CN100497037C - Method and system for preventing magnet levitation train from adsorption for track - Google Patents
Method and system for preventing magnet levitation train from adsorption for track Download PDFInfo
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- CN100497037C CN100497037C CNB2007100359137A CN200710035913A CN100497037C CN 100497037 C CN100497037 C CN 100497037C CN B2007100359137 A CNB2007100359137 A CN B2007100359137A CN 200710035913 A CN200710035913 A CN 200710035913A CN 100497037 C CN100497037 C CN 100497037C
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Abstract
The present invention is anti-locking control method and system for magnetic suspension train, and on the basis of traditional magnetic suspension control device, one anti-locking control device comprising one predicting controller, one logic processing unit, one power tube state detector, etc is set. The predicting controller predicts the dynamic suspension gap on the running magnetic suspension train based on the signal from the displacement sensor of the suspension control device and sends command to the suspension control device according to the prediction result. Normally, the magnet current is real-time regulated for the magnet to keep certain suspension interval to the track; and in case predicted locking risk, the anti-locking control device requires the suspension control device to feed inverse current to the magnet so as to avoid locking the train onto the track.
Description
Technical field
The present invention relates to electromagnetic type magnetic floating train, be specifically related to a kind ofly can prevent effectively that electromagnet and permanent magnet mixed type magnetic-levitation train from inhaling the method for dead track and according to this method designed system.
Background technology
Electromagnetic type magnetic floating train is to utilize attractive force between vehicle-mounted magnet and the ferrimagnetism track to realize a kind of track vehicle that suspends, except running velocity is fast, have also that hill climbing ability is strong, advantages such as safety and comfort, noise are little, environmental protection, it will become one of topmost vehicle of 21 century.The size of electromagnetic type magnetic floating train electromagnetic attraction need be carried out ACTIVE CONTROL by suspension controller, and the size of electric current needs to regulate according to the signal of gap sensor in the vehicle-mounted electromagnet winding, makes the certain levitation gap of maintenance between car body and rail.But in the real-world operation, if control fails, magnetic-levitation train has the danger of inhaling dead track.The destruction that dead fault causes train composition possibly takes place to inhale in the magnetic-levitation train that is moving.
For the electromagnetic suspension system of pure electromagnet structure, its lift force is all provided by the attractive force between levitating electromagnet and the track, when the dead risk of suction exists, just can effectively realize inhaling dead protection as long as can cut off the electricity supply reliably.And for the magnetic-levitation train that contains permanent magnet, cutting off the electricity supply, it is dead still can not effectively to prevent to inhale, this is because levitation gap between suspension magnet and track is when very little, the train self gravitation is not enough to overcome interactional magnetic force between permanent magnet and the ferrimagnetism track, at this moment, even the electric current of electromagnet portion is zero, train still has the danger of inhaling dead track.Therefore, it is significant that research protection electromagnet and permanent magnet hybrid suspension system is inhaled the method for dead track.
The present domestic information of this project still not being had public publish in this field.
Summary of the invention
Technical matters to be solved by this invention is, at the floating train of the normally-on suction-type magnetic of electromagnet and permanent magnet mixed system, provides a kind of and can in time detect operating electromagnet and permanent magnet mixed type magnetic-levitation train and inhale the risk of dead track and the method and system of effectively protecting.
At prior art, technical scheme proposed by the invention is:
A kind ofly protect the method that magnetic-levitation train is inhaled dead track, it is to be provided with to inhale dead protective device on the basis of magnetic-levitation train tradition Suspension Control device, by train being inhaled the prediction of dead track risk, adjust the electric current of supplying with magnet in real time at the security situation Suspension Control device that gives an order, make the certain levitation gap of maintenance between magnet and the track, or request Suspension Control device adds counter-current to magnet when the dead danger of suction is arranged, and makes the magnetic-levitation train landing in orbit, thereby avoids magnetic-levitation train to inhale dead track.
The dead protective device of suction among the present invention is powered by outside accessory feed, according to sensor set in the Suspension Control device, obtains the gap signal between magnetic-levitation train car body and the track.Simultaneously, inhaling dead protective device predicts the operating dynamic suspension of magnetic-levitation train gap, and judge whether train has the danger of inhaling dead track, and then according to judged result, instruction Suspension Control device is adjusted magnet current in real time according to its sensor signal, make the certain levitation gap of maintenance between magnet and the track, or request Suspension Control device provides counter-current to magnet when the dead danger of suction is arranged.
Wherein, include predictive controller in the dead protective device of described suction, with gap width according to sensor, prediction levitation gap and variation tendency, and when the dead danger of suction is arranged, the Suspension Control device is sent control signal.
The present invention mainly adopts to have the chopper that redundancy can detect characteristic and provides bidirectional current to magnet.
The present invention provides a kind of system that magnetic-levitation train is inhaled dead track that protects according to said method, comprises inhaling dead protective device, and the dead protective device of described suction comprises:
Predictive controller: link to each other with sensor, form by prediction circuit and comparator circuit that analogous circuit are realized, the gap width that prediction circuit can arrive according to sensor, levitation gap and variation tendency are predicted, comparator circuit compares above-mentioned gap width that predicts and minimum permissible clearance value, the result is passed to Logical processing unit, and when the dead danger of suction is arranged, the Suspension Control device is sent control signal.
The power tube state detector: link to each other with Logical processing unit with chopper, detect in real time with mode of operation to each power tube of power circuit, can detect each power tube normal, short circuit, state such as open circuit.
Logical processing unit: link to each other with control center with suspension controller, predictive controller, power tube state detector, to the output signal of predictive controller and power tube state detector handle, various faults of comprehensive assessment and suspension controller sent instruction.
The dead protective device of described suction adopts to have the chopper that redundancy can detect characteristic and provides bidirectional current to magnet.Chopper is made up of forward power pipe and backward power pipe, utilizes the mode of operation of power tube state detector with real-time each power tube of detection power circuit.
Described forward power pipe adopts two series connected structures of single tube, and connects fuse respectively, and the backward power pipe adopts the structure of two single tube parallel connections, and this Redundancy Design has the fault-safety principle performance.
The technique effect that the present invention can reach is:
(1) the present invention is directed to the electromagnet and permanent magnet hybrid suspension system, propose dead means of defence of a kind of suction and system,, can assess fault, and take corresponding measure, realize the dead protection of actv. suction by detecting the levitation gap between magnetic-levitation train car body and the track;
(2) the present invention's predictive controller can effectively dope the levitation gap of magnetic-levitation train by prediction algorithm, according to the precognition levitation gap, judges whether to exist and inhales dead risk, thereby assess inhaling dead risk; Realize the reasonable compromise of system availability and reliability;
(3) the present invention adopts and has the chopper that redundancy can detect characteristic, and by Redundancy Design, can guarantee still can provide the failure-free counter-current to electromagnet under the situation that indivedual power tubes damage;
(4) the present invention has also adopted the power tube state detector, although the damage of indivedual power tubes does not influence the defencive function of system, the situation of its damage still can be detected, and when redundancy reduces or lose redundancy, can in time find so that safeguard;
(5) the present invention provides counter-current by suspension controller to electromagnet, can when train has the dead danger of suction it be landed in orbit rapidly.
Description of drawings
Fig. 1 is the inventive method scheme drawing;
Fig. 2 is system architecture scheme drawing of the present invention;
Fig. 3 is the analogous circuit embodiment schematic diagram of gap of the present invention prediction algorithm;
Fig. 4 is the chopper principle schematic that redundancy can detect that has of the present invention;
Fig. 5 is the workflow scheme drawing of Logical processing unit of the present invention.
The specific embodiment
The invention provides a kind of method and system thereof that electromagnetic type magnetic floating train is inhaled dead track that protect, can prevent effectively that the magnetic-levitation train of electromagnet and permanent magnet mixed system from inhaling dead track.
Electromagnetic type magnetic floating train has two kinds of pure electromagnet structure and electromagnet and permanent magnet mixed systems.For the electromagnetic suspension system of pure electromagnet structure, its lift force is all provided by the attractive force between levitating electromagnet and the track, when the dead risk of suction exists, just can effectively realize inhaling dead protection as long as can cut off the electricity supply reliably.And for the magnetic-levitation train of the electromagnet and permanent magnet mixed system that contains permanent magnet, cutting off the electricity supply, it is dead still can not effectively to prevent to inhale, this is because levitation gap between suspension magnet and track is when very little, the train self gravitation is not enough to overcome interactional magnetic force between permanent magnet and the ferrimagnetism track, at this moment, even the electric current of electromagnet portion is zero, train still has the danger of inhaling dead track.
The suction of electromagnet and permanent magnet hybrid suspension system is extremely protected, and at first will predict inhaling dead risk.Predicting, is because the levitation gap of magnetic-levitation train is dynamically to adjust, and can not reflect the change procedure in gap fully when the size of anterior diastema.Though levitation gap is less sometimes, it increases, and can predict that then train can not inhale dead track; On the contrary, although levitation gap is also bigger sometimes, it sharply reduces, and just might cause inhaling dead.
Research thinks, the accurate prediction of inhaling dead risk both required effectively to prevent when risk really exists to inhale dead, is unlikely to again to cause mistake protection action and the availability that influences magnetic-levitation train.Secondly, the method that counter-current can reliably be provided must be arranged in the electromagnet and permanent magnet hybrid suspension system, thus inhale dead risk when existing by providing counter-current to electromagnet, make the train landing in orbit.
According to above-mentioned theory, the invention provides a kind of method that magnetic-levitation train is inhaled dead track of protecting, it is to be provided with on the basis of magnetic floating train suspending control setup by the dead protective device of the suction of outside accessory feed power supply, the Suspension Control device is powered by outside main power source, be provided with sensor in the Suspension Control device, gap signal between magnetic-levitation train car body and the track can be passed to and inhale dead protective device, by this device the operating dynamic suspension of magnetic-levitation train gap is predicted, and judge according to predicting the outcome whether train has the danger of inhaling dead track, if train is not inhaled the danger of dead track, then the Suspension Control device is adjusted magnet current in real time according to its sensor signal, makes the certain levitation gap of maintenance between magnet and the track; If predict train the danger of inhaling dead track is arranged, then inhale dead protective device request Suspension Control device and add counter-current, make the magnetic-levitation train landing in orbit, thereby avoid magnetic-levitation train to inhale dead track, realized the object of the invention to magnet.
In the dead protective device of described suction, include predictive controller, predictive controller can dope levitation gap and variation tendency thereof by prediction algorithm according to the gap width of sensor, and when the dead danger of suction is arranged the Suspension Control device is sent control signal.
Fig. 1, Fig. 2 have showed system architecture scheme drawing of the present invention.As shown in Figure 1 and Figure 2, the present invention includes main power source 1, accessory feed 4 and magnet 3, wherein magnet 3 is the mictomagnets that are made of electromagnet and permanent magnet, on the magnetic-levitation train car body, be provided with Suspension Control device 2 and inhale dead protective device 5, wherein:
Described Suspension Control device 2 comprises sensor 21, suspension controller 22 and chopper 23, wherein sensor 21 is mainly gap sensor (as ZA213601), can detect the gap width between car body and the track, in addition acceleration pick-up and current sensor can be arranged; But the signal of suspension controller 22 receiving sensors 21 is a core with the microprocessor, realizes the suspension algorithm by software; Described sensor 21, suspension controller 22 are prior arts, the present invention proposes a kind of magnetic-levitation train with the dead safeguard function of suction and inhales dead fail-safe structure, and a kind of chopper 23 of new structure, it has the characteristic that redundancy can detect, can bidirectional current be provided for magnet 3 according to the instruction of suspension controller 22, make and when the dead danger of suction is arranged, make the train landing in orbit by the certain levitation gap of maintenance between normal circumstances lower magnet 3 and the track by adding counter-current for magnet 3.Described bidirectional current is forward current or counter-current.
The dead protective device 5 of described suction comprises predictive controller 51, power tube state detector 52 and Logical processing unit 53, wherein predictive controller 51 links to each other with sensor 21, predictive controller 51 can be according to sensor 21 detected gap widths, prediction levitation gap and variation tendency, and inhale dead notification logic processing unit 53 when dangerous having.Logical processing unit 53 links to each other with predictive controller 51, power tube state detector 52, suspension controller 22 and control center 6, it according to the output signal of predictive controller 51, power tube state detector 52 handle, various faults of comprehensive assessment and suspension controller 22 sent instruction.Wherein, power tube state detector 52 links to each other with Logical processing unit 53 with chopper 23, and Logical processing unit is realized by micro controller system (as the PIC16C54 of Microchip company), can detect the mode of operation of each power tube of chopper in real time.Power tube state detector 52 can detect the mode of operation of each power tube.According to the state of predictive controller 51 and power tube state detector 52, Logical processing unit 53 request when the dead danger of suction is arranged provides counter-current for magnet 3 or request maintenance when redundancy reduces.Particularly, working properly if train is not inhaled each power tube of dead danger and chopper 23, Logical processing unit 53 is sent " working properly " information to control center 6; If the power tube partial fault is not inhaled dead danger but have, then Logical processing unit 53 is sent " request is safeguarded " instruction to control center 6; If Logical processing unit 53 detects train the danger of inhaling dead track is arranged, then send " request counter-current " instruction to suspension controller 22, chopper 23 will apply counter-current to the magnet 3 by electromagnet and permanent magnet structure car then, make the train landing in orbit.
The key of prediction algorithm is to realize the efficient compromise of reliabilty and availability, promptly should effectively prevent to inhale extremely, can not extremely and usually cut off the electricity supply in order to prevent to inhale again, influences normal operation.The design prediction algorithm need be taken all factors into consideration the performance of main power source 1, Suspension Control device 2 and magnet 3, the performance of the performance of power supply 1 and magnet 3 has determined the maximum adjustment capability in 2 pairs of gaps of Suspension Control device, and the specific algorithm that Suspension Control device 2 adopts also can produce certain constraint to adjustment capability.Such as, although the gap is less at present, even reducing, if in the predictable time in future,, minimum clearance can be controlled at more than the permissible value by the adjustment of Suspension Control device 2, so just also there is no need to cut off the electricity supply.
The present invention adopt based on the embodiment of the predictive controller 51 of analogous circuit as shown in Figure 3.It is by first operational amplifier A 1 (as LF353) and resistance R 1, R2, R3 and capacitor C 1, C2 predicted composition circuit, it is input as the actual gap value, be output as the prediction gap value, wherein resistance R 1 is connected in series back and resistance R 2 and connects with capacitor C 1, insert first operational amplifier A, 1 input end, resistance R 3 and capacitor C 2 also connect, and two ends are connected to first operational amplifier A, 1 input end and mouth respectively; Second operational amplifier A 2 (as LF353) is finished comparing function, it is input as prediction gap value and minimum permissible clearance value, if the prediction gap value is less than minimum permissible clearance value, its exports high level so, notification logic processing unit 53 sends control command by 53 pairs of suspension controllers 22 of Logical processing unit.
Fig. 4 is chopper 23 principle schematic that redundancy can detect characteristic that have of the present invention.This chopper 23 is when part power tube et out of order, but normal operation still, and just redundancy reduces, and the loss of this redundancy can detect.Its another one characteristics are to guarantee that by Redundancy Design system can provide counter-current reliably.Referring to Fig. 4, described chopper comprises the first forward power pipe S1, the second forward power pipe S2 and the first backward power pipe S3, the second backward power pipe S4, the described first forward power pipe S1 is made of the first single tube S11 and second single tube S12 serial connection, and link to each other with the first fuse F1, the described second forward power pipe S2 is made of the 3rd single tube S21 and the 4th single tube S22 serial connection, and be connected with the second fuse F2, the described first backward power pipe S3 is by the 5th single tube S31 and the 6th single tube S32 and connect and constitute, and the second backward power pipe S4 is by the 7th single tube S41 and the 8th single tube S42) in parallelly constitute.The single power tube of online detection is working properly still to open circuit or short circuit has been proven technique (being integrated with the state identification circuit of isolation as power tube actuator SCALE inside), and the present invention proposes a kind of method of the system failure being assessed by the mode of operation that detects a plurality of power tubes.Each power tube among Fig. 4 all is subjected to real-time monitoring, can judge the current running condition of system according to their mode of operation, thereby take appropriate measures.If there is one even a single tube short circuit is respectively arranged among the first forward power pipe S1, the second forward power pipe S2, or there is one even respectively have a single tube to open circuit among the first backward power pipe S3, the second backward power pipe S4, system can normal operation, but should ask to safeguard.If the short circuit simultaneously of 3 single tubes is arranged among the first forward power pipe S1, the second forward power pipe S2, current control can be arrived zero, and request is safeguarded; If have 1～4 single tube to open circuit among the first forward power pipe S1, the second forward power pipe S2, can not provide forward current so, can arrive zero this moment with current control, and request is safeguarded; If have only a single tube short circuit among the first backward power pipe S3, the second backward power pipe S4, can arrive zero this moment with current control, and request is safeguarded.If among the first backward power pipe S3, the second backward power pipe S4 more than one single tube short circuit is arranged respectively, will flow through counter-current in the electromagnet, can only accomplish to prevent this moment to inhale dead.When having only among the first forward power pipe S1, the second forward power pipe S2 the whole short circuit of 4 single tubes, just can flow through lasting forward current in the mictomagnet.When this minimum probability event takes place, protect by the first fuse F1 among Fig. 4, the second fuse F2.
The chopper of showing among Fig. 4 23 that redundancy can detect that has has 8 power tubes, and possible mode of operation has 3
8=6561 kinds, wherein the probability of great majority generation is all minimum, and table 1 and table 2 have been listed forward brachium pontis, the mode of operation of reverse brachium pontis and the measure of being taked respectively.It can be seen from the table, forward brachium pontis and reverse brachium pontis respectively have 81 kinds of mode of operations, nonserviceable down, take corresponding measure, system's total energy trend safety mode, and this is the fault-safety principle design of chopper 23 of the present invention.
Fig. 5 has showed the workflow scheme drawing of Logical processing unit 53 of the present invention.Logical processing unit 53 is assessed the system failure according to the state of predictive controller 51 and power tube state detector 52, and takes corresponding measure.Predictive controller 51 is used for whether having the dead risk of suction to predict that power tube state detector 52 is used for the mode of operation of each power tube of chopper is carried out online detection to train.If predicting train, predictive controller 51 exist suction dead dangerous, Logical processing unit 53 will be sent the instruction of request counter-current to suspension controller 22, suspension controller 22 will provide counter-current to magnet 3 by chopper 23, and send alerting signal for control center 6, and request is safeguarded.If the danger that predictive controller 51 prediction trains are not inhaled dead track, and power tube state detector 52 detects normal, the trouble free of mode of operation of each power tube of chopper, and Logical processing unit 53 will be sent " working properly " signal to control center 6.If the danger that predictive controller 51 prediction trains are not inhaled dead track, but power tube state detector 52 detects the power tube fault, then assess by 53 pairs of power tube faults of Logical processing unit, if can not provide counter-current to magnet, send alerting signal then for control center 6, request is safeguarded and the indication fault situation; If assessment result can also provide counter-current, then earlier by suspension controller 22 with current control to zero, send alerting signal for simultaneously control center 6, also indication fault situation is safeguarded in request.Can effectively protect train by above-mentioned flow process and inhale dead track, and can make system's failure to the safe side under failure condition.
The tabulation of table 1 forward brachium pontis failure condition
Oppositely brachium pontis failure condition tabulation of table 2
Claims (10)
1, a kind ofly protects the method that magnetic-levitation train is inhaled dead track, it is characterized in that, on the basis of magnetic floating train suspending control setup, be provided with and inhale dead protective device, inhaling dead protective device by this inhales dead track risk to train and predicts, adjust the electric current of supplying with magnet in real time at the security situation Suspension Control device that gives an order, make the certain levitation gap of maintenance between magnet and the track, request Suspension Control device adds counter-current to magnet when inhaling extremely danger if having, make the magnetic-levitation train landing in orbit, thereby avoid magnetic-levitation train to inhale dead track.
2, protection magnetic-levitation train according to claim 1 is inhaled the method for dead track, it is characterized in that, the dead protective device of described suction obtains gap signal between magnetic-levitation train car body and the track by sensor set in the Suspension Control device, simultaneously, the operating dynamic suspension of magnetic-levitation train gap is predicted, and judge whether train has the danger of inhaling dead track, and then according to judged result, instruction Suspension Control device is adjusted magnet current in real time according to its sensor signal, make the certain levitation gap of maintenance between magnet and the track, request Suspension Control device provides counter-current to magnet when inhaling extremely danger if having.
3, the protection magnetic-levitation train according to claim 1 and 2 method of inhaling dead track, it is characterized in that, include predictive controller in the dead protective device of described suction, with the gap width that detects according to the Suspension Control device, prediction levitation gap and variation tendency, and when the dead danger of suction is arranged, the Suspension Control device is sent control signal.
4, the protection magnetic-levitation train according to claim 1 and 2 method of inhaling dead track is characterized in that, adopts to have the chopper that redundancy can detect characteristic and provide bidirectional current to magnet.
5, the protection magnetic-levitation train according to claim 3 method of inhaling dead track is characterized in that, adopts to have the chopper that redundancy can detect characteristic and provide bidirectional current to magnet.
6, a kind ofly protect the system that magnetic-levitation train is inhaled dead track, it is characterized in that comprising and inhale dead protective device that the dead protective device of described suction comprises:
Link to each other the gap width that can arrive according to sensor, the predictive controller of prediction levitation gap and variation tendency with sensor;
Power tube state detector with chopper links to each other with Logical processing unit can detect in real time to the mode of operation of each power tube of power circuit;
Link to each other with control center with suspension controller, predictive controller, power tube state detector, can handle according to predictive controller and power tube state detector output signal, various faults of comprehensive assessment and suspension controller is sent the Logical processing unit of instruction.
7, the protection magnetic-levitation train according to claim 6 system of inhaling dead track, it is characterized in that: described chopper is the two-way chopper that redundancy can detect, and utilizes the mode of operation of power tube state detector with real-time each power tube of detection power circuit.
8, the protection magnetic-levitation train according to claim 6 system of inhaling dead track, it is characterized in that: described sensor is a gap sensor.
9, protection magnetic-levitation train according to claim 6 is inhaled the system of dead track, it is characterized in that: described predictive controller comprises first op amp (A1), second op amp (A2) and resistance (R1), (R2), (R3) and electric capacity (C1), (C2), the predicted composition circuit, prediction of output gap width, wherein resistance (R1) is connected in series back and resistance (R2) and connects with electric capacity (C1), insert first op amp (A1) input end, resistance (R3) and electric capacity (C2) also connect, two ends are connected to first op amp (A1) input and output side respectively, and second op amp (A2) passes to Logical processing unit with above-mentioned gap width and the minimum permissible clearance value result after relatively.
10, the system of inhaling dead track according to claim 6 or 7 described protection magnetic-levitation trains, it is characterized in that: described chopper comprises the first forward power pipe (S1), the second forward power pipe (S2) and the first backward power pipe (S3), the second backward power pipe (S4), the described first forward power pipe (S1) is made of first single tube (S11) and second single tube (S12) serial connection, and (F1) links to each other with first fuse, the described second forward power pipe (S2) is made of the 3rd single tube (S21) and the 4th single tube (S22) serial connection, and (F2) is connected with second fuse, the described first backward power pipe (S3) is by the 5th single tube (S31) and the 6th single tube (S32) and connect formation, and the second backward power pipe (S4) is by the 7th single tube (S41) and the 8th single tube (S42) formation in parallel.
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| CNB2007100359137A CN100497037C (en) | 2007-10-17 | 2007-10-17 | Method and system for preventing magnet levitation train from adsorption for track |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102092306A (en) * | 2011-01-19 | 2011-06-15 | 中国人民解放军国防科学技术大学 | Anti-suspension contact device for maglev train |
| CN102862493B (en) * | 2012-09-21 | 2015-02-04 | 南车株洲电力机车有限公司 | Power supply system used for suspension control system |
| CN103318048A (en) * | 2013-05-29 | 2013-09-25 | 西南交通大学 | Series-connection type permanent-magnet hybrid levitation device for magnetic-levitation train |
| CN104990717B (en) * | 2015-07-27 | 2017-10-20 | 中国人民解放军国防科学技术大学 | A kind of magnetic-levitation train sensor signal processing method |
| CN107380008A (en) * | 2017-08-29 | 2017-11-24 | 于学禄 | A kind of Auxiliary support guidance method of wheel track vehicle |
| CN108248446B (en) * | 2018-01-10 | 2020-09-29 | 西南交通大学 | Forced centering suspension frame structure of maglev train |
| CN109094422B (en) * | 2018-08-06 | 2020-04-07 | 江西理工大学 | Suspension type track traffic equipment and magnetoelectric hybrid suspension rail system therein |
| CN113561786B (en) * | 2021-08-26 | 2024-01-12 | 同济大学 | Suspension redundancy control system and method based on vehicle rail state monitoring |
| CN113819959B (en) * | 2021-11-24 | 2022-02-08 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | Suspension system anomaly detection method based on Hailinge distance and correlation coefficient |
| CN116700231A (en) * | 2022-02-25 | 2023-09-05 | 北京华卓精科科技股份有限公司 | Safe parking method and device for magnetic levitation platform, control equipment and safe parking system |
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| EP1538118A2 (en) * | 2003-12-05 | 2005-06-08 | COLENTA Labortechnik Ges.m.b.H. & Co. KG. | Device for the floating transport of articles |
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