CN103192733A - Suspension control method and device - Google Patents
Suspension control method and device Download PDFInfo
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- CN103192733A CN103192733A CN2013101152774A CN201310115277A CN103192733A CN 103192733 A CN103192733 A CN 103192733A CN 2013101152774 A CN2013101152774 A CN 2013101152774A CN 201310115277 A CN201310115277 A CN 201310115277A CN 103192733 A CN103192733 A CN 103192733A
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Abstract
An embodiment of the invention discloses a suspension control method which includes the steps: receiving a first gap signal and a first acceleration signal of a first suspension control point and receiving a second gap signal and a second acceleration signal of a second suspension control point; acquiring a first control signal and a second control signal according to the received signals; and simultaneously transmitting the first control signal to the first suspension control point and transmitting the second control signal to the second suspension control point, wherein the first control signal is used for controlling the suspension force of the first suspension control point, and the second control signal is used for controlling the suspension force of the second suspension control point. Therefore, acquired data of the two suspension control points of an electromagnet module on the same side of a train are transmitted to the same signal processor, two sets of control signals are acquired by comprehensively calculating the data of the two suspension control points, and the corresponding suspension control points are synchronously controlled, so that coupling of the two suspension control points of the electromagnet module on the same side of the train is eliminated when the suspension force is controlled.
Description
Technical field
The present invention relates to the electromagnetic control field, particularly relate to a kind of suspension control method and device.
Background technology
Magnetic suspension train suspends train by the electromagnetic force between electromagnet and rail.Each electromagnet module has a plurality of suspensions controlling point, suspension control system goes out the electric current that suitable control command regulating magnet module is passed through according to the data operation at suspension sensor measurement suspension controlling point, thereby the electromagnetic force size of regulating the electromagnet module is controlled floating and the landing of electromagnet module, and then the levitation gap between adjusting train and the rail, realize the suspension of train.But, because electromagnet module is rigid structure in train the same side, two suspension controlling points of the same side are in the suspension control of reality, can electromagnetic force and the position of another point be exerted an influence when controlling its motion by the electromagnetic force size that changes one of them point, that is to say, between these two suspension controlling points coupling has taken place.
In the prior art, these two suspension controlling points are carried out the processing of image data separately and are calculated control by two different signal processors respectively, anyway change account form, since when calculating the control signal at one of them controlling point only with reference to the image data at this controlling point, and do not have between the image data at comprehensive another controlling point and two controlling points may occur influence each other, so can't fundamentally solve this coupling phenomenon, thereby be difficult to obtain higher controller performance, the stable suspersion of train has been produced hidden danger.
Summary of the invention
Above-mentioned when carrying out lift force control in order to solve, the technical matters of coupling can take place in electromagnet module between two suspension controlling points of train the same side, the invention provides a kind of suspension control method and device.
The embodiment of the invention discloses following technical scheme:
A kind of suspension control method comprises:
Receive first gap signal and first acceleration signal at the first suspension controlling point, receive second gap signal and second acceleration signal at the second suspension controlling point;
Obtain first control signal and second control signal according to described first gap signal, first Acceleration Signal, second gap signal and second acceleration signal that receive;
Send first control signal is used for the control first suspension controlling point to the first suspension controlling point lift force simultaneously, second control signal is used for the lift force at the control second suspension controlling point to the second suspension controlling point.
Preferably, the described first suspension controlling point and the second suspension controlling point are that an electromagnet module is at the suspension controlling point of train the same side.
Preferably, also comprise:
Described first gap signal and first acceleration signal are to obtain after by first processor the data message of gathering from the first suspension controlling point being handled;
Described second gap signal and second acceleration signal are to obtain after by second treater data message of gathering from the second suspension controlling point being handled.
Preferably, described first processor and second treater specifically be can the concurrent processing data fpga chip.
Preferably, also comprise:
Interior first gap signal, first Acceleration Signal, second gap signal and second acceleration signal time rating that real-time buffer memory is up-to-date; Described time rating, size was directly proportional with the storage content of memory cell.
A kind of suspension control setup comprises electromagnet module, sensor and first dsp processor:
Described electromagnet module comprises the first suspension controlling point and the second suspension controlling point;
Described sensor comprises first sensor and second sensor, and the input end of described first sensor links to each other with the described first suspension controlling point, and the input end of described second sensor links to each other with the described second suspension controlling point;
The input end of described first dsp processor links to each other with the mouth of the mouth of first sensor with second sensor, be used for receiving first gap signal and first acceleration signal at the first suspension controlling point, receive second gap signal and second acceleration signal at the second suspension controlling point, and send first control signal and second control signal simultaneously to electromagnet module;
The mouth of described first dsp processor links to each other with the second suspension controlling point with the first suspension controlling point of described electromagnet module.
Preferably, the described first suspension controlling point and the second suspension controlling point are that described electromagnet module is at the suspension controlling point of train the same side.
Preferably, also comprise first processor and second treater:
The input end of described first processor links to each other with the mouth of first sensor, and the mouth of described first processor links to each other with the input end of described first dsp processor;
The input end of described second treater links to each other with the mouth of second sensor, and the mouth of described second treater links to each other with the input end of described first dsp processor.
Preferably, described first processor and second treater specifically be can the concurrent processing data fpga chip.
Preferably, also comprise EEPROM and second dsp processor:
The input end of described EEPROM links to each other with the mouth of described first dsp processor;
The input end of described second dsp processor links to each other with the mouth of described EEPROM.
By technique scheme as can be seen, the image data of electromagnet module at two suspension controlling points of train the same side sent in the same signal processor, the data computation at comprehensive above-mentioned two suspension controlling points obtains the suspension controlling point of two groups of control signals and synchro control correspondence, has eliminated the coupling phenomenon between two suspension controlling points of electromagnet module in train the same side when carrying out lift force control thus.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the method flow diagram of a kind of suspension control method of the present invention;
Fig. 2 is electromagnet of the present invention and orbital plane position view;
Fig. 3 is another method flow diagram of a kind of suspension control method of the present invention;
Fig. 4 realizes block diagram for a kind of suspension control system of the present invention;
Fig. 5 is the structure drawing of device of a kind of control setup that suspends of the present invention;
Fig. 6 is another structure drawing of device of a kind of control setup that suspends of the present invention.
The specific embodiment
The embodiment of the invention provides a kind of suspension control method and device.At first, use same signal processor processes electromagnet module in the image data at two suspension controlling points of train the same side, be that the image data at comprehensive two suspension controlling points calculates at the control signal at each suspension controlling point, and output needle has been eliminated the coupling phenomenon between two suspension controlling points of electromagnet module in train the same side when carrying out lift force control thus to the control signal at two suspension controlling points synchronously.
Secondly, before the signal of gathering at above-mentioned two suspension controlling points sends to same signal controller, the signal that a suspension controller is gathered uses a FPGA treater to carry out concurrent processing separately, handle back output actv. gap signal and acceleration signal, significantly reduced the processing delay time of signal controller thus.
At last, use cell stores to record the signal parameter of handling in the signal controller in the up-to-date end time, and real-time update, like this, can obtain at any time from this to the signal parameter of a period of time before, to make things convenient for data statistics and failure analysis.
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with accompanying drawing the embodiment of the invention is described in detail.
Embodiment one
See also Fig. 1, it may further comprise the steps for the method flow diagram of a kind of suspension control method of the present invention, this method:
S101: receive first gap signal and first acceleration signal at the first suspension controlling point, receive second gap signal and second acceleration signal at the second suspension controlling point;
Preferably, the described first suspension controlling point and the second suspension controlling point are that an electromagnet module is at the suspension controlling point of train the same side.
At the bottom of the car of magnetic suspension train, all be equipped with for the suspension frame that suspends, treater floats vehicle by the electromagnetic force size at the suspension controlling point on the control suspension frame and further adjusts gap between vehicle and the rail, in general, the suspension frame has two suspension controlling points in the same side of railway car, when treater control one of them controlling point, two controlling points, the same side, moving up and down of this controlling point change of electromagnetic force and position can impact electromagnetic force and the position at another controlling point, so, use same treater to replace two different processors before to control the suspension frame at two suspension controlling points of the same side of railway car now, take all factors into consideration the data of gathering from this two controlling point, eliminate influencing each other between above-mentioned two controlling points with this.
S102: obtain first control signal and second control signal according to described first gap signal, first Acceleration Signal, second gap signal and second acceleration signal that receive;
Because electromagnet module is rigid structure in train the same side, to a control signal that sends in two controlling points of the same side, the capital generates an electromagnetic field to another controlling point or the change of mechanical location, if so want accurately to control the suspension of train, control signal to one of them controlling point, must take all factors into consideration the data of gathering from these two points and between the interaction force that may occur, just can calculate corresponding control signal then, see also Fig. 2, it is electromagnet of the present invention and orbital plane position view, as shown in Figure 2, in the true train suspension operation, the electromagnet module vehicle frame that suspends in other words is not theoretical parallel but a kind of nonparallel position relation occurs between the part of train the same side and rail, two suspension controlling points 21 are different apart from rail apart from S1 and S2 with 22, in the time of the gap between needs adjustment rail and the train or other adjustment, all can exert an influence to another controlling point to any one control signal that sends between two suspension controlling points 21 and 22.Thus, control signal to one of them controlling point is that the image data of taking all factors into consideration two controlling points calculates, and send the control signal at these two controlling points simultaneously, further reduce by 2 electromagnetic forcees and change the change in location that causes and influencing each other of causing.
S103: send first control signal is used for the control first suspension controlling point to the first suspension controlling point lift force simultaneously, second control signal is used for the lift force at the control second suspension controlling point to the second suspension controlling point.
When simultaneously to electromagnet module in other words the levitated vehicle chord position transmit control signal in two suspension controlling points of train the same side, can reduce interacting between 2 as much as possible, reach accurate control.
Send at the same time in the process that first control signal and the second control signal branch be clipped to first, second corresponding suspension controlling point, can also carry out filtering copped wave and handle, further get rid of noise jamming, improve the accuracy rate of control signal.
By present embodiment as can be seen, use same signal processor processes electromagnet module in the image data at two suspension controlling points of train the same side, be that the image data at comprehensive two suspension controlling points calculates at the control signal at each suspension controlling point, and output needle has been eliminated the coupling phenomenon between two suspension controlling points of electromagnet module in train the same side when carrying out lift force control thus to the control signal at two suspension controlling points synchronously.
Embodiment two
On the basis of embodiment one, present embodiment sees also Fig. 3 to how gap signal and the acceleration signal that collects being further processed, and it is another method flow diagram of a kind of suspension control method of the present invention, comprising:
S301: described first gap signal and first acceleration signal are to obtain after by first processor the data message of gathering from the first suspension controlling point being handled;
S302: described second gap signal and second acceleration signal are to obtain after by second treater data message of gathering from the second suspension controlling point being handled.
Preferably, described first processor and second treater are can concurrent processing data fpga chip specifically.
Here need to prove, when the data at two controlling points insert a treater simultaneously and handle, because the data volume of disposable processing is double, can cause the processing time of treater elongated, in this preferred embodiment, before the data of gathering from these two controlling points send to treater, the data that gather at each controlling point are carried out pretreatment, therefrom select out useful signal, such as actv. gap signal and acceleration signal send to useful signal in the treater, more like this, can save treater and from the collection signal at two controlling points, select out the time of useful signal, further improve treatment effeciency.
Simultaneously, at the particularity of magnetic suspension train, the work of electromagnet module and linear electric motors makes that the electromagnetic interference around the train is stronger, uses digital sensors to replace the existing analog sensor signal that adopts, antijamming capability is strong, has improved the particularity of image data.Simultaneously adopted the type of transmission of transmitting based on the strong bus of this anti-electromagnetic interference of 485 buses at transmission network, the image data at each suspension controlling point has all further improved system's antijamming capability by 485 bus transfer independently to first and second treaters.What certainly also need to indicate is, though the present invention preferably use can the concurrent processing data fpga chip handle the image data that receives as first, second treater, but, the present invention does not limit the concrete module of first, second treater, can be to have any chip module parallel processing capability, that can finish same task.
Preferably, up-to-date interior first gap signal, first Acceleration Signal, second gap signal and second acceleration signal time rating of real-time buffer memory; Described time rating, size was directly proportional with the storage content of memory cell.
The special failure record unit that the present invention preferably adopts a cover to be made of dsp chip and eeprom chip, with the failure message of control process and key parameter real-time storage in EEPROM, the data quantity stored size is decided according to the storage space of eeprom chip, after storage space has been expired, the up-to-date data of real-time update replace the oldest data in the eeprom chip, when needs are searched fault cause, can be by from DSP the failure message the EEPROM and key parameter being read out again, give upper computer by the CAN bus transfer, also can be used for statistics or other purposes in random time point information extraction parameter at random.Certainly, thisly how storing key parameter and be not limited to use the special failure record unit that is made of dsp chip and eeprom chip in the method that certain time point reads out key parameter again, also can be other chips or the chip portfolio that can finish identical function.
From present embodiment as can be seen, before the signal of gathering at above-mentioned two suspension controlling points sends to same signal controller, the signal that a suspension controller is gathered uses a FPGA treater to carry out concurrent processing separately, screen and handle back output actv. gap signal and acceleration signal, significantly reduced the processing delay time of signal controller thus.
Again, use digital signal sensors and gather signal based on the signal transmssion line transmission of digital of 485 buses, improved the antijamming capability in the signals transmission greatly.
At last, use cell stores to record the signal parameter of handling in the signal controller in the up-to-date end time, and real-time update, like this, can obtain at any time from this to the signal parameter of a period of time before, to make things convenient for data statistics and failure analysis.
Embodiment three
On the basis of embodiment one and embodiment two, the enforcement scene in conjunction with concrete specifically describes analysis to technical scheme of the present invention.See also Fig. 4, it realizes block diagram for a kind of suspension control system of the present invention.
Sensor 403 and sensor 404 are gathered electromagnet module respectively in two suspension controlling points 401 of train the same side and 402 related data, comprising gap signal and acceleration signal.
Sensor 403 and sensor 404 will collect signal and carry out pretreatment by 485 buses transmission multichannel gap signal and Multichannel Acceleration signal to each self-corresponding FPGA treater 405 and 406.
FPGA treater 405 and 406 pairs of multi-path signals that receive, in general be that three road gap signals and two-way acceleration signal carry out concurrent processing and therefrom screen out the useful signal of one road gap signal and the useful signal of one road acceleration signal, and the useful signal of screening the gap signal that comes out and acceleration signal is sent to dsp processor 407 by the I/O interface be further processed.
The useful signal of the road gap signal that the useful signal of the road gap signal that dsp processor 407 comprehensive FPGA treaters 405 send over and the useful signal and 406 of one road acceleration signal send over and the useful signal of one road acceleration signal, and between suspension controlling point 401 and 402 owing to influencing each other of causing of rigid construction etc., calculate at the control signal at suspension controlling point 401 with at the control signal at suspension controlling point 402, thus decoupling zero is carried out at these two suspension controlling points.
Dsp processor 407 sends the described control signal of this two-way simultaneously to the suspension controlling point of correspondence, can also further get rid of noise jamming by chopper in the process of transmission, improves the accuracy rate of control signal.
Suspension controlling point 401 and 402 receives corresponding control signal, makes corresponding control content.
Meanwhile, the key parameter real-time update buffer memory of handling in the treater 408 can be got up by EEPROM408, data in buffer total amount size is decided according to the size of EEPROM408, after storage space has been expired, the up-to-date data of real-time update replace the oldest data among the EEPROM408, when needs are searched fault cause, then by another dsp processor 409 failure message among the EEPROM and key parameter are read out again, give upper computer by the CAN bus transfer, also can be used for statistics or other purposes in random time point information extraction parameter at random.
By present embodiment as seen, at first, use same signal processor processes electromagnet module in the image data at two suspension controlling points of train the same side, be that the image data at comprehensive two suspension controlling points calculates at the control signal at each suspension controlling point, and output needle has been eliminated the coupling phenomenon between two suspension controlling points of electromagnet module in train the same side when carrying out lift force control thus to the control signal at two suspension controlling points synchronously.
Secondly, before the signal of gathering at above-mentioned two suspension controlling points sends to same signal controller, the signal that a suspension controller is gathered uses a FPGA treater to carry out concurrent processing separately, handle back output actv. gap signal and acceleration signal, significantly reduced the processing delay time of signal controller thus.
At last, use cell stores to record the signal parameter of handling in the signal controller in the up-to-date end time, and real-time update, like this, can obtain at any time from this to the signal parameter of a period of time before, to make things convenient for data statistics and failure analysis.
Embodiment four
See also Fig. 5, it is the structure drawing of device of a kind of control setup that suspends of the present invention, and this device comprises electromagnet module 51, sensor 52 and first dsp processor 53:
Described electromagnet module 51 comprises the first suspension controlling point 511 and the second suspension controlling point 512;
Preferably, the described first suspension controlling point 511 and the second suspension controlling point 512 are that described electromagnet module 51 is at the suspension controlling point of train the same side.
Described sensor 52 comprises first sensor 521 and second sensor 522, and the input end of described first sensor 521 links to each other with the described first suspension controlling point 511, and the input end of described second sensor 522 links to each other with the described second suspension controlling point 512;
The input end of described first dsp processor 53 links to each other with the mouth of first sensor 521 and the mouth of second sensor 522, be used for receiving first gap signal and first acceleration signal at the first suspension controlling point 511, receive second gap signal and second acceleration signal at the second suspension controlling point 512, and send first control signal and second control signal simultaneously to electromagnet module 51;
The mouth of described first dsp processor 53 links to each other with the second suspension controlling point 512 with the first suspension controlling point 511 of described electromagnet module 51.
By present embodiment as can be seen, use same signal processor processes electromagnet module in the image data at two suspension controlling points of train the same side, be that the image data at comprehensive two suspension controlling points calculates at the control signal at each suspension controlling point, and output needle has been eliminated the coupling phenomenon between two suspension controlling points of electromagnet module in train the same side when carrying out lift force control thus to the control signal at two suspension controlling points synchronously.
Embodiment five
On the basis of embodiment four, how present embodiment is to being further processed gap signal and the acceleration signal that collects, see also Fig. 6, it is another structure drawing of device of a kind of control setup that suspends of the present invention, comprises first processor 61 and second treater 62:
The input end of described first processor 61 links to each other with the mouth of first sensor 521, and the mouth of described first processor 61 links to each other with the input end of described first dsp processor 53;
The input end of described second treater 62 links to each other with the mouth of second sensor 522, and the mouth of described second treater 62 links to each other with the input end of described first dsp processor 53.
Preferably, described first processor 61 and second treater 62 be specially can the concurrent processing data fpga chip.
Preferably, also comprise EEPROM and second dsp processor:
The input end of described EEPROM links to each other with the mouth of described first dsp processor;
The input end of described second dsp processor links to each other with the mouth of described EEPROM.
As can be seen from the above-described embodiment, the image data of electromagnet module at two suspension controlling points of train the same side sent in the same signal processor, the data computation at comprehensive above-mentioned two suspension controlling points obtains the suspension controlling point of two groups of control signals and synchro control correspondence, has eliminated the coupling phenomenon between two suspension controlling points of electromagnet module in train the same side when carrying out lift force control thus.
Need to prove, one of ordinary skill in the art will appreciate that all or part of flow process that realizes in above-described embodiment method, be to instruct relevant hardware to finish by computer program, described program can be stored in the computer read/write memory medium, this program can comprise the flow process as the embodiment of above-mentioned each side method when carrying out.Wherein, described storage medium can be magnetic disc, CD, read-only storage memory body (Read-Only Memory, ROM) or at random store memory body (Random Access Memory, RAM) etc.
More than a kind of suspension control method provided by the present invention and device are described in detail, used specific embodiment herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. a suspension control method is characterized in that, comprising:
Receive first gap signal and first acceleration signal at the first suspension controlling point, receive second gap signal and second acceleration signal at the second suspension controlling point;
Obtain first control signal and second control signal according to described first gap signal, first Acceleration Signal, second gap signal and second acceleration signal that receive;
Send first control signal is used for the control first suspension controlling point to the first suspension controlling point lift force simultaneously, second control signal is used for the lift force at the control second suspension controlling point to the second suspension controlling point.
2. method according to claim 1 is characterized in that, the described first suspension controlling point and the second suspension controlling point are that an electromagnet module is at the suspension controlling point of train the same side.
3. method according to claim 1 is characterized in that, also comprises:
Described first gap signal and first acceleration signal are to obtain after by first processor the data message of gathering from the first suspension controlling point being handled;
Described second gap signal and second acceleration signal are to obtain after by second treater data message of gathering from the second suspension controlling point being handled.
4. method according to claim 3 is characterized in that, described first processor and second treater specifically be can the concurrent processing data fpga chip.
5. method according to claim 1 is characterized in that, also comprises:
Interior first gap signal, first Acceleration Signal, second gap signal and second acceleration signal time rating that real-time buffer memory is up-to-date; Described time rating, size was directly proportional with the storage content of memory cell.
6. a suspension control setup is characterized in that, comprises electromagnet module, sensor and first dsp processor:
Described electromagnet module comprises the first suspension controlling point and the second suspension controlling point;
Described sensor comprises first sensor and second sensor, and the input end of described first sensor links to each other with the described first suspension controlling point, and the input end of described second sensor links to each other with the described second suspension controlling point;
The input end of described first dsp processor links to each other with the mouth of the mouth of first sensor with second sensor, be used for receiving first gap signal and first acceleration signal at the first suspension controlling point, receive second gap signal and second acceleration signal at the second suspension controlling point, and send first control signal and second control signal simultaneously to electromagnet module;
The mouth of described first dsp processor links to each other with the second suspension controlling point with the first suspension controlling point of described electromagnet module.
7. device according to claim 6 is characterized in that, the described first suspension controlling point and the second suspension controlling point are that described electromagnet module is at the suspension controlling point of train the same side.
8. device according to claim 6 is characterized in that, also comprises first processor and second treater:
The input end of described first processor links to each other with the mouth of first sensor, and the mouth of described first processor links to each other with the input end of described first dsp processor;
The input end of described second treater links to each other with the mouth of second sensor, and the mouth of described second treater links to each other with the input end of described first dsp processor.
9. device according to claim 8 is characterized in that, described first processor and second treater specifically be can the concurrent processing data fpga chip.
10. device according to claim 6 is characterized in that, also comprises EEPROM and second dsp processor:
The input end of described EEPROM links to each other with the mouth of described first dsp processor;
The input end of described second dsp processor links to each other with the mouth of described EEPROM.
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Cited By (8)
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| CN103522913A (en) * | 2013-10-17 | 2014-01-22 | 中国人民解放军国防科学技术大学 | Suspension control method and device used for EMS type low-speed suspension train |
| CN103941620A (en) * | 2014-04-21 | 2014-07-23 | 南车株洲电力机车有限公司 | Vehicle levitation control circuit |
| CN104820392A (en) * | 2015-03-13 | 2015-08-05 | 南车株洲电力机车有限公司 | Method for controlling lifting of vehicle levitation chassis and system thereof |
| CN105291879A (en) * | 2015-11-04 | 2016-02-03 | 株洲时代装备技术有限责任公司 | Anode grounding reclosing method used for maglev vehicle power supply system |
| CN106515461A (en) * | 2016-12-29 | 2017-03-22 | 中铁二院工程集团有限责任公司 | Collector shoe of magnetic suspension train and electromagnetic shielding method of magnetic suspension train |
| CN109094421A (en) * | 2018-08-06 | 2018-12-28 | 江西理工大学 | The multi-point cooperative suspension control system of suspension type magnetic suspension train |
| CN109334467A (en) * | 2018-11-08 | 2019-02-15 | 湖南根轨迹智能科技有限公司 | Magnetic suspending train control system and its control method based on DSP |
| WO2020029714A1 (en) * | 2018-08-06 | 2020-02-13 | 江西理工大学 | Levitation control method for maglev skytrain |
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| CN103941620B (en) * | 2014-04-21 | 2016-03-16 | 南车株洲电力机车有限公司 | A kind of vehicle suspension control circuit |
| CN104820392A (en) * | 2015-03-13 | 2015-08-05 | 南车株洲电力机车有限公司 | Method for controlling lifting of vehicle levitation chassis and system thereof |
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| CN106515461A (en) * | 2016-12-29 | 2017-03-22 | 中铁二院工程集团有限责任公司 | Collector shoe of magnetic suspension train and electromagnetic shielding method of magnetic suspension train |
| CN106515461B (en) * | 2016-12-29 | 2023-09-22 | 中铁二院工程集团有限责任公司 | Magnetic levitation train collector shoe and magnetic levitation train electromagnetic shielding method |
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