

As shown in FIG. 3A , the control circuit 1 regulates the magnetic force generating element MS1 to make the magnetic levitation device MD1 move along the positive direction R11 of the first radial direction R1 to obtain the limit of the magnetic levitation device MD1 in the positive direction R11 of the first radial direction R1 position, that is, the first pole position; as shown in Figure 3B, the magnetic levitation device MD1 is moved along the reverse direction R12 of the first radial direction R1 through the third magnetic force generating element MS3, and the magnetic levitation device MD1 is obtained in the first radial direction The limit position of R12 in the opposite direction of R1, that is, the second pole position.

After obtaining the first pole position and the second pole position, the control circuit 1 calculates the first pole position and the second pole position to obtain the movable range of the magnetic levitation device MD1 in one dimension, obtains an actual gain value G _cur , and communicates with the magnetic levitation system A preset gain value G _tag preset by SYS is compared to obtain the corrected gain value G _cmp , which is calculated according to the following formula:

- Formula 1

The correction offset value Offset can be calculated according to the following formula:

– Formula 2

Wherein, Offset is the correction deviation value, G _cmp is the correction gain value, S ₁ is the first pole position, S ₂ is the second pole position, and C is the center position of the magnetic levitation device MD1 in the one-dimensional direction.

After obtaining the correction gain value G _cmp and the correction offset value Offset in the first radial direction R1, the first radial direction R1 performs correction compensation with the correction gain value G _cmp and the correction offset value Offset, and drives the magnetic levitation device MD1 according to the correction The gain value G _cmp and the calibration offset value Offset tend to move toward a calibration position.

After obtaining the corrected gain value G _cmp and the corrected deviation value Offset in the first radial direction R1, as shown in FIG. 3C and FIG. For the first pole position and the second pole position in the radial direction R2, the correction gain value G _cmp and the correction offset value Offset of the magnetic levitation device MD1 in the second radial direction R2 are calculated for correction and compensation.

After obtaining the correction gain value G _cmp and the correction deviation value Offset in the first radial direction R1 and the second radial direction R2, as shown in Figure 3E and Figure 3F, drive the magnetic levitation device MD1 to move in the axial direction A1 for correction compensatory action.

The order of the first radial direction R1 , the second radial direction R2 , and the axial direction A1 is merely an example for illustration, and is not limited thereto.

In addition, when the correction gain value G _cmp and the correction deviation value Offset are obtained, the magnetic force generating elements in the same direction can be driven simultaneously, taking the first radial direction R1 as an example, to detect the first pole position in the first radial direction R1 , the first magnetic force generating element MS1 and the fifth magnetic force generating element MS5 located in the positive direction R11 of the first radial direction R1 can be simultaneously driven to move the magnetic levitation device MD1 in the positive phase direction R11. At the first pole position in the two radial directions R2, the second magnetic force generating element MS2 and the sixth magnetic force generating element MS6 located in the forward direction R21 of the second radial direction R2 can be driven simultaneously.

[Second embodiment]

Please refer to FIG. 4 . FIG. 4 is a flowchart of a correction and compensation method according to a second embodiment of the present invention.

In this embodiment, a correction and compensation method is provided, which is suitable for the maglev system SYS. For the maglev system SYS applicable to this embodiment, reference may be made to the maglev system SYS of the first embodiment, and its structure and functions will not be repeated here.

The correction and compensation method in this embodiment includes the following steps:

Step S1: a magnetic levitation device of the maglev system moves along a positive direction in a one-dimensional direction, and obtains a first pole position of the magnetic levitation device in a one-dimensional direction;

Step S2: The maglev device moves in a direction opposite to the forward direction in a one-dimensional direction, and obtains a second pole position of the maglev device in the one-dimensional direction;

Step S3: Obtain a correction gain value of the maglev device in one dimension according to the first pole position and the second pole position;

Step S4: After comparing the first pole position, the second pole position and the center position in the one-dimensional direction, a correction deviation value is obtained according to the correction gain value; and

Step S5: The maglev system calibrates the maglev device toward a corrected position according to the corrected gain value and the corrected deviation value.

The correction compensation method also includes:

Step S41: Repeat steps S1 to S4 to obtain another correction gain value and another correction deviation value; and

Step S42: Compare whether the correction gain value and the correction deviation value in steps S1 to S4 are the same as the other correction gain value and another correction deviation value in step S41; if they are the same, execute step S5; if they are different, return to step S1 , to recalibrate.

In steps S1 to S4 , the one-dimensional direction includes a first radial direction of the magnetic levitation device MD1 , a second radial direction perpendicular to the first radial direction, and an axial direction. The maglev system SYS performs steps S1 to S5 for the first radial direction, the second radial direction, and the axial direction in sequence.

Next, the control circuit 1 of the maglev system SYS will calculate the first pole position and the second pole position to obtain the movable range of the maglev device MD1 in the one-dimensional direction, obtain an actual gain value G _cur , and compare it with a predetermined value of the maglev system. The gain value G _tag is set and compared to obtain the corrected gain value G _cmp . The correction gain value G _cmp is calculated according to the following formula:

The correction offset value is calculated according to the following formula:

Among them, Offset is the correction deviation value, G _cmp is the correction gain value, S ₁ is the first pole position, S ₂ is the second pole position, and C is the center position in the one-dimensional direction.

[Advantageous Effects of Embodiment]

One of the beneficial effects of the present invention is that the maglev system with correction compensation provided by the present invention and the correction compensation method for the maglev system can calculate the compensation gain value (Gain) that needs to be compensated through the extreme value of the five-way position signal Compensation and correction actions can be completed with the position information offset value (Offset), which can effectively prevent the maglev system from man-made or system aging, resulting in the actual adjustment of the gain value and offset value of the maglev device during operation. A runaway accident occurred.

The content disclosed above is only a preferred feasible embodiment of the present invention, and does not therefore limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made by using the description and drawings of the present invention are included in the application of the present invention. within the scope of the patent.

S1-S5, S41-S42: steps SYS: correction compensation system M1: the first magnetic force generating element group M2: The second magnetic force generating element group M3: The third magnetic force generating element group MS1-MS10: the first magnetic force generating element to the tenth magnetic force generating element L1 first position detection element group L2: The second position detection element group ML1-ML9: the first position detection element to the ninth position detection element MD1: Maglev device R1: first radial direction R11: Forward direction of the first radial direction R12: Reverse direction of first radial direction R2: Second radial direction R21: Forward direction of the second radial direction R22: Opposite direction of the second radial direction 11: Position signal processing circuit 12: Gain deviation adjustment and compensation circuit 13: Analog digital signal processing circuit 14: Arithmetic logic circuit 15: Power amplification processing circuit 16: storage circuit 1: Control circuit P1: Maglev board T1: first end T2: the second end A1: axial direction A11: Forward direction A12: Reverse direction

FIG. 1 is a schematic diagram of a correction and compensation system according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram of the control circuit of the first embodiment of the present invention.

3A to FIG. 3F are schematic diagrams of sequentially obtaining position information according to different directions in the calibration and compensation system according to the first embodiment of the present invention.

FIG. 4 is a flow chart of a correction and compensation method according to the second embodiment of the present invention.

S1-S5, S41, S42: steps

Claims (8)

A maglev system with correction compensation, comprising; a maglev device; a plurality of magnetic force generating elements used to generate magnetic force to make the maglev device float; a plurality of position detecting elements used to detect the position of the maglev device; A control circuit electrically connected to the plurality of magnetic force generating elements and the plurality of position detection elements; wherein, the control circuit controls the plurality of magnetic force generating elements to drive the magnetic levitation device in a direction along one dimension moving in a forward direction and a reverse direction to obtain a first pole position and a second pole position of the magnetic levitation device in the one-dimensional direction, obtained through the first pole position and the second pole position A correction gain value, and after comparing the first pole position, the second pole position and the center position in the one-dimensional direction, a correction deviation value is obtained according to the correction gain value, and finally according to the correction The gain value and the correction deviation value adjust the magnetic levitation device towards a corrected position; wherein, the one-dimensional direction includes a first radial direction of the magnetic levitation device and a first radial direction perpendicular to the first radial direction. Two radial directions and one axial direction. The maglev system according to claim 1, wherein the control circuit includes: a position signal processing circuit electrically connected to the plurality of position detection elements; a gain deviation adjustment and compensation circuit electrically connected to the position Signal processing circuit; an analog digital signal processing circuit, electrically connected to the gain deviation adjustment and compensation circuit; an arithmetic logic circuit, electrically connected to the analog digital signal processing circuit and the gain deviation adjustment and compensation circuit; a storage a circuit electrically connected to the arithmetic logic circuit; and a power amplification processing circuit electrically connected to the arithmetic logic circuit and the plurality of Magnetic force generating element. The maglev system according to claim 2, wherein the range of movement of the maglev device in the one-dimensional direction is obtained by calculating the first pole position and the second pole position, and an actual gain value G _cur is obtained, And compared with a preset gain value G _tag preset by the maglev system, to obtain the correction gain value G _cmp is calculated according to the following formula: G _cmp = G _tag / G _cur ; the correction deviation value is carried out according to the following formula Calculation: Offset= G _cmp *[ C -( S ₂ + S ₁ )/2] where, Offset is the correction deviation value, G _cmp is the correction gain value, S ₁ is the first pole position, S ₂ is the position of the second pole, and C is the center position in the one-dimensional direction. The maglev system according to claim 3, wherein the plurality of magnetic force generating elements are arranged into: a first magnetic force generating element group, adjacent to a first end of the magnetic levitation device, comprising: a first magnetic force generating element and a third magnetic force generating element, respectively in the forward direction and the reverse direction of the first radial direction; a second magnetic force generating element and a fourth magnetic force generating unit, respectively in the second The forward direction and the reverse direction of the radial direction; a second magnetic force generating element group, spaced apart from the first magnetic force generating element group, including: a fifth magnetic force generating element and a seventh magnetic force generating elements, respectively in the forward direction and the reverse direction of the first radial direction; a sixth magnetic force generating element and an eighth magnetic force generating element, respectively in the said second radial direction Forward direction and the reverse direction; a third group of magnetic force generating elements, spaced and interposed adjacent to the magnetic levitation device A magnetic levitation plate at a second end includes: a ninth magnetic force generating element and a tenth magnetic force generating element, respectively in the forward direction and the reverse direction of the axial direction of the magnetic levitation plate; The plurality of position detection elements are arranged into: a first position detection element group, spaced apart from the first end of the magnetic levitation device, including: a first position detection element and a third position detection elements, respectively in the forward direction and the reverse direction of the first radial direction; a second position detection element and a fourth position detection element, respectively in the second radial direction The forward direction and the reverse direction; a second position detection element group, set apart from the first position detection element group, including: a fifth position detection element and a seventh position detection elements, respectively in the forward direction and the reverse direction of the first radial direction; a sixth position detection element and an eighth position detection element, respectively in the second radial direction The forward direction and the reverse direction; a ninth position detection element located in the reverse direction of the axial direction of the magnetic levitation plate. A correction and compensation method suitable for a maglev system, the correction and compensation method comprising: step S1: a maglev device of the maglev system moves along a positive direction in a one-dimensional direction, and obtains the maglev device in the one-dimensional direction a first pole position in the direction; step S2: the magnetic levitation device moves along the one-dimensional direction and in a reverse direction opposite to the forward direction, and obtains a first position of the magnetic levitation device in the one-dimensional direction Two pole positions; Step S3: Obtain the magnetic field from the first pole position and the second pole position A correction gain value of the floating device in the one-dimensional direction; Step S4: After comparing the first pole position, the second pole position and the center position in the one-dimensional direction, obtain according to the correction gain value a correction deviation value; and step S5: the maglev system corrects the maglev device to a correction position according to the correction gain value and the correction deviation value; wherein, the one-dimensional direction includes a first direction of the maglev device A radial direction, a second radial direction perpendicular to the first radial direction, and an axial direction. The correction and compensation method according to claim 5, further comprising: step S41: repeating steps S1 to S4; and step S42: comparing the correction gain value and the correction deviation value in step S1 to step S4 with step S41 Whether they are the same; if they are the same, execute step S5; if they are different, return to step S1 and recalibrate. The correction and compensation method according to claim 6, wherein step S1 to step S5 are performed sequentially for the first radial direction, the second radial direction, and the axial direction. The correction and compensation method according to any one of claim items 5 to 7, wherein the movable range of the maglev device in the one-dimensional direction is obtained by calculating the first pole position and the second pole position, Obtain an actual gain value G _cur and compare it with a preset gain value G _tag preset by the maglev system to obtain the corrected gain value G _cmp , which is calculated according to the following formula: G _cmp = G _tag / G _cur Wherein, the correction deviation value is calculated according to the following formula: Offset= G _cmp *[ C -( S ₂ + S ₁ )/2] wherein, Offset is the correction deviation value, G _cmp is the correction gain value, S ₁ is the first pole position, S ₂ is the second pole position, and C is the center position in the one-dimensional direction.

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