KR100867175B1 - Duplex Levitation Controller for Magnetic Levitation Vehicle - Google Patents

Abstract

The present invention doubles the floating controller and mounts the same software to a pair of floating controllers having the same hardware structure to perform a control function in the form of a master / slave, thereby stopping the operation of the magnetic levitation train due to a failure in one floating controller. The present invention relates to a redundant float controller for a magnetic levitation train to improve the reliability and availability of the magnetic levitation train by preventing a situation in which it occurs.

To this end, the present invention provides a first control board 22 for performing a floating control algorithm, a first signal processing board 23 in charge of an interface between an external signal and the first control board, and a first power supply device ( A first float controller having 24); A second control board 26 for performing the same floating control algorithm as the first floating controller, a second signal processing board 26 in charge of an interface between the external signal and the second control board, and a second power supply; A second floatation controller having a supply device 28; And a signal interface board 25 for transmitting and receiving signals between the first and second float controllers.

Maglev train, redundant float controller, control board, signal processing board, power supply, signal interface board, master / slave, heartbeat

Description

Duplex Levitation Controller for Magnetic Levitation Trains {Duplex Levitation Controller for Magnetic Levitation Vehicle}

1 is a block diagram of a magnetic levitation system having a redundant floating controller according to the present invention;

2 is a block diagram showing a configuration of a redundant floating controller;

3 is a flowchart for checking the presence or absence of a normal heartbeat of a counterpart controller;

4 is a flowchart related to master / slave switching;

Figure 5 is a void sensor signal waveform diagram according to the master / slave switching in the course of the stationary injury;

6 is a void sensor signal waveform diagram according to master / slave switching in a stationary floating state;

7 is a signal waveform diagram of air gap sensor during simulation driving;

8 is a signal waveform diagram of air gap sensor according to master / slave switching during simulation driving.

Explanation of symbols on the main parts of the drawings

22,26: control board 23,27: signal processing board

24, 28: power supply 25: signal interface board

The present invention relates to a float controller for a magnetically levitated train, and more particularly, by mounting the same software in a pair of float controllers having the same hardware structure by dualizing the float controller to perform a control function in a master / slave form. The present invention relates to a redundant injury controller for a magnetic levitation train for improving the reliability and availability of the magnetic levitation train by preventing a situation in which the operation of the levitation train is stopped due to a failure in the levitation controller.

The main function of the float controller is to flow the current required to the electromagnet coil to maintain a constant gap between the floating electromagnet and the opposing rail of the maglev train. At this time, the controller that is in charge of the current control function is the controller operating in the master mode, and the controller operating in the slave mode follows the control signal of the master controller and, when an abnormality occurs in the master, switches to the master mode to perform the master function. Master / slave switching can occur automatically or manually, and no two controllers have master privileges at the same time.

In other words, the individual flotation controllers are designed / manufactured to flow control current to the two electromagnets, and at one point, the flotation controller operating as the master plays its role. The injury controller currently in operation in China or Japan is designed and manufactured as a single injury controller, so if a failure occurs in the injury controller, the maglev train must be stopped.

The present invention has been created to solve the above problems, the object of the present invention is to mount the same software to a pair of floating controller having the same hardware structure by dualizing the floating controller to perform the control function in the form of master / slave The present invention provides a redundant floating controller for a magnetic levitation train to improve the reliability and availability of the magnetic levitation train by preventing a situation in which the operation of the magnetic levitation train is stopped due to a failure in one floating controller.

Accordingly, the present invention improves the reliability, stability and safety of the magnetic levitation train by allowing the normal operation of the magnetic levitation train even in the event of a failure in the individual levitation controller by dualizing the levitation controller used to control the floating air gap of the magnetic levitation train. In addition, the redundant floating controller of the present invention is composed of two separate floating controllers having the same hardware / software of the same structure, which is very advantageous in terms of manufacturing, installation, and securing of spares.

In addition, the present invention enables the master / slave change as quickly as possible by quickly determining whether the redundant injury controllers are normal, thereby minimizing the injury failure of the magnetic levitation train due to the failure of one injury controller.

The present invention for achieving the above object, the first control board for performing the floating control algorithm, the first signal processing board responsible for the interface between the external signal and the first control board, and the first power supply A first float controller having a device;

And a second control board for performing the same floating control algorithm as the first float controller, a second signal processing board that is in charge of the interface between the external signal and the second control board, and a second power supply device. A second float controller; And

And a signal interface board for transmitting and receiving signals in the first and second injury control periods.

According to the present invention, the first and second flotation controllers can be operated in the form of a master / slave, respectively, the transfer of the master / slave may occur regardless of whether the maglev train is in a stationary injury or driving. Minimizing the bumper generated in the floating air gap signal is a very important consideration when it occurs.

In the present invention, as a method for minimizing the bumper, the slave mode controller continuously follows the control signal of the controller operating in the master mode to use the control signal of the controller operated in the master mode for a predetermined time after switching.

The transfer of master / slave can occur automatically / manually.The condition that occurs automatically can be either in the heartbeat of the controller operating in master mode or in the controller (A / D and D / A converter, memory, DI, DO, etc.). In case of abnormality, master / slave switching takes place under the condition that slave mode controller is normal.

Manual switchover enables the slave mode controller to have master authority when maintenance or maintenance of the controller operating in master mode is required. In this case, the master authority can be taken by pressing push buttons installed outside of each controller.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

Referring to FIG. 1, one redundant floating controller 4 is configured to operate two floating electromagnets (1/4 bogie). Microwaves (2), redundant float controllers (4), air gap sensors (7), acceleration sensors (8), electromagnet voltage (9) / current (10) sensors for powering two floating electromagnets and floating electromagnets (3) and the like are shown.

The main function of the flotation system is to maintain a stable injuries not only when the magnetic levitation train stops, but also when driving up to the maximum design speed. The redundant float controller 4 controls the operation of the primary support system (bogie) by receiving the injury / landing command from the operator panel 6, and changes the parameters for the injury control and displays the operating state of the primary support system. It has a means for communicating with the MMI system 5.

2 shows a configuration of the redundant floating controller 21, wherein the individual controllers include first and second control boards 22 and 26 for performing a floating control algorithm, respectively, and external signals and the first and second controls. 2nd and 2nd signal processing boards 23 and 27 which are in charge of the interface of 2 control boards 22 and 26, respectively, the signal interface board 25 and the 1st and 1st signal transmission / reception signals for individual control periods. It consists of two power supply units (24) and (28), and the signal transmitted between the redundant floating controllers is a heartbeat signal (HB) that informs the relative floating controller whether or not the individual floating controller first control board (22) is normal. I / O), an auxiliary signal (AUX I / O) indicating abnormality outside the control board, and a control voltage signal for following the master control signal. As shown in Fig. 2, the flotation controller is operated in hot and stand-by states, respectively, to drive two flotation electromagnets.

The hot and stand-by controllers are mounted in separate racks and consist of identical control cards and backplanes, with one power supply unit for powering the individual controllers independently, per float controller.

The individual injury controller diagnoses its own condition and outputs an auxiliary signal to monitor each other's status if there is no error, and monitors each other's status by outputting heartbeat signals corresponding to the watchdog timer function in the form of pulses. do. Hot and stand-by flotation controllers operate in a master / slave fashion, ensuring that only the flotation controller currently in charge can drive the microwaves. The signal processing board receives signals from the air gap sensor, the acceleration sensor, and the electromagnet voltage / current sensor, and digitizes them and transmits them to the control board.

3 is a flowchart illustrating a method for determining the normal or abnormal of the counterpart controller using the heartbeat output from the counterpart controller. The counterpart generates a heartbeat every cycle while the individual controller operates in a predetermined control cycle. When the heartbeat signal is transmitted to the controller, the individual controller checks whether the heartbeat signal input from the counterpart controller is normal by using a logic circuit and finally determines whether there is a heartbeat abnormality of the counterpart controller in the same manner as in FIG. .

The primary check through the logic circuit checks the case in which the heartbeat signal input from the counterpart controller is not input for a predetermined time or enters earlier, and checks the heartbeat check flag if there is an error. It is set to 1 (34) to declare (41) the abnormality of the other party's heartbeat only when there is no input continuously for a certain time.

In this way, it is possible to increase the reliability of judgment by not judging that a failure has occurred in the loss of the other party's heartbeat signal due to noise or the like.

4 is a flowchart illustrating a master / slave switching by automatic or manual. As can be seen in FIG. 4, when a controller operating in a master mode becomes abnormal, whether the controller operating in the slave mode is normal. Check and transfer master authority only when the controller in slave mode is normal.

Referring to FIG. 5, when the master / slave mode switching occurs while the floating electromagnet is in a stationary injury, the size of the bumper varies depending on the control parameter as a waveform showing a change in the gap between the floating electromagnet and the opposing rail. The selection of control parameters to minimize the critical current is very important for the safety of the maglev train.

5 shows the floating air gap signal and the master output signal from the top. When the master output signal is high, the corresponding controller becomes the master. FIG. 6 shows that the master / slave mode switching occurs while the floating electromagnet maintains the stationary floating state, and there is almost no bumper in the floating air gap. FIG. 7 is a signal showing the change in floating air gap during simulation driving (6km / h), showing the dynamic characteristics of the floating electromagnet when the air gap sensor passes through the vertical step and the seam installed on the opposite rail, and for the vertical step slightly larger than 2mm. You can see that the floating electromagnet moves to that size.

The magnitude of the air gap sensor signal shown in FIGS. 5 to 8 has a 2mm / 1V relationship. FIG. 8 is a case where master / slave mode switching occurs during the simulation driving, and it can be seen that the air gap change of about 1 mm is increased compared to FIG. 7. However, it can be seen that this change in air gap does not occur when the floating electromagnet collides with the opposing rail.

As described above, the present invention doubles the float controller for the phase conduction suction type magnetic levitation train so that the situation where the magnetic levitation train is stopped due to a failure in one levitation controller does not occur, thereby increasing the reliability and safety of the magnetic levitation train. And very useful inventions that can improve solubility.

Although the present invention has been described with reference to the accompanying drawings, the present invention is not limited thereto and there may be many variations and modifications within the scope of the following claims.

Claims (5)

A first control board 22 for performing a floating control algorithm, a first signal processing board 23 that is responsible for the interface between the external signal and the first control board, and a first power supply 24 A first float controller; A second control board 26 for performing the same floating control algorithm as the first float controller, a second signal processing board 27 which is in charge of the interface between the external signal and the second control board, and a second A second float controller having a power supply 28; And And a signal interface board (25) for transmitting and receiving signals in the first and second injury control periods. The redundant float controller of claim 1, wherein the first and second float controllers are operated in a master / slave form, respectively. The redundant injury controller of claim 1, wherein the first and second injury controllers determine whether the other controller is normal or abnormal using a heartbeat output from the other controller. The dual injury of claim 1, wherein the first and second injury controllers respectively diagnose a state of their own and output an auxiliary signal to monitor the state of each other if there is no abnormality. Controller. 3. The magnification train redundant according to claim 2, wherein the slave mode controller follows the control signal of the master controller to minimize the bumper in the air gap when switching the master / slave in the redundant float controller for the maglev train. Levitation controller.

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