高速磁浮牵引控制集成技术研究

Research on Integrated Technology of High Speed Maglev Motoring Control

为提高列车运行性能、减少人为失误,高速磁浮需使用自动驾驶控制技术;而磁浮列车牵引控制系统被布置在地面牵引变电所中,所控制的直线电机定子被沿线路布置,为实现高可靠、高实时性地驱动列车运行,驾驶控制功能势必需要被集成到牵引系统中,但目前尚无集成了驾驶控制功能的牵引控制系统实现方案。为此,文章提出一种高速磁浮系统牵引控制集成技术,其在传统逻辑控制功能的基础上增加了定子段换步功能,同时将传统牵引控制方案中的加减速度限制、冲击率限制、牵引/制动工况转换等功能整合到驾驶控制系统中,在运行控制系统指令的协调下,实现了磁浮牵引系统逻辑控制、驾驶控制和换步控制功能的集成。文中介绍了集成控制系统中牵引控制和驾驶控制中的融合特性;同时基于高速磁浮牵引系统电流变化的特点,提出了一种驾驶控制补偿曲线计算方案。半实物仿真测试结果显示,文中所提方案适应高速磁浮牵引系统的分段换步特性,可跟踪既定运行计划,列车运行速度稳定,无超速触发现象,停车精度高,运行控制指令响应实时性好。该牵引控制集成技术方案被用于某高速磁浮试验线,完成了包括车辆系统、运行控制系统和牵引系统的全系统集成测试。测试结果显示,该集成方案控制延时短,速度控制精度达到1 km/h,停车满足±30 cm精度要求,证明了本方案的可行性和可用性。

In a high speed maglev transportation system, in order to improve train operation performances and reduce human errors, high speed maglev must use automatic driving to control the train. Motoring control system is an important subsystem to realize train operation drive. It is deployed in ground motoring substations, and its controlled linear motor stator are deployed along the line. In order to achieve high reliability and high real-time train operation, driving control function is bound to be integrated into motoring system. However, there is no implementation scheme of motoring control system integrating driving control function.Therefore, this paper proposes a motoring control integration technology of high speed maglev system, which adds step-change function of stator section on basis of traditional logic control function, and integrates functions of acceleration and deceleration limit,jerk rate limit and motoring/braking switching in traditional motoring control scheme into the driving control system. Under the coordination of instructions of the operation control system, integration of logic control, driving control and step change control functions of maglev traction system is realized. This paper introduces the fusion characteristics of motoring control and driving control in the integrated control system. At the same time, based on the characteristics of current variation of high speed maglev traction system, a compensation curve calculation scheme is proposed in driving control. Hardware in loop simulation test results show that the proposed scheme adapts to the stator step changing characteristics of high-speed maglev traction system, the established operation plan can be tracked, the train operation speed is stable without overspeed trigger phenomenon, the parking accuracy is high and the response of control command is good in real time. The motoring control integration technology scheme has been used in a high speed maglev test line, and the whole system integration test including vehicle system, operation control system and motoring system has been completed. The results show that the control delay of the integration scheme is short, the speed control accuracy reaches 1 km/h, and the parking meets the accuracy requirements of ± 30 cm, which strongly demonstrates the feasibility and availability of this scheme.