CN110254244A - A kind of magnetic floating train suspending control method, system, device and readable storage medium storing program for executing - Google Patents
A kind of magnetic floating train suspending control method, system, device and readable storage medium storing program for executing Download PDFInfo
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- CN110254244A CN110254244A CN201910585418.6A CN201910585418A CN110254244A CN 110254244 A CN110254244 A CN 110254244A CN 201910585418 A CN201910585418 A CN 201910585418A CN 110254244 A CN110254244 A CN 110254244A
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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
- B60L13/06—Means to sense or control vehicle position or attitude with respect to railway
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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
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
Abstract
This application discloses a kind of magnetic floating train suspending control method, system, device and readable storage medium storing program for executing, comprising: obtains real-time levitation gap, real-time speed and the real time acceleration of magnetic-levitation train；According to functional relation positively related between real-time speed and specified levitation gap, the corresponding current nominal levitation gap of current real-time speed is determined；According to the current nominal levitation gap of magnetic-levitation train, current real time acceleration and current real-time levitation gap, the control electric current that suspends is determined, and the control electric current that will suspend is applied to levitating electromagnet.Corresponding specified levitation gap is determined according to real-time speed in the application, determination will be applied to the control electric current of the suspension on levitating electromagnet again, to which the heat dissipation effect of the true levitation gap, electromagnet that generate the levitating electromagnet effect under the real-time speed reaches a preferable balance, solves the contradiction in the prior art between levitation gap requirement and levitating electromagnet cooling requirements.
Description
Technical field
The present invention relates to rail traffic vehicles technical field, in particular to a kind of magnetic floating train suspending control method, system,
Device and readable storage medium storing program for executing.
Background technique
Magnetic-levitation train is a kind of novel rail vehicle transportation tool, has that running noises are low, climbing capacity is strong, turning half
The outstanding features such as diameter is small, high safety and reliability, the low, low cost of operation maintenance cost.It is suspended in car body using electromagnetic attraction
Contactless state is kept on track, between train and track, is overcome contact wear between the two, is reduced running resistance.
Suspension control system is the executing agency for realizing vehicle suspension, it sends according to the suspended sensor being mounted on electromagnet
Levitating electromagnet and track between air gap and the catenary motion acceleration signal of electromagnet change in levitating electromagnet
The size of portion's electric current makes magnetic-levitation train be maintained at 8~10mm to adjust the attraction between levitating electromagnet and steel track
The stable suspersion state of size of gaps.By the technological development of decades, magnetic-levitation train technology has been mature on the whole, and gradually walks
To commercially producing and run.
For medium-and low-speed maglev train, due to the speed of service in 100km/h hereinafter, levitation gap fluctuation be not very
Greatly, about near nominal clearance given value S0 therefore suspension nominal clearance is generally set as fixed by fluctuation ± 4mm or so
Value, fixed value can be set to 8mm-10mm.For middle speed magnetic suspension train, the speed of service is highest possible to reach 200km/h,
Gap fluctuation will increase with the increase of speed, to avoid causing levitating electromagnet to touch track since gap fluctuations are excessive, having
Suspension nominal clearance is set as biggish value, generally 12mm or so by necessity.However according to electromagnetic suspension principle, levitation gap
Bigger, the levitating electromagnet electric current for the needs that suspend is bigger, and electromagnet fever is bigger.Especially run in magnetic-levitation train low speed
When, since ventilation and heat condition is bad, levitation gap likely results in greatly very much levitating electromagnet since overheat is burnt.
Therefore, how one is provided there are electromagnet heat dissipation and the unsuitable too small contradiction of levitation gap in middle speed magnetic suspension train
The scheme that kind solves above-mentioned technical problem is current those skilled in the art's problem to be solved.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of magnetic floating train suspending control method, system, devices and readable
Storage medium, to solve the contradiction between levitation gap and electromagnet heat dissipation.Its concrete scheme is as follows:
A kind of magnetic floating train suspending control method, comprising:
Obtain real-time levitation gap, real-time speed and the real time acceleration of magnetic-levitation train；
According to functional relation positively related between the real-time speed and specified levitation gap, current real-time speed pair is determined
The current nominal levitation gap answered；
According to the current nominal levitation gap of the magnetic-levitation train, current real time acceleration and current real-time levitation gap,
It determines the control electric current that suspends, and suspension control electric current is applied to levitating electromagnet.
Preferably, described according to the current nominal levitation gap of the magnetic-levitation train, current real time acceleration and current reality
When levitation gap, determine suspend control electric current process, specifically include:
The control electric current that suspends is determined according to electric current calculation formula；
The electric current calculation formula specifically:
I=I0+k1*(s-s0)+k2*∫(s-s0)+k3*ds+k4*∫a；
Wherein, i is that the suspension controls electric current, k1、k2、k3And k4Respectively four feedback factors, I0For default control electricity
Stream, s are current real-time levitation gap, s0For current nominal levitation gap, a is current real time acceleration.
Preferably, the process of the real-time levitation gap for obtaining magnetic-levitation train, real-time speed and real time acceleration, specifically
Include:
Obtain at least three gap sampled signals of magnetic-levitation train；
According to multiple gap sampled signals, the real-time speed of the magnetic-levitation train, real time acceleration and in real time are determined
Levitation gap.
Preferably, described according to multiple gap sampled signals, it determines the real-time speed of the magnetic-levitation train, add in real time
The process of speed and real-time levitation gap, specifically includes:
According to multiple gap sampled signals and Time Delay of Systems, the real-time speed, in real time of the magnetic-levitation train is calculated
Acceleration and real-time levitation gap.
Preferably, described according to functional relation positively related between the real-time speed and specified levitation gap, determination is worked as
The process of the corresponding current nominal levitation gap of preceding real-time speed, specifically includes:
According to piecewise function relationship positively related between the real-time speed and specified levitation gap, current speed in real time is determined
Spend corresponding current nominal levitation gap；
Wherein, the piecewise function relationship includes three sections of low speed segment, middling speed section and high regime speed intervals.
Preferably, the piecewise function relationship specifically:
Wherein s0For current nominal levitation gap, v is current real-time speed.
Correspondingly, the invention discloses a kind of magnetic floating train suspending control systems, comprising:
Data acquisition module, for obtaining real-time levitation gap, real-time speed and the real time acceleration of magnetic-levitation train；
First computing module is used for according to functional relation positively related between the real-time speed and specified levitation gap,
Determine the corresponding current nominal levitation gap of current real-time speed；
Second computing module, for according to the current nominal levitation gap of the magnetic-levitation train, current real time acceleration and
Current real-time levitation gap determines the control electric current that suspends, and suspension control electric current is applied to levitating electromagnet.
Correspondingly, the invention discloses a kind of magnetic floating train suspending control devices, comprising:
Memory, for storing computer program；
Processor realizes the magnetic floating train suspending controlling party as described in any one above when for executing the computer program
The step of method.
Preferably, the magnetic floating train suspending control device further include be connected to the processor, Xiang Suoshu processor it is defeated
Enter multiple levitation gaps probe of gap sampled signal.
Correspondingly, being stored with computer on the readable storage medium storing program for executing the invention also discloses a kind of readable storage medium storing program for executing
Program realizes the step of the magnetic floating train suspending control method as described in any one above when the computer program is executed by processor
Suddenly.
The invention discloses a kind of magnetic floating train suspending control methods, comprising: obtain magnetic-levitation train real-time levitation gap,
Real-time speed and real time acceleration；According to functional relation positively related between the real-time speed and specified levitation gap, determine
The corresponding current nominal levitation gap of current real-time speed；According to the current nominal levitation gap of the magnetic-levitation train, current reality
Brief acceleration and current real-time levitation gap determine the control electric current that suspends, and suspension control electric current are applied to suspension electricity
Magnet.Corresponding specified levitation gap is determined according to real-time speed in the application, further according to specified levitation gap, real time acceleration
It to be applied to the control electric current of the suspension on levitating electromagnet with real-time levitation gap determination, to make the suspension under the real-time speed
The heat dissipation effect of true levitation gap, electromagnet that electromagnet effect generates reaches a preferable balance, both ensure that in real time
The fluctuation of levitation gap does not influence the operational safety of aerotrain after acceleration generates fluctuation to real-time speed, also ensures the reality
The dissipating-heat environment of Shi Sudu solves to suspend enough control electric current on levitating electromagnet by the heat generated, and overheat is avoided to burn
Situation occurs, and solves the contradiction in the prior art between levitation gap requirement and levitating electromagnet cooling requirements.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of step flow chart of magnetic floating train suspending control method in the embodiment of the present invention；
Fig. 2 is a kind of structure distribution figure of magnetic floating train suspending control system in the embodiment of the present invention；
Fig. 3 is a kind of structure distribution figure of magnetic floating train suspending control device in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Suspension nominal clearance is generally set as fixed value in the prior art, due to gap fluctuations with the increase of speed and
Increase, causes levitating electromagnet to touch emptying for track in order to avoid gap fluctuations are excessive, usually set suspension nominal clearance
It is set to the larger value, to need biggish levitating electromagnet electric current, electromagnet fever is larger, it is desirable that good heat dissipation ventilation item
Part, once magnetic-levitation train low speed is run, since ventilation and heat condition is poor, levitation gap may cause suspension electromagnetism when keeping larger
Iron overheat is burnt.Specified levitation gap is determined according to real-time speed in the present embodiment, both ensure that real time acceleration to real-time speed
The fluctuation of levitation gap does not influence the operational safety of aerotrain after degree generation fluctuation, also ensures the heat dissipating ring of the real-time speed
Border solves to suspend enough control electric current on levitating electromagnet by the heat generated, avoids overheating the case where burning appearance, solve
In the prior art since the levitation gap that speed of service fluctuation generates requires the contradiction between levitating electromagnet cooling requirements.
It is shown in Figure 1 the embodiment of the invention discloses a kind of magnetic floating train suspending control method, comprising:
S1: real-time levitation gap, real-time speed and the real time acceleration of magnetic-levitation train are obtained；
It is understood that real-time levitation gap is generally obtained by levitation gap probe in the present embodiment, and speed in real time
Degree and real time acceleration can both directly select train running speed signal, be obtained by locomotive velocity measuring system, can also be by upper
It states levitation gap probe and obtains gap sampled signal and obtain, that is to say, that step S1 may include:
Obtain at least three gap sampled signals of magnetic-levitation train；
According to multiple gap sampled signals, the real-time speed of the magnetic-levitation train, real time acceleration and in real time are determined
Levitation gap.
It, can be with specifically, time difference at the time of correspondence according to multiple gap sampled signals between the sampled signal of gap
Corresponding real-time speed and real time acceleration is calculated.
Further, consider signal transmission and calculate time-consuming, which can also specifically include:
According to multiple gap sampled signals and Time Delay of Systems, the real-time speed, in real time of the magnetic-levitation train is calculated
Acceleration and real-time levitation gap.
It is understood that Time Delay of Systems here includes but is not limited to signal transmission and calculates time-consuming.
Certainly, in above-mentioned acquisition process, consider accurate, the degree of reliability of data, it is also necessary to be filtered, integrate meter
The data processing steps such as calculation, to determine more accurate real-time levitation gap, real-time speed, real time acceleration.
S2: according to functional relation positively related between the real-time speed and specified levitation gap, current speed in real time is determined
Spend corresponding current nominal levitation gap；
It is understood that the present embodiment has jumped out the mode that specified levitation gap is invariable in the prior art, according to
Real-time speed further determines that specified levitation gap, when real-time speed is lower, radiating condition is undesirable, does not require biggish volume
Determine levitation gap, therefore lesser specified levitation gap can be set, the electric current passed through in levitating electromagnet is reduced, to suspend
Electromagnet generation heat is less, and radiating condition at this time meets the cooling requirements of levitating electromagnet；When real-time speed is higher by
It is fluctuated in levitation gap larger, it is desirable that higher specified levitation gap, therefore it is applied to the suspension control electric current of levitating electromagnet
It is larger, and ventilation and heat condition is fine at this time, will not make levitating electromagnet heating burnout.
Specifically, step S2 includes:
According to piecewise function relationship positively related between the real-time speed and specified levitation gap, current speed in real time is determined
Spend corresponding current nominal levitation gap；
Wherein, the piecewise function relationship includes three sections of low speed segment, middling speed section and high regime speed intervals.
Certainly, as long as the specified levitation gap of piecewise function relationship is all satisfied the fluctuation of the levitation gap under the real-time speed and hangs
Floating electromagnet radiating condition is further divided into both ends or more, herein other than being above divided into three sections of speed intervals
There is no specific limitations, and the functional relation between real-time speed and specified levitation gap is necessary for being positively correlated, and specific letter
Number is set and relevant parameter, in the present embodiment with no restriction.
For example, the piecewise function relationship is specifically as follows:
Wherein s0For current nominal levitation gap, v is current real-time speed.
It is understood that the piecewise function relationship is using middling speed aerotrain as control object, velocity interval 0~
Between 200km/h, the control method that is equally applicable in other velocity intervals in the present embodiment.
S3: according between the current nominal levitation gap of the magnetic-levitation train, current real time acceleration and current suspension in real time
Gap determines the control electric current that suspends, and suspension control electric current is applied to levitating electromagnet.
Specifically, step S3 determines the control electric current that suspends according to electric current calculation formula；
The electric current calculation formula specifically:
I=I0+k1*(s-s0)+k2*∫(s-s0)+k3*ds+k4*∫a；
Wherein, i is that the suspension controls electric current, k1、k2、k3And k4Respectively four feedback factors pass through experiment or history
Data search rule is determining, I0For default control electric current, the suspension control electric current of last moment or the ginseng of systemic presupposition can be passed through
It examines electric current to determine, s is current real-time levitation gap, s0For current nominal levitation gap, a is current real time acceleration.
In fact, the control electricity that will further suspend is needed during the control electric current that will suspend is applied to levitating electromagnet
The signal of stream carries out power amplification, then makes it through levitating electromagnet again.
Through the above steps, the present embodiment can voluntarily be adjusted between specified suspension according to the real-time speed that magnetic-levitation train is run
Gap keeps magnetic-levitation train specified levitation gap, real-time levitation gap in low speed smaller, improves levitating electromagnet heat condition；?
Specified levitation gap, real-time levitation gap are larger when magnetic-levitation train is run with higher speed, and levitating electromagnet is avoided to touch track,
Keep the contactless performance of magnetic-levitation train.
The embodiment of the invention discloses a kind of magnetic floating train suspending control methods, comprising: obtains the real-time outstanding of magnetic-levitation train
Floating gap, real-time speed and real time acceleration；It is closed according to function positively related between the real-time speed and specified levitation gap
System, determines the corresponding current nominal levitation gap of current real-time speed；According to the current nominal levitation gap of the magnetic-levitation train,
Current real time acceleration and current real-time levitation gap determine the control electric current that suspends, and suspension control electric current are applied to
Levitating electromagnet.Corresponding specified levitation gap is determined according to real-time speed in the present embodiment, further according to specified levitation gap, reality
Brief acceleration and real-time levitation gap determination will be applied to the control electric current of the suspension on levitating electromagnet, to make the real-time speed
Under levitating electromagnet effect generate true levitation gap, electromagnet heat dissipation effect reach a preferable balance, both protected
The fluctuation for having demonstrate,proved levitation gap after real time acceleration generates fluctuation to real-time speed does not influence the operational safety of aerotrain, really yet
The dissipating-heat environment for having protected the real-time speed solves to suspend enough control electric current on levitating electromagnet by the heat generated, avoids
The case where heat is burnt appearance solves the contradiction in the prior art between levitation gap requirement and levitating electromagnet cooling requirements.
It is shown in Figure 2 the embodiment of the invention discloses a kind of magnetic floating train suspending control system, comprising:
Data acquisition module 11, for obtaining real-time levitation gap, real-time speed and the real time acceleration of magnetic-levitation train；
First computing module 12, for being closed according to function positively related between the real-time speed and specified levitation gap
System, determines the corresponding current nominal levitation gap of current real-time speed；
Second computing module 13, for the current nominal levitation gap according to the magnetic-levitation train, current real time acceleration
With current real-time levitation gap, the control electric current that suspends is determined, and suspension control electric current is applied to levitating electromagnet.
Corresponding specified levitation gap is determined according to real-time speed in the present embodiment, further according to specified levitation gap, in real time
Acceleration and real-time levitation gap determination will be applied to the control electric current of the suspension on levitating electromagnet, to make under the real-time speed
Levitating electromagnet effect generate true levitation gap, electromagnet heat dissipation effect reach a preferable balance, both guaranteed
The fluctuation of levitation gap does not influence the operational safety of aerotrain after real time acceleration generates fluctuation to real-time speed, also ensures that
The dissipating-heat environment of the real-time speed enough solves to suspend control electric current on levitating electromagnet by the heat generated, avoids overheating
The case where burning appearance solves the contradiction in the prior art between levitation gap requirement and levitating electromagnet cooling requirements.
It is shown in Figure 3 the embodiment of the invention discloses a kind of magnetic floating train suspending control device, comprising:
Memory 21, for storing computer program；
Processor 22 realizes that magnetic floating train suspending controls as described in any one above when for executing the computer program
The step of method.
Wherein, the specific description in relation to magnetic floating train suspending control method may refer to the phase in foregoing embodiments inside the Pass
Hold, details are not described herein again.
Wherein, the magnetic floating train suspending control device of the present embodiment has and above magnetic floating train suspending control method phase
Same beneficial effect, details are not described herein again.
Further, the magnetic floating train suspending control device further includes connecting with the processor 22, to the processing
Device 22 inputs multiple levitation gaps probe 23 of gap sampled signal.
It is understood that quantity is not wanted if levitation gap probe 23 is only used for obtaining real-time levitation gap
It asks, if real-time speed and real time acceleration will also be obtained by the gap sampled signal, the number of levitation gap probe is extremely
It is less 3.
Further, the one key carry equipment of file in the present embodiment can also include:
Input interface 24, for obtaining the computer program of extraneous importing, and the computer program that will acquire save to
In the memory 21, it can be also used for the various instructions and parameter that obtain extraneous terminal device transmission, and be transmitted to processor
In 22, so that processor 22 is handled accordingly using above-mentioned various instructions and parametric evolving.In the present embodiment, the input interface
24, which can specifically include but be not limited to USB interface, serial line interface, speech input interface, fingerprint input interface, hard disk, reads interface
Deng.
Output interface 25, the various data for generating processor 22 are exported to coupled terminal device, so as to
The various data of the generation of processor 22 can be got in other terminal devices being connected with output interface 25.In the present embodiment,
The output interface 25 can specifically include but be not limited to USB interface, serial line interface etc..
Communication unit 26 connects for establishing telecommunication between magnetic floating train suspending control device and external server
It connects, in order to which image file can be mounted in external server by magnetic floating train suspending control device.In the present embodiment, communication
Unit 26 can specifically include but be not limited to the remote communication unit based on wireless communication technique or wire communication technology.
Keyboard 27, the various parameters data or instruction inputted and tapping keycap in real time for obtaining user.
Display 28 carries out real-time display for the relevant information in the work of magnetic floating train suspending control device, in order to
User understands the carry situation of current file folder in time.
Mouse 29 can be used for assisting user input data and simplify the operation of user.
Correspondingly, being stored on the readable storage medium storing program for executing the embodiment of the invention also discloses a kind of readable storage medium storing program for executing
Computer program realizes the magnetic floating train suspending controlling party as described in any one above when the computer program is executed by processor
The step of method.
Wherein, the detail of magnetic floating train suspending control method described in the present embodiment is referred in foregoing embodiments
Associated description, details are not described herein again.
Wherein, middle readable storage medium storing program for executing has and magnetic floating train suspending control method phase in foregoing embodiments in the present embodiment
Same beneficial effect, details are not described herein again.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Above to a kind of magnetic floating train suspending control method provided by the present invention, system, device and readable storage medium storing program for executing
It is described in detail, used herein a specific example illustrates the principle and implementation of the invention, the above reality
The explanation for applying example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology of this field
Personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this theory
Bright book content should not be construed as limiting the invention.
Claims (10)
1. a kind of magnetic floating train suspending control method characterized by comprising
Obtain real-time levitation gap, real-time speed and the real time acceleration of magnetic-levitation train；
According to functional relation positively related between the real-time speed and specified levitation gap, determine that current real-time speed is corresponding
Current nominal levitation gap；
According to the current nominal levitation gap of the magnetic-levitation train, current real time acceleration and current real-time levitation gap, determine
Suspend control electric current, and suspension control electric current is applied to levitating electromagnet.
2. magnetic floating train suspending control method according to claim 1, which is characterized in that described according to the magnetic-levitation train
Current nominal levitation gap, current real time acceleration and current real-time levitation gap, determine the process for the control electric current that suspends, specifically
Include:
The control electric current that suspends is determined according to electric current calculation formula；
The electric current calculation formula specifically:
I=I0+k1*(s-s0)+k2*∫(s-s0)+k3*ds+k4*∫a；
Wherein, i is that the suspension controls electric current, k1、k2、k3And k4Respectively four feedback factors, I0For default control electric current, s
For current real-time levitation gap, s0For current nominal levitation gap, a is current real time acceleration.
3. magnetic-levitation train control method according to claim 2, which is characterized in that the real-time suspension for obtaining magnetic-levitation train
Gap, real-time speed and real time acceleration process, specifically include:
Obtain at least three gap sampled signals of magnetic-levitation train；
According to multiple gap sampled signals, real-time speed, real time acceleration and the suspension in real time of the magnetic-levitation train are determined
Gap.
4. magnetic-levitation train control method according to claim 3, which is characterized in that described according to multiple gap sampling letters
Number, it determines the real-time speed of the magnetic-levitation train, the process of real time acceleration and real-time levitation gap, specifically includes:
According to multiple gap sampled signals and Time Delay of Systems, calculates the real-time speed of the magnetic-levitation train, accelerates in real time
Degree and real-time levitation gap.
5. according to claim 1 to any one of 4 magnetic-levitation train control methods, which is characterized in that described according to described real-time
Positively related functional relation between speed and specified levitation gap determines the corresponding current nominal levitation gap of current real-time speed
Process, specifically include:
According to piecewise function relationship positively related between the real-time speed and specified levitation gap, current real-time speed pair is determined
The current nominal levitation gap answered；
Wherein, the piecewise function relationship includes three sections of low speed segment, middling speed section and high regime speed intervals.
6. magnetic-levitation train control method according to claim 5, which is characterized in that the piecewise function relationship specifically:
Wherein s0For current nominal levitation gap, v is current real-time speed.
7. a kind of magnetic floating train suspending control system characterized by comprising
Data acquisition module, for obtaining real-time levitation gap, real-time speed and the real time acceleration of magnetic-levitation train；
First computing module, for determining according to functional relation positively related between the real-time speed and specified levitation gap
The corresponding current nominal levitation gap of current real-time speed；
Second computing module, for according to the current nominal levitation gap of the magnetic-levitation train, current real time acceleration and current
Real-time levitation gap determines the control electric current that suspends, and suspension control electric current is applied to levitating electromagnet.
8. a kind of magnetic floating train suspending control device characterized by comprising
Memory, for storing computer program；
Processor realizes the magnetic floating train suspending control as described in any one of claim 1 to 6 when for executing the computer program
The step of method processed.
9. magnetic floating train suspending control device according to claim 8, which is characterized in that further include connecting with the processor
It connects, multiple levitation gaps probe of Xiang Suoshu processor input gap sampled signal.
10. a kind of readable storage medium storing program for executing, which is characterized in that be stored with computer program, the meter on the readable storage medium storing program for executing
It is realized when calculation machine program is executed by processor as described in any one of claim 1 to 6 the step of magnetic floating train suspending control method.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111332130A (en) * | 2020-02-26 | 2020-06-26 | 同济大学 | Digital twinning technology-based debugging method for suspension system of magnetic-levitation train |
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