基于EtherCAT的磁浮交通PMLSM驱动系统架构及控制研究

Research on Maglev Drive Architecture and Control Based on EtherCAT

现有的高速磁浮交通系统采用直线同步电机牵引技术,然而磁浮交通系统中实际使用的直线同步电机体积庞大且造价昂贵,不利于前期开发和研究。对此,开发了一种分段式永磁直线同步电机(Permanent magnet linear synchronous motor,PMLSM)牵引驱动样机,旨在以低成本的方式快速简易地部署和验证磁浮交通直线运动控制算法。针对样机,设计并实现了一种基于ARM-FPGA双核的专用控制器。双核分别承担算法部署和控制实施的功能。此外在控制器中引入了EtherCAT网络技术,以搭建低延迟和高精度的网络化控制架构,仿真和试验证明了其可行性和可用性。未来将利用该驱动系统架构开发、部署和验证更多的磁浮交通直线运动控制算法。

Linear synchronous motor traction technology is utilized in high-speed maglev system.However,the linear synchronous motors in real maglev system is large and costly,which hinders the pre-researches.A novel segmented permanent magnet linear synchronous motor(PMLSM)drive prototype is developed for deploying and verifying maglev linear motion algorithms quickly in a low-cost way.Moreover,an ARM-FPGA based dual-core controller specific to the prototype is designed for separating algorithm deployment from control implementation.Eventually EtherCAT network is introduced into the controller so as to realize the high-precision and low-latency networked control architecture.Both the availability and feasibility are proved by simulation and experiment.In the future,more maglev linear motion algorithms will be developed,deployed and verified using the maglev drive architecture.