CN113997797B - Permanent magnet electric suspension guiding driving integrated device - Google Patents
Permanent magnet electric suspension guiding driving integrated device Download PDFInfo
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- CN113997797B CN113997797B CN202111468216.7A CN202111468216A CN113997797B CN 113997797 B CN113997797 B CN 113997797B CN 202111468216 A CN202111468216 A CN 202111468216A CN 113997797 B CN113997797 B CN 113997797B
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- magnetic disk
- permanent
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- 239000000725 suspension Substances 0.000 title claims abstract description 70
- 238000005339 levitation Methods 0.000 claims abstract description 46
- 229910000838 Al alloy Inorganic materials 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
- 239000000696 magnetic material Substances 0.000 claims description 6
- 230000005389 magnetism Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 239000003990 capacitor Substances 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000005415 magnetization Effects 0.000 description 8
- 230000005284 excitation Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 239000004020 conductor Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- B60L13/10—Combination of electric propulsion and magnetic suspension or levitation
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a permanent magnet electric levitation guiding driving integrated device, which comprises a permanent magnet disk, four driving motors for driving the disk to rotate, a levitation frame body, a coupler and an air spring, wherein the permanent magnet disk is arranged on the levitation frame body; the track section comprises a flat type suspension track, a T-shaped guiding/driving track. Four driving motors are symmetrically arranged at four corners of the vehicle body suspension frame, the driving motors are connected with the permanent magnetic disk through couplers and drive the disk to rotate during operation, the suspension device is arranged above the flat suspension rail and has a suspension air gap, and the guide rail is arranged in the center of the suspension rail and has a guide air gap with the side surface of the disk. The suspension guide driving integrated device provided by the invention can enable the device to have suspension, guide, speed regulation driving and braking functions at the same time under the condition of not installing an additional guide mechanism and a linear motor, has a compact structure, and can be widely applied to occasions such as carrying fields, industrial transmission fields, ultra-clean room carrying and the like.
Description
Technical Field
The invention relates to the field of electric magnetic levitation transportation, in particular to a permanent magnet electric levitation guiding driving integrated device.
Background
The magnetic suspension transportation is a technology for suspending a transportation platform on a track through electromagnetic force and adopting linear motor driving. Compared with the traditional wheel rail transportation mode, the magnetic levitation transportation has the advantages of no wheel rail friction relationship, high-speed operation, low noise, strong climbing capacity, small loss and the like. The magnetic levitation transportation technology can be widely applied to the fields of rail manned transportation, cargo transportation, linear positioning and the like. Taking a rail manned transportation system as an example, a plurality of medium-low speed magnetic levitation train commercial operation lines are built in China at present, and meanwhile, a high-speed magnetic levitation demonstration line on the sea is well and stably operated from the built 2002. In addition, the magnetic levitation train tourist line in Guangdong Qingyuan city is also steadily advancing, and these phenomena prove the potential of the magnetic levitation technology in the field of rail transportation.
The magnetic levitation technology can be divided into electromagnetic attraction type levitation and electric repulsion type levitation according to the levitation principle, and the magnetic levitation device provided by the invention is based on the electric levitation principle, and is made of a plate-type track by taking a permanent magnet as an excitation source and conductive metal materials. When relative motion exists between the vehicle-mounted permanent magnet source magnetic field and the conductor track, the source magnetic field can generate eddy currents in the conductor plate track, and the eddy current magnetic field and the source magnetic field interact to further generate levitation force. By rationalizing the shape of the source magnetic field, the movement mode and the topological form of the conductor track, the device can generate guiding force and driving force except the levitation force while using the same excitation source.
A big feature of the permanent magnet electric levitation principle is that the excitation source must have a relative motion with respect to the conductor, so if the excitation source has only a linear translational degree of freedom, the levitation device cannot achieve a stationary levitation. Besides translational degree of freedom, the permanent magnet excitation source of the invention has rotational degree of freedom under the drive of the rotating motor, so that the levitation device can be switched under the states of linear driving, static levitation and belt speed braking under a proper control strategy.
Disclosure of Invention
The invention aims to design a permanent magnet electric suspension guide driving integrated device which is a novel plate type permanent magnet electric suspension device, and can obtain the functions of driving and suspension guide on the premise of not installing a linear driving system and an additional guide device.
The technical scheme adopted by the invention is as follows:
the permanent magnet electric suspension guide driving integrated device comprises an I-shaped track fixedly installed on the ground and a suspension device straddled on the track;
the I-shaped track comprises a flat plate suspension track surface and a T-shaped guide track surface, and the T-shaped guide track surface is arranged in the middle of the upper part of the flat plate suspension track surface;
the suspension device comprises a permanent magnetic disk, a rotary driving motor, a vehicle-mounted variable-frequency power supply, a coupler, a vehicle body suspension frame and an air spring; four rotary driving motors are symmetrically arranged below four corners of the vehicle body suspension frame, the permanent magnetic disk is fixedly connected with an output shaft of the rotary driving motor coaxially through a coupler arranged above the permanent magnetic disk, air springs are symmetrically arranged above four corners of the vehicle body suspension frame, and a loading platform or a carriage can be arranged above the suspension device.
Furthermore, the I-shaped track is formed by a composite structural member with aluminum alloy, copper or other conductive and non-magnetic materials coated on the surface, or is entirely made of aluminum alloy, copper or other conductive and non-magnetic materials, the flat plate suspension rail surface is used for suspending the suspension frame, the T-shaped guide rail surface is used for guiding and driving the suspension frame, and meanwhile, the T-shaped guide rail surface also realizes the functions of limiting and preventing the train from turning on one's side.
Further, four rotary driving motors are symmetrically arranged at four corners of the vehicle body suspension frame.
Furthermore, the four rotary driving motors can be asynchronous motors, synchronous motors or any other motor capable of adjusting the speed, the vehicle-mounted variable frequency power supply drives the four rotary driving motors to operate, the vehicle-mounted variable frequency power supply is powered by a vehicle-mounted battery or a vehicle-mounted super capacitor bank, and ground power supply can be introduced into the suspension guiding driving integrated device in a contact network or electric energy wireless transmission mode.
Furthermore, the speed and the direction of the four rotary driving motors can be adjusted simultaneously and cooperatively by means of the vehicle-mounted variable-frequency power supply, and the rotating speed and the rotating direction of the permanent magnetic disk are changed, so that the running speed and the running direction of the whole levitation guiding driving integrated magnetic levitation device are changed.
Further, the permanent magnet disk is composed of permanent magnet modules, and is magnetized by adopting a Halbach array rule to form a wheel shape, and all the permanent magnet modules in the disk are arranged according to the magnetizing direction and follow the following rule: projection of magnetizing directions of all permanent magnets on the magnetic disk on the flat plate suspension rail surface is distributed regularly in a Halbach array; meanwhile, projections of magnetizing directions of all permanent magnets on the magnetic disk on the circumferential surface of the magnetic disk are also distributed in a Halbach array rule.
Furthermore, a suspension air gap is arranged between the bottom surface of the permanent magnetic disk and the flat suspension rail surface, a guide air gap is arranged between the radial direction of the permanent magnetic disk and the T-shaped guide rail surface, and when the suspension device is in the normal operation process, no mechanical contact is arranged between the suspension device and the I-shaped rail.
Further, the gap between the permanent magnetic disk connected with the rotary driving motor and the flat plate suspended rail surface is adjusted by adjusting the rotating speed of the rotary driving motor.
Further, the magnetizing directions of part of the permanent magnet modules on the permanent magnet disk are tangential along the middle point of the outer diameter of the wheel shape, and the magnetizing directions of the rest permanent magnet modules are provided with components in the axial direction and the radial direction.
Further, a magnetizing angle theta exists between the magnetizing direction of the residual permanent magnet module and the axial direction of the permanent magnet disk, and the proportion of the bottom surface magnetic density to the side surface magnetic density of the permanent magnet disk is adjusted by adjusting the magnetizing angle theta.
In the invention, a permanent magnet excitation source arranged on a suspension vehicle body is a Halbach array magnetic disk, and the magnetic disk is driven by a rotary driving motor. The bottom surface of the permanent magnetic disk is parallel to the flat plate levitation track surface, and when the driving motor drives the permanent magnetic disk to rotate, the exciting magnetic field on the bottom surface of the magnetic disk interacts with the metal conductor levitation track surface to generate levitation force to lift the vehicle body so as to realize levitation function.
The magnetizing rule of the magnetic disk selected in the invention is different from that of the traditional annular Halbach array, the magnetizing directions of the permanent magnet modules in the traditional Halbach array magnetic disk are parallel to the external diameter section of the magnetic disk at the corresponding installation position of the modules, and the Halbach array magnetic disk with the magnetizing interval angle of 90 degrees is taken as an example, namely, the magnetic disk is magnetized along the axial direction of the magnetic disk and the magnetic disk is magnetized along the tangential direction of the magnetic disk. The permanent magnet module of the magnetic disk reserves a tangential magnetization permanent magnet, and simultaneously replaces the permanent magnet module which is magnetized in the axial direction with the permanent magnet which has the magnetization intensity of both axial and radial components. Therefore, due to the magnetism gathering effect of the Halbach permanent magnet array, the exciting magnetic field of the permanent magnet magnetic disk is gathered on the lower bottom surface and the side surface of the magnetic disk, and the magnetic density of the upper side surface of the magnetic disk is weaker except for some magnetic leakage. Because of the magnetizing method used by the permanent magnet Halbach magnetic disk, the exciting magnetic field of the flat plate suspending rail surface can be used for generating suspending force required by a suspending vehicle body, and the T-shaped guiding rail surface opposite to the magnetic disk also has larger magnetic density, so that the device can generate guiding force, driving force and braking force in the running process.
The invention has the advantages that: the suspension guide driving integrated device provided by the invention can enable the device to have suspension, guide, speed regulation driving and braking functions at the same time under the condition of not installing an additional guide mechanism and a linear motor, has a compact structure, and can be widely applied to occasions such as carrying fields, industrial transmission fields, ultra-clean room carrying and the like.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a permanent magnet electric suspension guiding driving integrated device;
FIG. 2 is a schematic front view of an integrated permanent magnet electric levitation guiding drive device according to the present invention;
FIG. 3 is a schematic diagram of magnetizing directions of all permanent magnet modules in a Halbach array permanent magnet disk selected for use in the device;
FIG. 4 is a schematic diagram of the direction of magnetization of a typical permanent magnet module in a permanent magnet disk;
FIG. 5 (a) is a schematic view of the direction of motion of a magnetic disk when the device of the present invention is in a linear driving state;
FIG. 5 (b) is a schematic view of the direction of disk motion when the apparatus of the present invention is in a belt-speed braking or stationary levitation state.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the exemplary examples shown in the drawings.
Referring to fig. 1, the permanent magnet electric suspension guiding driving integrated device provided by the invention consists of two parts: an I-shaped track fixedly installed on the ground and a suspension device straddled on the track; the suspension device comprises a permanent magnetic disk 1 with a Halbach array, a coupler 2, a rotary driving motor 3, an air spring 4 and a vehicle body suspension frame 5; the I-shaped track fixed on the ground comprises a flat plate suspended track surface 6 and a T-shaped guide track surface 7, and the whole I-shaped track is formed by a composite structural member with an aluminum alloy, copper or other conductive and non-magnetic material coated on the surface or is made of the aluminum alloy, copper or other conductive and non-magnetic material. The rotary drive motor 3 may use an asynchronous motor, a synchronous motor or any other motor with adjustable speed,
the speed-adjustable rotary driving motor is driven to operate by a vehicle-mounted variable-frequency power supply, the vehicle-mounted variable-frequency power supply is powered by a vehicle-mounted battery or a vehicle-mounted super capacitor bank, and a ground power supply can be introduced into the suspension guiding driving integrated device related to the invention in a contact network or electric energy wireless transmission mode.
Referring to fig. 2, there is a levitation air gap 8, a right guide air gap 9 and a left guide air gap 9' between the levitation device and the flat levitation rail 6 as mentioned in the exemplary embodiment of the present invention. When the rotary driving motor in the suspension device drives the magnetic disk to reach a certain rotary speed, the interaction between the permanent magnet of the magnetic disk and the flat suspension rail generates suspension force to support the vehicle body suspension frame, so that no mechanical contact exists between the vehicle body suspension frame and the suspension rail. Meanwhile, the guiding air gaps 9 and 9' at the two sides are equal when the device is in normal operation, and the resultant force of the guiding forces at the two sides is 0; when the vehicle body is in a transverse disturbance state or in an overbending state, the guide air gaps at the two sides are unequal, and when the magnetic disk is in a high-speed rotation state, the side with the small guide air gap generates transverse force which is larger than that of the side with the large guide air gap, so that the vehicle body is forcedly centered on the guide rail, and a transverse stable state is realized.
Referring to fig. 3, the direction of magnetization of permanent magnet modules mounted within a permanent magnet disk having a Halbach array is shown by the arrows in the drawing. In general terms, the whole magnetic disk comprises m pieces of fan-shaped permanent magnets with the same appearance, the central angle of each permanent magnet module is 360 degrees/m, m is equal to 12 in the example, and all the fan-shaped permanent magnets are defined from 1-1 to 1-12. The magnetization direction of the single permanent magnet is schematically shown by an arrow in the figure, the arrow points from the hollow circle o to the solid circle +.. The magnetizing directions of the No. 1-2,1-4,1-6,1-8,1-10 and No. 1-12 permanent magnet modules are tangential along the middle point of the outer diameter of the fan ring, and the magnetizing directions of the rest permanent magnet modules have components in the axial direction and the radial direction. The magnetizing mode aims at concentrating exciting magnetism on the lower bottom surface and the side surface of the magnetic disk by utilizing the magnetic shielding effect of the Halbach permanent magnet array, the magnetism of the lower bottom surface can be used for suspending the device, and the magnetism of the side surface can be used for realizing the functions of driving, guiding, braking and static floating of the device.
Referring to fig. 4, four exemplary magnetized blocks are selected from the 12 sector ring permanent magnet blocks shown in fig. 3 for a detailed description. The magnetizing directions of the 1-4 permanent magnet module and the 1-10 permanent magnet module are tangential along the middle point of the outer diameter of the fan ring, no axial or radial component exists, the two permanent magnets substantially adopt the same magnetizing mode, and the two permanent magnets can be selected from a group of permanent magnets with identical magnetizing specifications to fill the corresponding positions of the 1-2,1-4,1-6,1-8,1-10 and 1-12 permanent magnet modules in fig. 3. 1-1 and 1-5 and 1-9 are identical in magnetizing mode, the magnetizing direction is from the bottom surface of the center point of the inner diameter arc length of the top surface to the center point of the outer diameter arc length, as can be seen from fig. 4, the magnetizing direction of the 1-1 module has components in two directions of axial direction and radial direction, and the magnetizing direction of 1-1 has an angle theta with the coordinate z axis; similarly, 1-7 has the same magnetization pattern as 1-3 and 1-11, with the magnetization direction being opposite to 1-1, but the resultant magnetization direction is also at an angle θ to the coordinate z-axis. The Halbach array magnetic disk magnetized in the mode can achieve the purpose of adjusting the proportion of the magnetic density of the bottom surface and the magnetic density of the side surface of the magnetic disk by adjusting the magnetizing angle theta, so that the magnitude of the levitation force, the driving force and the guiding rigidity of the device in the operation process can be adjusted.
Referring to fig. 5 (a), when the two magnetic disks 1-a,1-B on the upper side of the guide rail are rotated at the same rotation speed in the clockwise direction, and the two magnetic disks 1-C,1-D on the lower side are rotated at the same rotation speed in the counterclockwise direction as the upper magnetic disk, the train is in a levitation, driving and guiding integrated operation mode, and the four magnetic disks are driven by the driving force along the x direction in addition to the levitation and guiding forces, and in this mode, if the direction of movement along the x axis is opposite to the direction of the force applied to the magnetic disks, the braking function can be realized; in the figure 5 (B), the upper magnetic disk 1-A moves clockwise, the lower magnetic disk 1-C moves anticlockwise, the lower magnetic disk 1-C moves clockwise, and all rotation speeds are the same, so that the suspension device is in a static suspension mode at the moment, and the vehicle body suspension frame can stably suspend above the I-shaped track.
The detailed description of the exemplary embodiments above refers to the accompanying drawings, which illustrate some of the relevant principles of the present invention, and the scope of protection of the present invention is not limited to such exemplary embodiments. All possible alternatives and modified embodiments, which are made according to the above description, are considered to fall within the scope of the claims of the present invention.
Claims (7)
1. The utility model provides a permanent magnetism electronic suspension direction drive integrated device which characterized in that:
the permanent magnet electric suspension guide driving integrated device comprises an I-shaped track fixedly installed on the ground and a suspension device straddled on the track;
the I-shaped track comprises a flat plate suspension track surface and a T-shaped guide track surface, and the T-shaped guide track surface is arranged in the middle of the upper part of the flat plate suspension track surface;
the suspension device comprises a permanent magnetic disk, a rotary driving motor, a vehicle-mounted variable-frequency power supply, a coupler, a vehicle body suspension frame and an air spring; the rotary driving motor is symmetrically arranged below four corners of the vehicle body suspension frame, the permanent magnetic disk is fixedly connected with an output shaft of the rotary driving motor coaxially through a coupler arranged above the permanent magnetic disk, the air spring is symmetrically arranged above the four corners of the vehicle body suspension frame, and a loading platform or a carriage can be arranged above the suspension device;
the permanent magnet disk is composed of permanent magnet modules, and is magnetized by adopting a Halbach array rule to form a wheel shape, and all the permanent magnet modules in the disk are arranged according to the magnetizing direction and follow the following rule: projection of magnetizing directions of all permanent magnet modules on the magnetic disk on the flat plate suspension rail surface is distributed in a Halbach array rule; meanwhile, projections of magnetizing directions of all permanent magnet modules on the permanent magnet disk on the circumferential surface of the disk are also distributed in a Halbach array rule;
the magnetizing directions of part of the permanent magnet modules on the permanent magnet disk are tangential along the middle point of the outer diameter of the wheel shape, and the magnetizing directions of the rest permanent magnet modules are provided with components in the axial direction and the radial direction.
2. The permanent magnet electric levitation guide driving integrated device as set forth in claim 1, wherein:
the I-shaped track is formed by a composite structural member with aluminum alloy, copper or other conductive and non-magnetic materials coated on the surface, or is entirely made of aluminum alloy, copper or other conductive and non-magnetic materials, the flat plate suspension rail surface is used for suspending the suspension frame, the T-shaped guide rail surface is used for guiding and driving the suspension frame, and meanwhile, the T-shaped guide rail surface also realizes the functions of limiting and preventing the train from turning on one's side.
3. The permanent magnet electric levitation guide driving integrated device as set forth in claim 1, wherein:
the four rotary driving motors are asynchronous motors or synchronous motors, the vehicle-mounted variable frequency power supply drives the four rotary driving motors to operate, and the vehicle-mounted variable frequency power supply is powered by a vehicle-mounted battery or a vehicle-mounted super capacitor bank.
4. A permanent magnet electric levitation guide drive integrated device as defined in claim 3, wherein:
the speed and the direction of the four rotary driving motors can be adjusted simultaneously and cooperatively by means of the vehicle-mounted variable-frequency power supply, and the rotating speed and the rotating direction of the permanent magnetic disk are changed, so that the running speed and the running direction of the whole levitation guiding driving integrated magnetic levitation device are changed.
5. The permanent magnet electric levitation guide driving integrated device as set forth in claim 2, wherein:
the magnetic disk is characterized in that a suspension air gap is arranged between the bottom surface of the permanent magnetic disk and the flat suspension rail surface, a guide air gap is arranged between the radial direction of the permanent magnetic disk and the T-shaped guide rail surface, and when the suspension device is in the normal operation process, the suspension device is not in mechanical contact with the I-shaped rail.
6. The permanent magnet electric levitation guide driving integrated device as set forth in claim 5, wherein:
and the gap between the permanent magnetic disk connected with the rotating driving motor and the flat plate suspension rail surface is adjusted by adjusting the rotating speed of the rotating driving motor.
7. The permanent magnet electric levitation guide driving integrated device as set forth in claim 1, wherein:
a magnetizing angle exists between the magnetizing direction of the residual permanent magnet module and the axial direction of the permanent magnet diskθBy adjusting the magnetizing angleθSo as to adjust the proportion of the magnetic density of the bottom surface and the magnetic density of the side surface of the permanent magnetic disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111468216.7A CN113997797B (en) | 2021-12-03 | 2021-12-03 | Permanent magnet electric suspension guiding driving integrated device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111468216.7A CN113997797B (en) | 2021-12-03 | 2021-12-03 | Permanent magnet electric suspension guiding driving integrated device |
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| CN113997797A CN113997797A (en) | 2022-02-01 |
| CN113997797B true CN113997797B (en) | 2024-01-26 |
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| CN202111468216.7A Active CN113997797B (en) | 2021-12-03 | 2021-12-03 | Permanent magnet electric suspension guiding driving integrated device |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115837842B (en) * | 2023-02-20 | 2023-05-02 | 成都西交华创科技有限公司 | Wheeled magnetic suspension traffic system, control method and application of magnetic disk system |
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