CN112000091B - Novel urban rail road - Google Patents
Novel urban rail road Download PDFInfo
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- CN112000091B CN112000091B CN202010662662.0A CN202010662662A CN112000091B CN 112000091 B CN112000091 B CN 112000091B CN 202010662662 A CN202010662662 A CN 202010662662A CN 112000091 B CN112000091 B CN 112000091B
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- 229910052761 rare earth metal Inorganic materials 0.000 claims description 8
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- 238000012067 mathematical method Methods 0.000 claims description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
- B61B1/005—Rail vehicle marshalling systems; Rail freight terminals
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B25/00—Tracks for special kinds of railways
- E01B25/28—Rail tracks for guiding vehicles when running on road or similar surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/0275—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using fuzzy logic only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
Abstract
The invention discloses a novel urban rail road, which is used for running a magnetic train and solves the problem that the development of a tramcar is limited due to the fact that the tramcar monopolizes the right of way and the running cost is high in the prior art, and comprises the following steps: the magnetic track nails are arranged on a road, and all the magnetic track nails form a magnetic track of the magnetic train; the magnetic array is arranged on the magnetic track at intervals; the magnetic array coding system is electrically connected with the magnetic array and is used for coding the magnetic array so as to provide position information and magnetic train state detection for the acquired magnetic train; the magnetic guide system is electrically connected with the magnetic array and the magnetic array coding system and is used for track detection and track deviation correction of the magnetic train, so that the economic cost of the magnetic track formed by the magnetic track nails is reduced, the running cost of the magnetic train is reduced, and the development limitation of the magnetic train with the rails is effectively reduced.
Description
Technical Field
The invention relates to the technical field of urban traffic, in particular to a novel urban rail road.
Background
Along with the development of economy and science and technology in China, urbanization in China also enters a high-speed development period, the scale and the structure of cities are greatly changed, but the development of modern traffic brings convenience to people and brings negative effects such as congestion, serious exhaust emission and the like.
At present, the construction of the public transportation with large transport capacity (such as subway) with rails improves the transportation of the public transportation and simultaneously improves the traffic jam condition, but the development of the public transportation with large transport capacity is greatly limited due to high construction cost, so that the development of tramcars is realized, and the cost of the tramcars is far lower than that of the public transportation with large transport capacity with rails.
However, the running cost of constructing the tramcar is still higher than that of the bus, and the track occupies the road surface, so that the road surface needs to be changed into a special tramcar road.
Disclosure of Invention
The invention mainly aims to provide a novel urban rail road, and aims to solve the technical problem that in the prior art, the development of a tramcar is limited due to the fact that the tramcar monopolizes the right of way and the running cost is high.
In order to achieve the above object, the present invention provides a novel urban rail road, comprising: the magnetic track nails are arranged on a road, and all the magnetic track nails form a magnetic track of the magnetic train; the magnetic array is arranged on the magnetic track at intervals; the magnetic array coding system is electrically connected with the magnetic array and is used for coding the magnetic array so as to provide position information and magnetic train state detection for the acquired magnetic train; and the magnetic guiding system is electrically connected with the magnetic array and the magnetic array coding system and is used for track detection and track deviation correction of the magnetic train.
Further, the magnetic array comprises: a magnetic steel nine-square grid consisting of nine magnetic steels; the magnetic steel nine-square grid comprises: the steering array comprises three magnetic steels and a position array comprising six magnetic steels, wherein the steering array is a magnetic steel nine-square grid starting row.
Further, the magnetic array encoding system includes: the magnetic array information acquisition module is used for acquiring magnetic poles of the magnetic steel in the steering array and the position array in the magnetic array where the current magnetic train is located; the encoding module is used for carrying out current encoding on the magnetic poles of the magnetic steel acquired by the magnetic array information acquisition module; the code identification module is used for identifying the current code of the code module, comparing the current code with a preset code corresponding to preset information, and taking the information corresponding to the preset code as the information carried by the current code when the current code is consistent with the preset code; the detection module is used for receiving a detection code of a magnetic sensor on the magnetic train for detecting the magnetic train, comparing the detection code with a preset sensor output code to obtain magnetic train information corresponding to the sensor output code which is the same as the detection code, and judging the correctness of the magnetic train information.
Further, the magnetic spike is a neodymium iron boron rare earth magnetic steel pair, and the neodymium iron boron rare earth magnetic steel pair arranged at a preset distance forms the magnetic track.
Further, the magnetic guidance system includes: the analog-digital converter is used for receiving the magnetic signals detected by the sensors on the train and converting the magnetic signals into digital signals; and the control module is electrically connected with the analog-digital converter and used for receiving the digital signal, judging whether the magnetic train deviates from the magnetic track according to the digital signal and guiding the path of the magnetic train under the condition that the magnetic train deviates from the magnetic track.
Further, the control module includes: the sensor signal receiving unit is used for receiving magnetic signals of a sensor induction magnetic track arranged on the head of the magnetic train, four sensors are sequentially arranged from one side to the other side of the magnetic train, and the sensors on the two sides are a left sensor and a right sensor respectively; the detection unit is used for detecting the magnetic signals received by the sensor receiving unit, judging whether the magnetic signals sensed by the left sensor are magnetic tracks deviated from the left direction of the magnetic train, judging whether the magnetic signals sensed by the right sensor are magnetic tracks deviated from the right direction of the magnetic train, and judging whether the magnetic signals sensed by the left sensor and the right sensor are magnetic tracks not deviated from the magnetic train; and the guiding unit is used for guiding and correcting the right deviation or the left deviation of the magnetic train according to the judgment result of the detection unit so as to ensure that the magnetic track is not deviated under the condition that the left sensor and the right sensor do not sense the magnetic signal.
Further, the control module further comprises: and the angle correction unit is used for calculating the offset degree of the magnetic train according to the strength of the magnetic signal received by the sensor signal receiving unit and the judgment result of the detection unit, and calculating the correction angle of the magnetic train to the non-offset state according to the offset degree of the magnetic train.
Further, the control module further comprises: and the fuzzy controller is used for processing the digital signals converted by the analog-digital converter by a fuzzy mathematical method and outputting a processing result to the control module so that the control module judges whether the magnetic train deviates from the magnetic track according to the processing result and guides the magnetic train in a path under the condition that the magnetic train deviates from the magnetic track.
Further, novel there is rail urban road still includes: the marshalling station is arranged on a road and used for parking part of the magnetic train in the non-trip peak period so as to adapt to the dynamic change of traffic flow tide.
The invention provides a novel urban rail road, which has the beneficial effects that: the magnetic rail using the magnetic spike as the magnetic rail does not form obstacles on the road surface, so that other vehicles or pedestrians can run on the magnetic rail, the road right is not monopolized, and the economic cost of the magnetic spike is far lower than that of the train rail laid by the traditional method, so that the economic cost of the magnetic rail formed by the magnetic spike is reduced, the running cost of the magnetic train is reduced, and the development limit of the magnetic train with the rail is effectively reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a novel urban rail road according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a magnetic array of a novel urban rail road according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a train of a novel urban rail road according to an embodiment of the invention;
FIG. 4 is a diagram showing the relationship between the position of the sensors on the train and the magnetic track of the novel urban rail road according to the embodiment of the invention;
FIG. 5 is a graph showing the output characteristics of the switch type Hall element of the novel urban rail road according to the embodiment of the invention;
FIG. 6 is a schematic three-dimensional coordinate diagram of any point P of the magnetic nail field of the magnetic track of the novel urban rail road according to the embodiment of the invention;
FIG. 7 is a graph of a theoretical estimated individual component surface of magnetic induction strength for a novel railed urban road according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of the simulated motion of the magnetic train body of the novel urban rail road in a two-dimensional coordinate system according to the embodiment of the invention;
fig. 9 is a schematic diagram of the relationship between wheel and armature voltage of a magnetic train of a novel railed urban road according to an embodiment of the invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a new type of urban rail road includes: the magnetic track spike comprises a magnetic track spike 1, a magnetic array 2, a magnetic array coding system and a magnetic guiding system; the magnetic spikes 1 are arranged on the road, and all the magnetic spikes 1 are arranged to form a magnetic track 3; the magnetic arrays 2 are arranged on the magnetic tracks 3 at intervals; the magnetic array coding system is electrically connected with the magnetic array 2 and is used for coding the magnetic array 2 so as to provide position information and magnetic train state detection for the acquired magnetic train; the magnetic guiding system is electrically connected with the magnetic array 2 and the magnetic array coding system, and the magnetic guiding system is used for track detection and track deviation correction of the magnetic train.
Referring to fig. 2, the magnetic array 2 includes: a magnetic steel nine-square grid consisting of nine magnetic steels; the magnet steel nine-palace check includes: a steering array 21 consisting of three magnetic steels and a position array 22 consisting of six magnetic steels, wherein the steering array 21 is a magnetic steel nine-square grid starting row.
A magnetic array encoding system comprising: the magnetic array information acquisition module, the coding identification module and the detection module; the magnetic array information acquisition module is used for acquiring magnetic poles of magnetic steel in the steering array 21 and the position array 22 in the magnetic array 2 where the current magnetic train is located; the encoding module is used for encoding the magnetic poles of the magnetic steel acquired by the magnetic array information acquisition module currently; the code identification module is used for identifying the current code of the code module, comparing the current code with a preset code corresponding to preset information, and taking the information corresponding to the preset code as the information carried by the current code when the current code is consistent with the preset code; the detection module is used for receiving detection codes of magnetic sensors on the magnetic train for detecting the magnetic train, comparing the detection codes with preset sensor output codes to obtain magnetic train information corresponding to the sensor output codes which are the same as the detection codes, and judging the correctness of the magnetic train information.
The magnetic array code comprises position information of a magnetic train, and road information such as turning, intersection, station, sidewalk and the like. The coding region is a magnetic array nine-square grid formed by 10 x 5 magnetic steels, and one group is placed on the road every other distance.
As shown in the left diagram of fig. 1, the magnetic array start flag 4 of the left road is identified in the tracking process of the magnetic train, and when the magnetic train keeps moving forward, the tracking mode is turned off, the magnetic array detection mode is started, and the magnetic train returns to the tracking mode after the magnetic array detection is completed (three rows).
And after entering a magnetic array detection mode, detecting in rows. The detection information is divided into road information and position information as shown in the right diagram of fig. 1. The array formed by the first row and the row is used for detecting the position information of the vehicle body, the position information is expressed in a binary mode and can represent 1-63 (26-1), and the position information can be read according to the sequence of the sensors and the row number and can represent 63 types of position information. The magnetic array tail line represents road condition information, the magnetic guidance work of the auxiliary model vehicle is performed, and the tail line of the right image in the figure 1 represents front left turning, so that the vehicle is enabled to be ready for turning in advance, and the hysteresis of vehicle body equipment detection is avoided.
In this embodiment, the magnetic track nail 1 is a neodymium iron boron rare earth magnetic steel pair, and the neodymium iron boron rare earth magnetic steel pair arranged at a preset distance forms the magnetic track 3.
In actual operation, the S pole is set to 1 upwards, and the N pole is set to 0 upwards to create a code library. Further, for example, in the case of a code when a certain position is rotated left, as shown in fig. 3, the sensor group abc performs scanning recognition in the direction of the arrow, and starts scanning after reaching the start flag, a1b2c3a4b5c6 is a position information code, and a7b8c9 is a road information mark code. The encoded information represented by the magnetic array is shown in table 1.
TABLE 1
The system is divided into two modes in the autonomous walking process, and when the sensor identifies the start identifier, the coding identification function is started. If the sensor detection signal is determined to be "1" and if it is not detected to be "0", as shown in fig. 3 and 4, abcd is a four-way sensor that is sequentially arranged from left to right, the detection results and situations are shown in table 2:
TABLE 2
| a | b | c | d | Trolley |
| 0 | 0 | 0 | 1 | Automatic guided |
| 0 | 0 | 1 | 1 | Automatic guided |
| 0 | 1 | 1 | 0 | Automatic guided |
| 1 | 1 | 0 | 0 | Automatic guided |
| 1 | 0 | 0 | 0 | Automatic guided |
| 1 | 1 | 1 | 0 | Start-up flag induction mode |
The magnetic guidance system includes: an analog-digital converter and a control module; the digital converter is used for receiving the magnetic signal detected by the sensor on the train and converting the magnetic signal into a digital signal; the control module is electrically connected with the analog-digital converter and used for receiving the digital signals, judging whether the magnetic train deviates from the magnetic track 3 according to the digital signals and guiding the magnetic train in a path under the condition that the magnetic train deviates from the magnetic track 3.
Referring to fig. 3 and 4, when the vehicle travels along the magnetic track, the front sensor group collects the current signal and outputs the signal to the controller, and when the ab sensor is on, the vehicle body is deviated to the right; when the bc sensor is bright, the vehicle body is centered; when the cd sensor is on, the vehicle body is biased to the left.
The judging method comprises the following steps:
the electrons are acted by the Lorentz force and the electric field force, and the electrons reach dynamic balance when the two forces are equal. The electric field established between the two sides at this time is called the hall electric field, and the corresponding voltage is called the hall voltage. The above phenomenon is called hall effect. The hall voltage formula is shown in formula 1, and formula 1 is shown below:
wherein the content of the first and second substances,
the Hall element has the action principle of Hall effect, namely the Hall coefficient, and the action mechanism is that the two sides of a semiconductor slice are electrified, a magnetic field is electrified in the vertical direction, and electromotive force with the size in direct proportion to control current and the magnetic field is generated on the two sides of the semiconductor. The Hall circuit is manufactured by assembling and integrating the Hall element and the integrated circuit into a Hall integrated circuit. The Hall integrated circuit is divided into a linear type and a switch type, the linear type can obtain output voltage which is in direct proportion to field intensity, and the switch type can obtain ON-OFF voltage in a magnetic field in a certain range.
The output characteristics of the switching type hall element as shown in fig. 5 reflect the relationship between the magnetic induction B and the variation in the sensor output voltage. The output characteristic is delayed to a certain extent, when the intensity of the field intensity B is less than BRPWhen the voltage is high, the output voltage of the sensor is high; greater than BOPThe sensor output voltage drops from a high voltage to a low voltage. The magnetic sensor is operated using this characteristic.
At a certain point P (x, y, z) on the magnetic nail, the magnetic field B of the magnetic nail is used
Unit vector representation, then according to equation 2, equation 2 is as follows:
the magnetization M was 895kA/M according to the parameters of each brand of NdFeB rare earth permanent magnet, and the magnetic field strength was estimated by Matlab, as shown in FIGS. 6 and 7.
The basic guide rail based on the magnetic array 2 can adopt a neodymium iron boron rare earth magnetic steel pair, and one pair is arranged at intervals, so that the magnetic array has the characteristic of flexibility, and the route can be changed in real time according to the requirement. Namely, the idea of path identification is converted into the idea of identification of the magnetic steel to the track. In the identification process, the Hall sensors are used as magnetic field detection sensors, when the magnetic nails are positioned between the Hall sensors, the magnetic fields with the same intensity are detected at two sides, if the field intensity detected by one of the sensors is larger, the vehicle body can be considered to be deviated, and at the moment, the deviation correction work is required to be carried out.
The control module includes: the device comprises a sensor signal receiving unit, a detection unit and a guide unit; the sensor signal receiving unit is used for receiving magnetic signals of a sensor induction magnetic track 3 arranged on the head of the magnetic train, four sensors are sequentially arranged from one side to the other side of the magnetic train, and the sensors on the two sides are a left sensor and a right sensor respectively; the detection unit is used for detecting the magnetic signals received by the sensor receiving unit, judging whether the left sensor senses the magnetic signals and the magnetic tracks are deviated from the magnetic tracks 3 towards the left of the magnetic train, judging whether the right sensor senses the magnetic signals and the magnetic tracks are deviated from the magnetic tracks 3 towards the right of the magnetic train, and judging whether the left sensor and the right sensor do not sense the magnetic signals and the magnetic tracks 3 which are not deviated from the magnetic tracks of the magnetic train; the guiding unit is used for guiding and correcting the right deviation or the left deviation of the magnetic train according to the judgment result of the detection unit, so that the magnetic track 3 is not deviated under the condition that the left sensor and the right sensor do not sense the magnetic signal.
The sensors are mounted below the vehicle head, as shown in fig. 3 and 4, and the sensors abcd are used for both magnetic track detection and detection of the magnetic array 2. The design requirements of the sensor are as follows: the magnetic array encoder can detect magnetic signals, perform automatic guidance, detect magnetic array encoding and be easy to assemble and disassemble.
The installed magnetic sensors correspond to a four-way sensor set, each of which can sense a magnetic signal from a magnetic track. When the sensor works, an induction lamp on the sensor is on after the sensor detects a magnetic field, and the output is low voltage; otherwise, the induction lamp is not on, and the output of the sensor is high voltage.
The algorithm design for path steering is as follows: when the vehicle runs along the magnetic track, the front sensor group acquires a current signal and outputs the signal to the controller, and when the ab sensor is bright, the vehicle body deviates to the right; when the bc sensor is bright, the vehicle body is centered; when the cd sensor is on, the vehicle body is biased to the left.
According to the on-off of the sensor, the approximate transverse position of the train body can be known, and the controller acquires corresponding high-voltage or low-voltage signals and then gives corresponding commands to ensure the normal operation of the magnetic train.
When the trolley runs along the magnetic track, the sensor arranged at the front realizes the real-time detection of the magnetic signal so as to judge the transverse position of the trolley body, the detected signal is judged to be '1' and the undetected signal is judged to be '0' according to the test (according to the direction of the figure) of the four-way sensor, and the detected detection result is shown in a table 3:
TABLE 3
| a | b | c | d | Position of the |
| 0 | 0 | 0 | 1 | Left side is 2.0 |
| 0 | 0 | 1 | 1 | Left side is 1.0 |
| 0 | 1 | 1 | 0 | (center) |
| 1 | 1 | 0 | 0 | Right side is 1.0 |
| 1 | 0 | 0 | 0 | 2.0cm right side |
The control module further includes: and the angle correction unit is used for calculating the offset degree of the magnetic train according to the strength of the magnetic signal received by the sensor signal receiving unit and the judgment result of the detection unit, and calculating the correction angle of the magnetic train to the non-offset state according to the offset degree of the magnetic train.
The control module further includes: and the fuzzy controller is used for processing the digital signals converted by the analog-digital converter by a fuzzy mathematical method and outputting the processing result to the control module, so that the control module judges whether the magnetic train deviates from the magnetic track 3 or not according to the processing result and guides the path of the magnetic train under the condition that the magnetic train deviates from the magnetic track 3.
The fuzzy control uses the basic idea and theoretical control method of fuzzy mathematics. Traditional control theory methods are suitable for systems with strong control capability, but for systems that are difficult to describe accurately, fuzzy mathematics is required to deal with these control problems. When fuzzy control is applied, firstly, a fuzzy rule is established according to observable experience, a sensor signal is fuzzified, the fuzzy rule is established after the sensor signal is input, and finally, a result is transmitted to an actuating mechanism.
Four-way hall sensor is equipped with to magnetic conductance magnetic train locomotive, and every sensor can all detect the magnetic signal from the magnetic track, and fuzzy control's the work that lies in, when the automobile body deviates from the orbit center, according to the turn angle of the signal information regulation magnetic train that detects: when the magnetic train deviates far, the adjustment of turning force is increased; when the magnetic train deviates relatively closely, the turning angle of the trolley is adjusted moderately.
The main study in the process of controlling the autonomous operation of the vehicle body is the motion characteristics of turning and deviation rectification of the vehicle body, and as shown in fig. 8, the vehicle body is simplified into a rectangular body, the set point P is the center of gravity of the vehicle body, and a local coordinate system is set. L is the wheel track of two wheels, H is the wheel track of front and back, and the radius of the set wheel is R, and the turning radius of the vehicle body is R.
Neglecting factors such as ground friction coefficient and the like in the research process, setting the linear speeds of the left wheel and the right wheel as V respectivelyLAnd VRIf the angular velocity is ω, the centerline velocity is as shown in equation 3, and equation 3 is as follows:
Vp＝(vr+vL)/2
thereby obtaining an angular velocity, which is shown in equation 4, equation 4 is expressed as follows:
ω＝(VR-VL)/L
the linear velocity relationship between the left and right motors is shown in equation 5, where equation 5 is expressed as follows:
equation 6 can thus be derived, equation 6 being expressed as follows:
thus, the differential speed Δ V is given by equation 7, equation 7 being expressed as follows:
neglecting the resistance received by the wheel rotation in the analysis process, the rotation angle Δ θ ≈ θ, tan θ ≈ θ, and then the following formula 8 and the expression 9 are expressed respectively:
when Δ t → 0, then there is formula 10, level formula 11, as follows:
when θ → 0, sin θ ═ θ. The transformation of t by Ralsberg transform yields equation 12, formula 13 as follows:
θ(s)(VR-VL)Ls
d(s)＝(VR+VL)θ/2s
let the armature voltage of the motor be U, time constant Tm, and the radius of the wheel be exactly the same as the parameters. According to the relationship between one-wheel rotation and armature voltage as shown in fig. 9, the transfer function of the motor is expressed as the following equation 14:
in summary, the trajectory deviation relationship of the vehicle body is expressed by the following formula 15:
if the relationship between the sensor deviation and the signal reception is obtained, a deviation value table of the deviation d is made according to the table, and the right deviation is positive and the left deviation is negative. Then as shown in table 4:
TABLE 4
| Position of the carriage | Deviation d |
| Left side is 2.0cm | -2 |
| Left side is 1.0cm | -1 |
| Offset of 0cm in the | 0 |
| Right side is 1.0 | 1 |
| 2.0cm | 2 |
The blurring process is performed on the deviation, and if the fuzzy set d of the deviation is { NB, NS, ZR, PS, PB }, and di changes to d i +1 over time, the change dd is d i +1-d i, and dd is { NB, NS, ZR, PS, PB }.
The fuzzy set of rotation angles theta is: θ ═ NB, NS, ZR, PS, PB }. The membership degree of the trolley offset is [ -2, 2], the change rate of the distance deviation is [ -4,4], and the range of the set rotation angle is [ -30, 30 ].
Fuzzy rules were established in MATLAB. And obtaining a membership function of the variable d, the change rate dd and the output angle theta, thereby calculating the output angle and improving the guiding control of autonomous driving.
Novel there is rail urban road still includes: and the marshalling station is arranged on the road and used for parking part of the magnetic train during the non-trip peak period so as to adapt to the dynamic change of traffic flow tide.
By arranging the marshalling station, a part of magnetic trains can be separated from the fleet to enter the marshalling station in the non-traffic peak period, thereby realizing the non-rigid connection large-traffic transportation and adapting to the flexible marshalling function of the dynamic change of traffic flow tide.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no acts or modules are necessarily required of the invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the novel urban rail road provided by the present invention, those skilled in the art will appreciate that the concepts according to the embodiments of the present invention may be modified in the specific implementation manners and the application ranges.
Claims (6)
1. A novel urban rail road is characterized by comprising:
the magnetic track nails are arranged on a road, and all the magnetic track nails form a magnetic track of the magnetic train;
the magnetic array is arranged on the magnetic track at intervals;
the magnetic array coding system is electrically connected with the magnetic array and is used for coding the magnetic array so as to provide position information and magnetic train state detection for the acquired magnetic train;
the magnetic guiding system is electrically connected with the magnetic array and the magnetic array coding system and is used for track detection and track deviation correction of the magnetic train;
the magnetic array includes:
a magnetic steel nine-square grid consisting of nine magnetic steels;
the magnetic steel nine-square grid comprises: the steering array comprises three magnetic steels and a position array comprising six magnetic steels, wherein the steering array is a starting row of the magnetic steel Sudoku;
the magnetic guidance system includes:
the analog-digital converter is used for receiving the magnetic signals detected by the sensors on the train and converting the magnetic signals into digital signals;
the control module is electrically connected with the analog-digital converter and used for receiving the digital signal, judging whether the magnetic train deviates from the magnetic track according to the digital signal and guiding the path of the magnetic train under the condition that the magnetic train deviates from the magnetic track;
the control module further comprises: a fuzzy controller, configured to process the digital signal converted by the adc by a fuzzy mathematical method, and output a processing result to the control module, so that the control module determines whether the magnetic train deviates from the magnetic track according to the processing result, and guides the magnetic train to a route when the magnetic train deviates from the magnetic track, where the fuzzy mathematical method is used to process the magnetic train, where a fuzzy set d of the deviation may be set to { NB, NS, ZR, PS, PB }, and d i is d i +1 after a certain time, and a variation dd is d i +1-d i, and dd { NB, NS, ZR, PS, PB }; the fuzzy set of rotation angles theta is: θ ═ NB, NS, ZR, PS, PB }; the membership degree of the trolley offset is [ -2, 2], the change rate of the distance deviation is [ -4,4], and the range of the set rotation angle is [ -30, 30 ]; and establishing a fuzzy rule in MATLAB to obtain a membership function of the variable d, the change rate dd and the output angle theta, so as to calculate the output angle and improve the guidance control of autonomous driving.
2. A new urban rail road according to claim 1, characterized in that,
the magnetic array encoding system includes:
the magnetic array information acquisition module is used for acquiring magnetic poles of the magnetic steel in the steering array and the position array in the magnetic array where the current magnetic train is located;
the encoding module is used for carrying out current encoding on the magnetic poles of the magnetic steel acquired by the magnetic array information acquisition module;
the code identification module is used for identifying the current code of the code module, comparing the current code with a preset code corresponding to preset information, and taking the information corresponding to the preset code as the information carried by the current code when the current code is consistent with the preset code;
the detection module is used for receiving a detection code of a magnetic sensor on the magnetic train for detecting the magnetic train, comparing the detection code with a preset sensor output code to obtain magnetic train information corresponding to the sensor output code which is the same as the detection code, and judging the correctness of the magnetic train information.
3. A new urban rail road according to claim 1, characterized in that,
the magnetic spike is a neodymium iron boron rare earth magnetic steel pair, and the neodymium iron boron rare earth magnetic steel pair arranged at a preset distance forms the magnetic track.
4. A new urban rail road according to claim 1, characterized in that,
the control module includes:
the sensor signal receiving unit is used for receiving magnetic signals of a sensor induction magnetic track arranged on the head of the magnetic train, four sensors are sequentially arranged from one side to the other side of the magnetic train, and the sensors on the two sides are a left sensor and a right sensor respectively;
the detection unit is used for detecting the magnetic signals received by the sensor receiving unit, judging whether the magnetic signals sensed by the left sensor are magnetic tracks deviated from the left direction of the magnetic train, judging whether the magnetic signals sensed by the right sensor are magnetic tracks deviated from the right direction of the magnetic train, and judging whether the magnetic signals sensed by the left sensor and the right sensor are magnetic tracks not deviated from the magnetic train;
and the guiding unit is used for guiding and correcting the right deviation or the left deviation of the magnetic train according to the judgment result of the detection unit so as to ensure that the magnetic track is not deviated under the condition that the left sensor and the right sensor do not sense the magnetic signal.
5. A new type of urban railed road according to claim 4,
the control module further comprises:
and the angle correction unit is used for calculating the offset degree of the magnetic train according to the strength of the magnetic signal received by the sensor signal receiving unit and the judgment result of the detection unit, and calculating the correction angle of the magnetic train to the non-offset state according to the offset degree of the magnetic train.
6. A new urban rail road according to claim 1, characterized in that,
further comprising: the marshalling station is arranged on a road and used for parking part of the magnetic train in the non-trip peak period so as to adapt to the dynamic change of traffic flow tide.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010662662.0A CN112000091B (en) | 2020-07-10 | 2020-07-10 | Novel urban rail road |
| PCT/CN2020/108394 WO2022007104A1 (en) | 2020-07-10 | 2020-08-11 | Novel rail bound urban road |
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| CN202010662662.0A CN112000091B (en) | 2020-07-10 | 2020-07-10 | Novel urban rail road |
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| CN102147259B (en) * | 2011-01-14 | 2012-12-12 | 南京航空航天大学 | Ring array magnetic guidance device and method for identifying guidance magnetic label thereof |
| US9696165B2 (en) * | 2015-02-03 | 2017-07-04 | The Regents Of The University Of Michigan | Last-mile navigation using smartphones |
| CN106249736B (en) * | 2016-07-13 | 2020-05-08 | 上海交通大学 | Automatic guided vehicle based on magnetic nail map navigation |
| CN107065864A (en) * | 2017-03-20 | 2017-08-18 | 北京石油化工学院 | The list of magnetic stripe navigation drives unidirectional automatical pilot transportation vehicle deviation correction control system and method |
| CN109459022A (en) * | 2017-11-07 | 2019-03-12 | 云南昆船智能装备有限公司 | It is a kind of can free array combination novel magnetic navigation alignment sensor |
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