CN107433961A - A kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train is crossing the suspension control algolithm of steps of track - Google Patents
A kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train is crossing the suspension control algolithm of steps of track Download PDFInfo
- Publication number
- CN107433961A CN107433961A CN201710545125.6A CN201710545125A CN107433961A CN 107433961 A CN107433961 A CN 107433961A CN 201710545125 A CN201710545125 A CN 201710545125A CN 107433961 A CN107433961 A CN 107433961A
- Authority
- CN
- China
- Prior art keywords
- gap
- track
- probe
- value
- magnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
- B61L23/047—Track or rail movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/04—Magnetic suspension or levitation for vehicles
Abstract
The invention discloses a kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train to cross the suspension control algolithm of steps of track, magnetic floats line track seam crossing and step easily occurs, track faulting of slab ends is considered as a step mutation process to consider, set backlash compensation shoulder height, keep consistent with actual gap, then setting gap is transitioned into normal value again, actual gap value, which also tracks, returns to normal value, suspendability is held essentially constant when crossing steps of track.The present invention can effectively solve the problems, such as that Permanent Magnet and Electric magnetic-type medium-and low-speed maglev train crosses steps of track.
Description
Technical field
The present invention relates to magnetic suspension train field, particularly a kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train is crossing the outstanding of steps of track
Floating control algolithm.
Background technology
Permanent Magnet and Electric magnetic-type magnetic-levitation train adds hybrid magnets suspension magnet in pure electromagnet, outstanding so as to significantly reduce
Floating energy consumption, reduce equipment heating, effectively improve system bearing ability.Magnetic flotation line is route in subgrade settlement, processing and installation error
Etc. reason, easily there is step in track seam crossing, be exactly the faulting of slab ends phenomenon often said.The presence of steps of track is to be difficult to avoid that
, its influence to suspension system be can not ignore, and when magnetic-levitation train passes through track faulting of slab ends, targetedly be controlled if do not used
Method, suspension system can be fluctuated or even collapsed.The sensor probe used at present on Permanent Magnet and Electric magnetic-type magnetic-levitation train is comparatively
It is smaller, measure be partial points gap, it means that sensor is very sensitive to the irregularity of track, and suspension system is easily from defeated
Enter end and introduce interference.It is therefore necessary to design suspension control algolithm to make magnetic-levitation train steadily pass through steps of track.
The content of the invention
In order to solve the above technical problems, the present invention provides one kind Permanent Magnet and Electric magnetic-type magnetic-levitation train can be avoided to cross steps of track
Shi Bodong suspension control algolithm.
The technical solution adopted by the present invention is：
A kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train is crossing the suspension control algolithm of steps of track, comprises the following steps：
Using the gap width between gap sensor detection probe and track, there is the gap sensor spacing to be more than rail
Two detection probes of road seam length, probe one, probe two are designated as respectively, gap sensor is by comparing probe one and probe
Two data simultaneously obtain wherein minimum measured value as popping one's head in and the actual gap value Z between track, and feedback error item gap
To controller；Wherein, error term gap=actual gap value Z- settings gap ZS, there is between adjacent orbit seam, probe warp
The gap width relative smooth track mutation detected during seam is crossed, sets gap ZSValue in smooth track is to stablize gap Z0；
After detecting that probe one passes through seam successively with probe two, to setting gap ZSShoulder height value tj is compensated,
Shoulder height value tj is the stable gap Z of actual gap value Z-0, then will compensate shoulder height value setting gap ZSTransit to
Stable gap Z0。
The present invention is using the gap between the gap sensor detection probe and track for being provided with three detection probes；Wherein,
Three detection probes are sequentially spaced and spacing is more than track seam length between adjacent probes, and gap sensor passes through
Compare the data for obtaining smaller two probes of wherein measured value, the as described probe one of two probes with smaller measured value,
Probe two.
The setting gap ZSTo stablizing gap Z0It is K that prepsetting gap during transition, which is incremented by amplitude,t, default transit time is
tt, meet：tt=tj/Kt。
Beneficial effects of the present invention：Using the algorithm that gets the small value：Gap sensor only obtains the measured value of two probes,
Minimum value therein is taken by comparing, the gap width that sensor detects is not influenceed by track seam.The floating row of magnetic
Gap signal intensity is assumed to be the process of the linear change of certain slope, the time of oblique line change and car when car passes through track faulting of slab ends
The speed of service it is relevant, oblique line is steeper, and the interference to suspension system is bigger, and track faulting of slab ends is considered as a step and dashed forward by this algorithm
Change process considers that interference of the faulting of slab ends to suspension system is exactly the step interference from the input of gap sensor end, by setting
Backlash compensation shoulder height, keep consistent with actual gap, setting gap is then transitioned into normal value, actual gap value again
Tracking returns to normal value, and maximumlly disturbing step reduces.
Brief description of the drawings
The embodiment of the present invention is described further below in conjunction with the accompanying drawings.
Fig. 1 is the track schematic diagram that sensor passes through no faulting of slab ends；
Fig. 2 is the orbit gap change curve schematic diagram that sensor passes through no faulting of slab ends；
Fig. 3 is sensor by there is the track schematic diagram of faulting of slab ends；
Fig. 4 is sensor by there is the orbit gap change curve schematic diagram of faulting of slab ends；
Fig. 5 is the orbit gap change curve schematic diagram of faulting of slab ends algorithm of the present invention；
Fig. 6 is faulting of slab ends algorithm simulating result of the present invention.
Embodiment
Present invention is mainly applied to magnetic suspension train, due to magnetic, to float line track production, processing, installation, aging etc. a variety of
Always irregularity be present in reason, and it is non-ideal in it is so smooth, especially in track joint, there is connecing for cause not of uniform size
Seam 10.These seams 10 can occur having between adjacent orbit 20 due to reasons such as subgrade settlement, processing and installation errors
The step of height fall.
Referring to Fig. 1, herein using three probe gap sensors, when sensor, direction along ng a path is put down back and forth below track 20
During shifting, three detection probes are sequentially spaced and spacing is more than the length of track seam 10, gap sensor between adjacent probes
The data of smaller two probes of wherein measured value are obtained by comparing, two probes with smaller measured value are the probe
One 30, probe 2 40, gap sensor is by comparing the data of probe 1 and probe 2 40 and obtaining wherein minimum measured value
As the actual gap value Z between probe and track 20, and feedback error item gap is to controller；Wherein, error term gap=
Actual gap value Z- sets gap ZS, there is seam 10, probe passes through the gap detected during seam 10 between adjacent orbit 20
Value relative smooth track 20 is mutated, and sets gap ZSValue in smooth track is to stablize gap Z0；
The gap curve that measures is as shown in Fig. 2 during by seam 10, because the gap that controller uses is by two probes
Switching takes what small method obtained, so the gap width that last controller obtains substantially will not be by the dry of the seam 10 of track 20
Disturb.
Referring to Fig. 3, track faulting of slab ends signal intensity assume that the process of the linear change for certain slope, oblique line change
Time is relevant with the speed of service of vehicle, and oblique line is steeper, and the interference to suspension system is bigger, and interference of the faulting of slab ends to suspension system is just
It is the step interference from the input of gap sensor end, when levitating electromagnet module is being run on smooth linear track 20, gap
The value changes that two probes of sensor measure are consistent, are that the change of probe 1 is acute first when running into seam 10 and faulting of slab ends
Strong, and then probe 2 40 measures mutation, and actual gap value Z undergos mutation in the same time, as shown in figure 4, this is different from due to power
Interference cause electromagnet to deviate the situation of equalization point suddenly, behind will give analysis, be also exactly that arrangement transition can be mutated for this
The unique distinction of process, after actual gap value Z mutation are detected, the error term gap (actual gap for feedback control
Value Z- sets gap ZS) increase suddenly, the amplitude of increase is faulting of slab ends height, it is assumed that be tj, be now in no hurry to allow system go with
Track this step interference, but will first set gap Z0Moment increases tj, that is, sets gap and be changed into Z0+ tj, Zs is designated as, so by mistake
Poor item gap will not also undergo mutation because of the input of faulting of slab ends signal, then allow this step signal tj linear decreases again extremely
Zero, that is, set gap and gradually resume steady-state gap Z0。
Referring to Fig. 4, according to control thought above, it is as follows to obtain specific algorithm：
Wherein：KtIt is incremented by amplitude, t for prepsetting gaptTo preset transit time, meet：tt=tj/Kt, Z1、Z2Respectively visit
First 30 gap widths measured with probe 2 40, ZsTo run into the setting gap after faulting of slab ends.The specific explanations of algorithm are：Work as control
When differing larger suddenly between the gap widths that two probes of device discovery measure, illustrate there is a probe to face seam 10, such as
Fruit calculate comprehensive gap also has a mutation relative to equalization point, explanation is second probe face abutment joint 10, and first probe is
Step is measured, now setting gap moment will increase tj, then with KtDecrease of speed to Z0, obtain Fig. 5, Fig. 6 emulation knot
Fruit.After from simulation result it can be seen that running into step, backlash compensation shoulder height will be set immediately, will be kept and actual gap one
Cause, setting gap is then transitioned into normal value again, actual gap value, which also tracks, returns to normal value.
What each embodiment stressed is the difference with other embodiment in this specification, each embodiment it
Between identical similar portion mutually referring to, various embodiments provided by the invention can be mutually combined in any way as needed, lead to
This technical scheme for combining and obtaining is crossed, it is also within the scope of the invention.Obviously, those skilled in the art can enter to the present invention
The various changes of row and modification are without departing from the spirit and scope of the present invention.So, if to these modifications and variations of the invention
Belong within the scope of the claims in the present invention and its equivalent technologies, then the present invention also comprising these change and modification including.
Claims (3)
1. a kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train is crossing the suspension control algolithm of steps of track, it is characterised in that including following step
Suddenly：
Using the gap width between gap sensor detection probe and track, there is the gap sensor spacing to be connect more than track
Two detection probes of length are stitched, are designated as probe one, probe two respectively, gap sensor is by comparing probe one and probe two
Data simultaneously obtain wherein minimum measured value as the actual gap value Z between probe and track, and feedback error item gap is to control
Device processed；Wherein, error term gap=actual gap value Z- settings gap ZS, there is seam, probe is by connecing between adjacent orbit
The gap width relative smooth track mutation detected during seam, sets gap ZSValue in smooth track is to stablize gap Z0；
After detecting that probe one passes through seam successively with probe two, to setting gap ZSCompensate shoulder height value tj, the step
Height value tj is the stable gap Z of actual gap value Z-0, then will compensate shoulder height value setting gap ZSTransit between stabilization
Gap Z0。
2. a kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train according to claim 1 is crossing the suspension control algolithm of steps of track, its
It is characterised by：Using the gap between the gap sensor detection probe provided with three detection probes and track；Wherein, described three
Individual detection probe is sequentially spaced and spacing is more than track seam length between adjacent probes, and gap sensor is obtained by comparing
The data of wherein smaller two probes of measured value are taken, two probes with smaller measured value are the probe one, probe two.
3. a kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train according to claim 1 is crossing the suspension control algolithm of steps of track, its
It is characterised by：The setting gap ZSTo stablizing gap Z0It is K that prepsetting gap during transition, which is incremented by amplitude,t, default transit time is
tt, meet：tt=tj/Kt。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710545125.6A CN107433961A (en) | 2017-07-06 | 2017-07-06 | A kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train is crossing the suspension control algolithm of steps of track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710545125.6A CN107433961A (en) | 2017-07-06 | 2017-07-06 | A kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train is crossing the suspension control algolithm of steps of track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107433961A true CN107433961A (en) | 2017-12-05 |
Family
ID=60459826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710545125.6A Pending CN107433961A (en) | 2017-07-06 | 2017-07-06 | A kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train is crossing the suspension control algolithm of steps of track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107433961A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109693554A (en) * | 2019-01-02 | 2019-04-30 | 中国人民解放军国防科技大学 | Method for inhibiting track dislocation of maglev train |
| CN114228786A (en) * | 2021-12-29 | 2022-03-25 | 中铁第四勘察设计院集团有限公司 | Plate-type ballastless track, plate joint dislocation monitoring system and health monitoring method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303543A (en) * | 2011-05-27 | 2012-01-04 | 中国人民解放军国防科学技术大学 | Method for controlling maglev vehicle to pass through steps of track adaptively |
| CN103950456A (en) * | 2014-04-11 | 2014-07-30 | 西南交通大学 | Processing method for rail gap signal of medium-low speed magnetic suspension train |
| CN103991463A (en) * | 2014-04-11 | 2014-08-20 | 西南交通大学 | Low-speed magnetic suspension track irregularity detection method based on two sensors |
| CN106809251A (en) * | 2015-12-02 | 2017-06-09 | 北京控股磁悬浮技术发展有限公司 | The monitoring and Forecasting Methodology of magnetic suspension train rail irregularity, device and system |
-
2017
- 2017-07-06 CN CN201710545125.6A patent/CN107433961A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303543A (en) * | 2011-05-27 | 2012-01-04 | 中国人民解放军国防科学技术大学 | Method for controlling maglev vehicle to pass through steps of track adaptively |
| CN103950456A (en) * | 2014-04-11 | 2014-07-30 | 西南交通大学 | Processing method for rail gap signal of medium-low speed magnetic suspension train |
| CN103991463A (en) * | 2014-04-11 | 2014-08-20 | 西南交通大学 | Low-speed magnetic suspension track irregularity detection method based on two sensors |
| CN106809251A (en) * | 2015-12-02 | 2017-06-09 | 北京控股磁悬浮技术发展有限公司 | The monitoring and Forecasting Methodology of magnetic suspension train rail irregularity, device and system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109693554A (en) * | 2019-01-02 | 2019-04-30 | 中国人民解放军国防科技大学 | Method for inhibiting track dislocation of maglev train |
| CN114228786A (en) * | 2021-12-29 | 2022-03-25 | 中铁第四勘察设计院集团有限公司 | Plate-type ballastless track, plate joint dislocation monitoring system and health monitoring method thereof |
| CN114228786B (en) * | 2021-12-29 | 2024-03-26 | 中铁第四勘察设计院集团有限公司 | Plate-type ballastless track and plate seam dislocation monitoring system and health monitoring method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101934806B (en) | High-precision speed measurement positioning method and system for medium and low-speed maglev trains | |
| CN103991463B (en) | A kind of low speed magnetic floating track irregularity detection method based on dual sensor | |
| RU2394207C2 (en) | Device for determining position and method of determining position of packaging material with magnetic mark | |
| CN107433961A (en) | A kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train is crossing the suspension control algolithm of steps of track | |
| CN106080658B (en) | A kind of medium-and low-speed maglev track irregularity detection method based on four sensors | |
| CN103523243B (en) | Not offset momentum single flywheel adds magnetic control method | |
| CN102889952A (en) | Electronic device with ring-connected hall effect regions | |
| US20130082698A1 (en) | Current sensor | |
| CN104251979A (en) | Magnetic direction sensor | |
| CN105026947A (en) | Magnet evaluating device and method | |
| CN110395118A (en) | Method for identifying slab staggering at seam of magnetic suspension train passing track and suspension control strategy | |
| CN106828185A (en) | A kind of electromagnetic suspension train suspension control method | |
| CN104553872B (en) | Sensor capable of simultaneously detecting suspension distance and running speed of magnetic-levitation train | |
| CN109774489B (en) | Two-by-two-out-of-two redundant maglev train suspension sensor and control method | |
| CN105333810B (en) | The probe timesharing detection medium-and low-speed maglev train gap sensor of one kind three | |
| CN103466410A (en) | Guide system of magnetic suspension elevator | |
| CN106595533B (en) | A kind of magnetic floats the linearity testing apparatus and method of F rail magnetic pole strength | |
| CN109693554A (en) | Method for inhibiting track dislocation of maglev train | |
| CN103552581B (en) | Wheel sensor | |
| CN101531200A (en) | Induction type guided way based on hall transducer | |
| Han et al. | Prediction of ride quality of a Maglev vehicle using a full vehicle multi-body dynamic model | |
| CN102303543B (en) | Method for controlling maglev vehicle to pass through steps of track adaptively | |
| CN202904026U (en) | Electric inspection robot | |
| CN205450774U (en) | Robot navigation device based on magnetism sensing matrix | |
| CN113836637B (en) | Method and device for measuring weight of maglev train and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171205 |
|
| RJ01 | Rejection of invention patent application after publication |