CN109677273B - Control method of superconductive electric suspension train capable of standing and floating - Google Patents
Control method of superconductive electric suspension train capable of standing and floating Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000000725 suspension Substances 0.000 title claims abstract description 18
- 238000007667 floating Methods 0.000 title claims abstract description 16
- 230000008878 coupling Effects 0.000 claims abstract description 18
- 238000010168 coupling process Methods 0.000 claims abstract description 18
- 238000005859 coupling reaction Methods 0.000 claims abstract description 18
- 230000006698 induction Effects 0.000 claims abstract description 12
- 230000003068 static effect Effects 0.000 claims abstract description 9
- 238000000819 phase cycle Methods 0.000 claims abstract description 5
- 230000004907 flux Effects 0.000 claims description 22
- 239000011159 matrix material Substances 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000010801 machine learning Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000007547 defect Effects 0.000 abstract description 3
- 238000005339 levitation Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 4
- FBPFZTCFMRRESA-FSIIMWSLSA-N D-Glucitol Natural products OC[C@H](O)[C@H](O)[C@@H](O)[C@H](O)CO FBPFZTCFMRRESA-FSIIMWSLSA-N 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 239000000600 sorbitol Substances 0.000 description 2
- XOJVHLIYNSOZOO-SWOBOCGESA-N Arctiin Chemical compound C1=C(OC)C(OC)=CC=C1C[C@@H]1[C@@H](CC=2C=C(OC)C(O[C@H]3[C@@H]([C@@H](O)[C@H](O)[C@@H](CO)O3)O)=CC=2)C(=O)OC1 XOJVHLIYNSOZOO-SWOBOCGESA-N 0.000 description 1
- 241000208843 Arctium Species 0.000 description 1
- 238000000418 atomic force spectrum Methods 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/08—Sliding or levitation systems
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Abstract
A control method of a superconductive electric suspension train capable of standing and floating comprises the following steps: calculating induction current data generated by the superconducting magnet in the 8-shaped zero-magnetic-flux coil when the simulated train moves according to a field-path-motion coupling theory, and obtaining a state sample library under different running states; when the train runs, the vehicle-mounted and ground sensors detect the running state of the train in real time, signals of the train are transmitted to the central control mechanism, the train is compared with the state sample library, state data which is consistent with the running state of the train at the moment is selected from the train, and the power supply station in a control interval is fed into the coil in a certain phase sequence to generate a travelling wave magnetic field so as to suspend the train; when the train is in a static state, the coil is electrified with direct current by an interval power supply station; when the train speed is smaller than the vehicle body floating speed, the interval power supply station supplies power for the 8-shaped zero-magnetic-flux coil; otherwise, power is not supplied; the invention overcomes the defect that the electric suspension train can not suspend at a static state or a low speed, and can realize the control of the train.
Description
Technical Field
The invention relates to the fields of magnetic levitation transportation, control engineering, superconducting magnets and the like, in particular to a control method of a superconducting electric suspension train capable of realizing static levitation.
Background
The electric levitation (EDS) train is based on the kinetic generation principle, when the train runs, the magnetic force lines of the vehicle-mounted magnet cut the track coils to generate induction current, and the induction current and the magnetic force lines of the vehicle-mounted magnet interact to generate magnetic lift force to balance gravity so as to realize the levitation of the train body, the magnetic lift force is increased along with the increase of the speed of the train, and when the train reaches a certain speed, the magnetic lift force can balance the gravity, and the train body floats. The vehicle-mounted magnet can realize suspension, guiding and propulsion simultaneously, and the system has self-stabilizing recovery capability.
The electric levitation can be divided into induction plates and zero-flux coils according to the type of ground track. The zero magnetic flux type magnetic levitation transportation system has the advantages of high levitation resistance, large levitation gap and good self stability compared with an induction plate type magnetic levitation transportation system, and is applied to a magnetic levitation transportation system represented by a Japanese sorbitol line.
The dynamic circuit theory is firstly proposed and established in 1993 by an American Arctium laboratory, and is used for calculating electromagnetic force of a coil type electric suspension train.
Machine Learning (ML) is a multi-domain interdisciplinary, involving multiple disciplines such as probability theory, statistics, approximation theory, etc., used to study how computers simulate or implement Learning behavior of humans to obtain new knowledge or skills, and reorganize existing knowledge structures to continuously improve their own performance. It is the core of artificial intelligence, the fundamental way for computers to have intelligence, its application is throughout the various fields of artificial intelligence, mainly using induction, synthesis and not deduction. In short, machine learning is a method for automatically analyzing and obtaining rules from data and predicting unknown data by using the rules.
The application of the traditional electric suspension train is mainly represented by a Japanese low-temperature superconducting sorbitol test line, an 8-shaped zero-magnetic-flux coil is adopted as a ground track coil, enough suspension force cannot be generated when the train is stationary or at a low speed, the suspension force can be balanced only after a certain speed is reached by means of the support of a rubber auxiliary wheel arranged at the bottom of the train body, and the levitation force can realize the levitation of the train body.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a control method of a superconductive electric suspension train capable of standing and floating, which aims to solve the problem that the traditional electric suspension train cannot suspend at a standing state or a low speed.
The purpose of the invention is realized in the following way: a control method of a superconductive electric suspension train capable of standing and floating comprises the following steps: the method comprises the steps of calculating induction current data generated by a superconducting magnet in an 8-shaped zero-magnetic-flux coil during simulated train movement according to a field-path-movement coupling theory, and calculating a large number of different running states to obtain a state sample library;
training and learning are carried out on the system in a machine learning mode, so that the detection accuracy of the system is improved;
when the train runs, the train-mounted sensor and the ground sensor detect train running states containing parameters such as the load, the suspension height and the running speed of the train in real time, signals of the train running states are transmitted to the central control mechanism, and the train running states are compared with the state sample library; selecting state data conforming to the running state of the train at the moment from a state sample library, matching corresponding current signals to a central control mechanism, controlling a power supply station in an interval where the train is positioned to output corresponding current, and leading the corresponding current into a 8-shaped zero-magnetic-flux coil according to a certain phase sequence to generate a travelling wave magnetic field, wherein the magnetic field generated by the current and a superconducting magnet act to generate enough magnetic force to enable the train to float; meanwhile, the running state of the train is monitored and judged on line by utilizing a machine learning mode, and after the instability risk is detected, active current control is timely implemented on the 8-shaped zero-magnetic-flux coil to adjust the running state of the train;
the 8-shaped zero-flux coil adopts interval sectional power supply, when a train enters an interval and the sensor detects that the running speed is smaller than the floating speed corresponding to the load of the train body, the interval power supply station is connected to supply power for the 8-shaped zero-flux coil; after the train reaches the floating speed, the power supply station stops providing current for the 8-shaped zero magnetic flux coil, but the detection system still works, the running state of the train is monitored on line by utilizing a machine learning mode, the running state of the train is adjusted in time, and faults are prevented;
when the train is in a static state, the 8-shaped zero magnetic flux coil (1) is connected with a corresponding interval power supply station through a cable (3) to be electrified with direct current;
the travelling wave magnetic field generated in the 8-shaped zero magnetic flux coil has the same moving speed as the train running speed, namely the magnetic field is static relative to the train.
The method for calculating the induced current in the zero-flux coil through the field-path-motion coupling theory comprises the following steps:
step one, calculating mutual inductance and self-inductance parameters among the 8-shaped zero-flux coils through an inductance calculation module, and simultaneously calculating a mutual inductance equation between the superconducting magnet with the motion speed V and the current I and the 8-shaped zero-flux coils;
step two, obtaining partial derivatives Gx, gy and Gz of mutual inductance along three coordinate axis directions according to the mutual inductance equation between the superconducting magnet calculated in the step one and each 8-shaped zero magnetic flux coil, and obtaining the partial derivatives Gx, gy and Gz of mutual inductance along the x axis, the y axis and the z axis directions;
substituting the current I, the motion speed V, the geometric dimension and the 8-shaped zero-flux coil dimension parameter of the known superconducting magnet into the first step and the second step to generate a current control equation, and solving to obtain an 8-shaped zero-flux coil kinetic current matrix [ I ];
step four, calculating electromagnetic forces fx, fy and fz along three coordinate axis directions by using an energy method;
the equivalent circuit equation of the superconducting magnet and the 8-shaped zero magnetic flux coil in the field-path-motion coupling theoretical model is as follows: [e] = [ R ] · [ i ] +d ([ L ] · [ i ])/dt
[e] An induced electromotive force matrix of the 8-shaped zero-flux coil;
r is the resistance matrix of the 8-shaped zero-flux coil;
[ L ] is a mutual inductance matrix between the 8-shaped coils;
[i] a current matrix of 8-shaped coils;
the current control equation is:
wherein: r is 1/2 of the total resistance of the 8-shaped zero-flux coil;
i k the induction current in the 8-shaped zero magnetic flux coil is that k=1 to n, n is 8-shaped zeroThe number of flux coils;
I j for magnet current, j=1 to m, m being the number of superconducting magnets;
M k,n+k in order to consider the 8-shaped zero magnetic flux coil as an upper part and a lower part, mutual inductance and self-inductance parameters between coil loops are realized;
G p,j the partial derivative of the mutual inductance of the upper coil or the lower coil of the 8-shaped zero magnetic flux coil of the superconducting magnet pair is x, and p=1-2 n; j=1 to m, m being the number of superconducting magnets;
velocity V of superconducting magnet motion in x-direction x To calculate a velocity term;
the current control equation is solved by using a time step iterative solution, and the iterative equation of the method is as follows:
the equivalent circuit is simplified by an energy method, and the electromagnetic force in the x, y and z directions at any moment can be known by combining the relation between the power and the force, and is as follows:
the invention relates to a control method of a superconductive electric levitation train capable of standing and levitation, which is characterized in that a field-path-motion coupling theory is used for carrying out current control on a ground 8-shaped zero-flux coil, the induction current generated by a superconductive magnet in the 8-shaped zero-flux coil during train operation is calculated and simulated, a magnetic field generated by the current and the superconductive magnet act to generate enough magnetic force so as to levitate the train, a current signal is transmitted to a central control mechanism, a power supply station in an interval where the train is positioned is controlled to output corresponding current, the corresponding current is led into the 8-shaped zero-flux coil in a certain phase sequence to generate a magnetic field, and the vehicular superconductive magnet acts with the magnetic field so as to generate levitation force so as to levitate the train.
The beneficial effects of the invention are as follows:
1. when the field-path-motion coupling theory is applied to train motion, the superconducting magnet calculates the induced current generated in the 8-shaped zero-flux coil, and a state sample library is obtained by combining different running states; when the train runs, the running state of the train is compared with the state sample library, so that the power supply station in the section where the train is located is controlled to output corresponding current to the 8-shaped zero magnetic flux coil, and finally, magnetic lift force is generated to enable the train to float.
2. The invention overcomes the defect that the electric suspension train can not suspend at a static state or a low speed, and can realize the control of the train. The 8-shaped zero-flux coil adopts interval sectional power supply, when a train enters an interval and the sensor detects that the running speed is smaller than the floating speed corresponding to the load of the train body, the power supply mechanism is connected to supply power to the 8-shaped zero-flux coil, and otherwise, the interval is not supplied with power. The power supply system only needs to supply power for the 8-shaped zero-flux coil in the interval through which the train speed is lower than the floating speed. When the train is in a static state, the 8-shaped zero magnetic flux coil is electrified with direct current.
3. After the train reaches the floating speed, the power supply station stops providing current for the 8-shaped zero magnetic flux coil, but the detection system still works, and the running state of the train is monitored on line by using a machine learning mode, so that the running state of the train is controlled, and faults are prevented.
Drawings
Fig. 1 is a system architecture and signal transmission diagram.
Fig. 2 is a diagram of the system power supply loop connection.
In fig. 3, the zero magnetic flux 8-shaped coil equivalent circuit diagram (inductances L1, L2; resistances R1, R2; E1, E2 are respectively the upper and lower induced electromotive forces of the 8-shaped coil).
Fig. 4 is a perspective view of a car-rail structure.
Fig. 5 is a front view of the track structure.
Fig. 6 is a power supply unit connection diagram.
Fig. 7 is a graph of field-path-motion coupling theoretical control current (coils 1, 2, 3, 4 represent four 8-shaped zero-flux coils arranged along a track, respectively, with a train running speed of 500 km/h).
Fig. 8 field-road-motion coupling theory calculates the resultant magnetic drag curve (train running speed 500 km/h).
Fig. 9 a levitation force curve (train running speed 500 km/h) calculated by field-road-motion coupling theory.
Fig. 10 is a graph of guiding force calculated by field-road-motion coupling theory (train running speed 500 km/h).
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail below by taking a superconducting electric levitation train as an example, with the vehicle-mounted magnet being a racetrack-shaped superconducting magnet, with reference to the accompanying drawings and specific embodiments, but should not be construed as limiting the present invention.
The system structure is shown in fig. 1, the induced current data generated by the superconducting magnet in the 8-shaped zero-magnetic-flux coil during train motion is calculated through a field-path-motion coupling theory, a state sample library is obtained after a large number of different running states are calculated, the system is trained through a machine learning mode, and the detection accuracy of the system is improved. When the train runs, the system selects state data which is consistent with the running parameters of the train at the moment from a state sample library, transmits a current signal matched with the state data to a central control mechanism, controls a power supply station in an interval where the train is located to output corresponding current (the power supply loop of the system is connected as shown in figure 2), and leads the corresponding current to an 8-shaped zero-magnetic-flux coil in a certain phase sequence to generate a traveling wave magnetic field, and the magnetic field generated by the current and a superconducting magnet act to generate enough magnetic lift force to enable the train to float, and meanwhile, the running state of the train can be monitored and judged on line by utilizing a machine learning mode. And stopping the power supply station from supplying power to the 8-shaped zero-magnetic-flux coil after the train reaches the floating speed. When the train is in suspension running, the system detects the running state of the train in real time, and when the instability risk is detected, active current control is timely implemented on the 8-shaped coil, and the running state of the train is adjusted. The train structure is shown in figures 4 and 5, the track is of a U-shaped structure, the 8-shaped zero-flux coil 1 is arranged on the outer side of a track groove, the traction linear motor 2 is arranged on the inner side of the track groove, the 8-shaped zero-flux coil 1 is connected with the interval power supply station equipment 5 through the cable 3, and the train body 4 runs in the U-shaped track.
The racetrack magnets and 8-shaped zero-flux coils (track coils) parameters used in this embodiment are as follows:
the induced current calculation in the 8-shaped zero-flux coil is calculated by a field-path-motion coupling theory and comprises the following steps of: step one, through an inductance calculation module, mutual inductance and self-inductance parameters between the 8-shaped zero-flux coils are calculated, and meanwhile, when the motion speed is V, the mutual inductance between the superconducting magnet with current I and the 8-shaped zero-flux coils is calculated. And step two, performing partial derivative calculation according to the mutual inductance equation between the superconducting magnet and each 8-shaped zero-flux coil calculated in the step one along the directions of three coordinate axes to obtain mutual inductance partial derivatives Gx, gy and Gz. And thirdly, substituting the current I, the motion speed V, the geometric dimension and the 8-shaped zero-flux coil dimension parameter of the known superconducting magnet into the first step and the second step to generate a current control equation, and solving to obtain an 8-shaped zero-flux coil kinetic current generation matrix [ I ]. And step four, calculating electromagnetic forces fx, fy and fz along the directions of three coordinate axes by using an energy method.
The equivalent circuit equation of the superconducting magnet and the 8-shaped zero magnetic flux coil in the field-path-motion coupling theoretical model is as follows: [e] = [ R ] · [ i ] +d ([ L ] · [ i ])/dt
The equivalent circuit is shown in fig. 3.
[e] An induced electromotive force matrix of the 8-shaped zero-flux coil;
r is the resistance matrix of the 8-shaped zero-flux coil;
[ L ] is the mutual inductance matrix between 8-shaped coils
[i] Current matrix for 8-shaped coil
The 8-shaped zero-flux coil current control equation in the field-path-motion coupling theoretical model is as follows:
wherein: r is 1/2 of the total resistance of the 8-shaped zero-flux coil;
i k the induction current is induced in the 8-shaped zero-flux coils, k=1 to n, and n is the number of the 8-shaped zero-flux coils;
I j for magnet current, j=1 to m, m being the number of superconducting magnets;
M k,n+k in order to consider the 8-shaped zero magnetic flux coil as an upper part and a lower part, mutual inductance and self-inductance parameters of the coil loops are realized;
G p,j is the partial derivative of the mutual inductance of the upper coil or the lower coil of the 8-shaped zero magnetic flux coil of the superconducting magnet pair, p=1-2 n, j=1-m,
m is the number of superconducting magnets;
V x for a superconducting magnet movement speed in the x-direction, 500km/h in this embodiment;
the current control equation can be solved by using a time step iterative solution, and the iterative equation of the method is as follows:
the induced current-displacement curve in the 8-shaped zero-flux coil obtained after solving is shown in fig. 7.
The equivalent circuit is simplified by an energy method, and the relation between the power and the force is combined to know that the electromagnetic force in the three directions of x, y and z at any moment is as follows:
the electromagnetic force-displacement curve of the single racetrack superconducting magnet is obtained after solving and is shown in figures 8-10.
The system signal acquisition and control signal transmission are shown in fig. 1, the control mechanism is connected with the ground detection equipment through a signal cable, the signal of the vehicle-mounted detection equipment is transmitted to the central server and the control mechanism through a satellite, the control mechanism sends out a current control signal to the power supply station through a base station, and the power supply station outputs current to the 8-shaped ground coil through the power cable after receiving the current control signal.
The 8-shaped zero-flux coil is powered by sectional power supply, when a train enters an interval and the sensor detects that the running speed is smaller than the floating speed of the load of the train body, the power supply mechanism is connected with the 8-shaped zero-flux coil to be electrified, and otherwise, the interval is not powered.
The state sample library of machine learning is derived from the calculation of a field-road-motion coupling theory, and is obtained by calculating a large number of different working conditions.
The train-mounted sensor and the ground sensor detect the running state of the train in real time, signals are transmitted to the central control mechanism, the state at the moment is compared with the state sample library, and data meeting the conditions are selected, so that the traction power supply station is controlled to provide current matched with the motion state in the database for the 8-shaped zero-magnetic-flux coil.
Claims (1)
1. A control method of a superconductive electric suspension train capable of standing and floating is characterized by comprising the following steps:
the control mechanism is connected with the ground detection equipment through a signal cable, the signal of the vehicle-mounted detection equipment is transmitted to the central server and the control mechanism through a satellite, the control mechanism sends a current control signal to the power supply station through the base station, and the power supply station outputs current to the 8-shaped ground coil through the power cable after receiving the current control signal; the method comprises the steps of calculating induction current data generated by a superconducting magnet in an 8-shaped zero-magnetic-flux coil during simulated train movement according to a field-path-movement coupling theory, and calculating a large number of different running states to obtain a state sample library;
training and learning are carried out on the system in a machine learning mode, so that the detection accuracy of the system is improved;
when the train runs, the train-mounted sensor and the ground sensor detect train running states containing parameters such as the load, the suspension height and the running speed of the train in real time, signals of the train running states are transmitted to the central control mechanism, and the train running states are compared with a machine-learned state sample library; selecting state data conforming to the running state of the train at the moment from a state sample library, matching corresponding current signals to a central control mechanism, controlling a power supply station in an interval where the train is positioned to output corresponding current, and leading the corresponding current into a 8-shaped zero-magnetic-flux coil according to a certain phase sequence to generate a travelling wave magnetic field, wherein the magnetic field generated by the current and a superconducting magnet act to generate enough magnetic force to enable the train to float; meanwhile, the running state of the train is monitored and judged on line by utilizing a machine learning mode, and after the instability risk is detected, active current control is timely implemented on the 8-shaped zero-magnetic-flux coil to adjust the running state of the train;
the 8-shaped zero-flux coil adopts interval sectional power supply, when a train enters an interval and the sensor detects that the running speed is smaller than the floating speed corresponding to the load of the train body, the interval power supply station is connected to supply power for the 8-shaped zero-flux coil; after the train reaches the floating speed, the power supply station stops supplying power to the 8-shaped zero-magnetic-flux coil, but the detection system still works, the running state of the train is monitored on line by utilizing a machine learning mode, the running state of the train is adjusted in time, and faults are prevented;
when the train is in a static state, the 8-shaped zero magnetic flux coil (1) is connected with a corresponding interval power supply station through a cable (3) to be electrified with direct current;
the travelling wave magnetic field generated in the 8-shaped zero magnetic flux coil has the same moving speed as the train running speed, namely the magnetic field is static relative to the train;
the method for calculating the induced current in the zero-flux coil through the field-path-motion coupling theory comprises the following steps:
step one, calculating mutual inductance and self-inductance parameters among the 8-shaped zero-flux coils through an inductance calculation module, and simultaneously calculating a mutual inductance equation between the superconducting magnet with the motion speed V and the current I and the 8-shaped zero-flux coils;
step two, obtaining partial derivatives Gx, gy and Gz of mutual inductance along three coordinate axis directions according to the mutual inductance equation between the superconducting magnet calculated in the step one and each 8-shaped zero magnetic flux coil, and obtaining the partial derivatives Gx, gy and Gz of mutual inductance along the x axis, the y axis and the z axis directions;
substituting the current I, the motion speed V, the geometric dimension and the 8-shaped zero-flux coil dimension parameter of the known superconducting magnet into the first step and the second step to generate a current control equation, and solving to obtain an 8-shaped zero-flux coil kinetic current matrix [ I ];
step four, calculating electromagnetic forces fx, fy and fz along three coordinate axis directions by using an energy method;
the equivalent circuit equation of the superconducting magnet and the 8-shaped zero magnetic flux coil in the field-path-motion coupling theoretical model is as follows: [e] = [ R ] · [ i ] +d ([ L ] · [ i ])/dt
[e] An induced electromotive force matrix of the 8-shaped zero-flux coil;
r is the resistance matrix of the 8-shaped zero-flux coil;
[ L ] is a mutual inductance matrix between the 8-shaped coils;
[i] a current matrix of 8-shaped coils;
the current control equation is:
wherein: r is 1/2 of the total resistance of the 8-shaped zero-flux coil;
i k the induction current is induced in the 8-shaped zero-flux coils, k=1 to n, and n is the number of the 8-shaped zero-flux coils;
I j for magnet current, j=1 to m, m being the number of superconducting magnets;
M k,n+k to regard the 8-shaped zero-flux coil asIn the upper and lower parts, mutual inductance and self-inductance parameters between the coil loops are respectively achieved;
G p,j the partial derivative of the mutual inductance of the upper coil or the lower coil of the 8-shaped zero magnetic flux coil of the superconducting magnet pair is x, and p=1-2 n; j=1 to m, m being the number of superconducting magnets;
velocity V of superconducting magnet motion in x-direction x To calculate a velocity term;
the current control equation is solved by using a time step iterative solution, and the iterative equation of the method is as follows:
the equivalent circuit is simplified by an energy method, and the electromagnetic force in the x, y and z directions at any moment can be known by combining the relation between the power and the force, and is as follows:
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| CN111942166B (en) * | 2020-07-30 | 2022-03-25 | 西南交通大学 | Bilateral magnet and coil type permanent magnet electric suspension driving device and driving method |
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