CN114290912A - High-speed maglev train guiding control method and system based on multipoint information fusion - Google Patents
High-speed maglev train guiding control method and system based on multipoint information fusion Download PDFInfo
- Publication number
- CN114290912A CN114290912A CN202111660053.2A CN202111660053A CN114290912A CN 114290912 A CN114290912 A CN 114290912A CN 202111660053 A CN202111660053 A CN 202111660053A CN 114290912 A CN114290912 A CN 114290912A
- Authority
- CN
- China
- Prior art keywords
- point
- gap
- current
- control
- feedback coefficient
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a high-speed maglev train guiding control method and system based on multipoint information fusion, which comprises the following steps: acquiring real-time measurement information of the local point, the relative point and the adjacent point; establishing a guide control law model with information fusion of three guide control points including a local point, a relative point and an adjacent point; and obtaining the real-time guiding control quantity of each guiding control point based on the real-time measurement information and the guiding control law model. The invention is applied to the technical field of guiding control, adopts the idea of nonlinear control, and when the suspension clearance is increased, the increase speed of the control quantity is faster on the basis of the conventional state feedback control method; when the suspension clearance is reduced, the reduction speed of the control quantity is faster; in the process of guiding control of each guiding control point, the consistency of the guiding clearance between the point and the opposite point can be effectively ensured, the current balance between the point and the adjacent point is ensured, and the overall stability of the guiding control system is improved.
Description
Technical Field
The invention relates to the technical field of guidance control, in particular to a guidance control method and a guidance control system of a high-speed magnetic-levitation train based on multipoint information fusion.
Background
The magnetic suspension train is a modern high-tech rail vehicle, realizes non-contact suspension and guidance between the train and a rail through electromagnetic force, and then utilizes the electromagnetic force generated by a linear motor to draw the train to run. The high-speed magnetic suspension train has the advantages of low noise, small vibration and small environmental pollution, can meet the point-to-point transportation requirement of a large city, is gradually valued by people, and has strategic significance in technical drive and international competition.
In the guiding control of the high-speed maglev train, the high-speed maglev train with the lap joint structure is a unique system, the conventional state feedback control method only meets the performance under a certain balance point, and the performance of the system is deteriorated when the system is far away from the balance point due to the lap joint structure. In addition, in the conventional state feedback control method, the current balance of adjacent guide control points is not considered in the control process, so that the problem that the current at one point is too large and the current at the other point is too small is caused, and the operation of a controller and an electromagnet is not facilitated.
Disclosure of Invention
In view of the above-mentioned deficiencies in the prior art, the present invention provides a guidance control method and system for a high-speed maglev train based on multipoint information fusion, which can effectively ensure the consistency of the guidance gap between the local point and the opposite point, and simultaneously ensure the current balance between the local point and the adjacent point, and improve the overall stability of the guidance control system in the guidance control process of each guidance control point.
In order to achieve the aim, the invention provides a high-speed maglev train guiding control method based on multipoint information fusion, which comprises the following steps of:
step 1, acquiring real-time measurement information of a local point, a relative point and an adjacent point;
step 2, establishing a guide control law model with information fusion of three guide control points including the local point, the relative point and the adjacent point;
and 3, obtaining the real-time guiding control quantity of each guiding control point based on the real-time measurement information and the guiding control law model.
In another embodiment, in step 1, the real-time measurement information of the local point, the relative point, and the neighboring point includes: the guide gap and gap current of the point, the guide gap and gap current of the opposite point, and the guide gap and gap current of the adjacent point.
In another embodiment, in step 1, the guidance control law model is:
wherein u is the real-time pilot control quantity of the local point, x1Guide clearance, x, of origin2Guide clearance at opposite points, x3Guide gaps for adjacent points, i1Gap current of this point, i3Is the gap current of the adjacent point(s),
the derivative representing the difference between the instant and relative point gaps, [ integral ] x1-x2) Integral representing the difference between the present point gap and the relative point gap (i ^ integral3-i1) Denotes the integral, k, of the difference between the relative point and the present point gap currentp、kd、kcRespectively representing the gap feedback coefficient, the gap differential feedback coefficient and the current feedback coefficient.
In another embodiment, the gap feedback coefficient k is in the steering control law modelpGap differential feedback coefficient kdAnd current feedback coefficient kcThe debugging process comprises the following steps:
step 2.1, reducing the current response time in the electromagnet, introducing square wave current with the period of 1 second into the electromagnet, and then adding current feedback into a guide control law model;
step 2.2, enabling the gap feedback coefficient and the gap differential feedback coefficient to be 0, adjusting the current feedback coefficient to enable the current rise time of the electromagnet to be 9-11 milliseconds, and determining the current feedback coefficient k at the momentc；
Step 2.3, let the gap differential feedback coefficient be 0 and the current feedback coefficient be k determined in step 2.2cAdjusting the gap feedback coefficient to enable the electromagnet to generate an up-and-down vibration state, and determining the gap feedback coefficient k at the momentp；
Step 2.4, let the current feedback coefficient be k determined in step 2.2cCurrent feedback factor k determined in step 2.3pThe gap differential feedback coefficient is adjusted to ensure that the electromagnet is stably suspended in the airDetermining the gap differential feedback coefficient k at that timed。
In another embodiment, in step 2.2, the current feedback coefficient is adjusted so that the current rise time of the electromagnet is 9-11 ms, specifically:
the current feedback coefficient was adjusted so that the current rise time of the electromagnet was 10 milliseconds.
In order to achieve the above object, the present invention further provides a guidance control system for a high-speed maglev train based on multipoint information fusion, the system performs guidance control on the high-speed maglev train by using the guidance control method, and the guidance control system includes:
the information acquisition unit is used for acquiring real-time measurement information of the local point, the relative point and the adjacent point;
the control processing unit is connected with the information acquisition unit and used for obtaining the real-time guiding control quantity of each guiding control point according to the real-time measurement information of the current point, the relative point and the adjacent point;
and the control output unit is connected with the control processing unit and used for controlling the guide controllers of the guide control points according to the real-time guide control quantity of the guide control points.
To achieve the above object, the present invention also provides a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute some or all of the steps described in the above guidance control method.
The invention provides a high-speed maglev train guidance control method and system based on multipoint information fusion, which adopt the idea of nonlinear control and take a balance point as a basis, and when a suspension gap is increased, the increase speed of a control quantity is faster on the basis of a conventional state feedback control method; when the suspension clearance is reduced, the reduction speed of the control quantity is faster; in the process of guiding control of each guiding control point, the consistency of the guiding clearance between the point and the opposite point can be effectively ensured, the current balance between the point and the adjacent point is ensured, and the overall stability of the guiding control system is improved.
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 structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of the position relationship of the guidance controllers at the present point, the adjacent points, and the opposite points according to the embodiment of the present invention;
FIG. 2 is a flow chart illustrating a guidance control method according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating the debugging of parameters in the guided control law model according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a framework of a guidance control system according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious 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.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Example 1
The lap joint structure of the high-speed maglev train is a special system, and due to the lap joint structure, in a guide system of the high-speed maglev train, if a conventional state feedback control method is adopted to only meet the performance at a certain balance point, and the current balance of adjacent guide control points is not considered, the problem that the current at a certain point is too large and the current at the other point is too small is possibly caused, so that the work of a controller and an electromagnet is not facilitated. Therefore, in order to ensure the consistency of the guidance gap, the current balance among the adjacent guidance points and the global stability of the guidance control system, this embodiment provides a guidance control method for a high-speed maglev train based on information fusion of three levitation guidance control points of the local point, the point and the adjacent point, and the relative relationship among the three guidance controllers is shown in fig. 1. Here, the guidance controller 1 indicates the present point, the guidance controller 2 indicates the opposite point, and the guidance controller 3 indicates the adjacent point.
In the high-speed maglev train guidance control method based on multipoint information fusion in the embodiment, the idea of nonlinear control is adopted, the balance point is taken as the basis, and when the suspension gap is increased, the increase speed of the control quantity is higher on the basis of the conventional state feedback control method; and when the levitation gap is decreased, the decrease speed of the control amount is made faster. Referring to fig. 2, the guiding control method specifically includes the following steps:
step 1, obtaining real-time measurement information of three guide control points including a current point, a relative point and an adjacent point, specifically comprising: the guide gap and gap current of the point, the guide gap and gap current of the opposite point, and the guide gap and gap current of the adjacent point;
step 2, establishing a guidance control law model with information fusion of three guidance control points including the local point, the relative point and the adjacent point, wherein the guidance control law model is as follows:
wherein u is the real-time pilot control quantity of the local point, x1Guide clearance, x, of origin2Guide clearance at opposite points, x3Guide gaps for adjacent points, i1Gap current of this point, i3Is the gap current of the adjacent point(s),
the derivative representing the difference between the instant and relative point gaps, [ integral ] x1-x2) Integral representing the difference between the present point gap and the relative point gap (i ^ integral3-i1) Denotes the integral, k, of the difference between the relative point and the present point gap currentp、kd、kcRespectively representing a gap feedback coefficient, a gap differential feedback coefficient and a current feedback coefficient;
and 3, obtaining the real-time guiding control quantity of each guiding control point based on the real-time measurement information and the guiding control law model.
Referring to fig. 3, in the present embodiment, in the guidance control law model, the gap feedback coefficient kpGap differential feedback coefficient kdAnd current feedback coefficient kcThe debugging process comprises the following steps:
step 2.1, reducing the current response time in the electromagnet, introducing square wave current with the period of 1 second into the electromagnet, and then adding current feedback into a guide control law model;
step 2.2, making the gap feedback coefficient and the gap differential feedback coefficient both 0, wherein the guiding control law model at the moment is as follows:
adjusting the current feedback coefficient in the guiding control law model to enable the current rise time of the electromagnet to be 9-11 milliseconds, and determining the current feedback coefficient k at the momentcTo thereby determine-kci1；
Step 2.3, let the gap differential feedback coefficient be 0 and the current feedback coefficient be k determined in step 2.2cThe guidance control law model at this time is:
adjusting the gap feedback coefficient in the guide control law model to enable the electromagnet to generate an up-and-down vibration state, and determining the gap feedback coefficient k at the momentpTo thereby determine kp(x1-x2)-kci1；
Step 2.4, let the current feedback coefficient be k determined in step 2.2cCurrent feedback factor k determined in step 2.3pThe guidance control law model at this time is:
adjusting the gap differential feedback coefficient to enable the electromagnet to be stably suspended in the air, and determining the gap differential feedback coefficient k at the momentdTo thereby determine
In step 2.2, the current feedback coefficient is adjusted so that the current rise time of the electromagnet is 9-11 milliseconds, specifically: the current feedback coefficient was adjusted so that the current rise time of the electromagnet was 10 milliseconds.
According to the high-speed maglev train guiding control method based on multipoint information fusion, the idea of nonlinear control is adopted, a balance point is taken as a basis, and when a suspension gap is increased, the increase speed of a control quantity is higher on the basis of a conventional state feedback control method; when the suspension clearance is reduced, the reduction speed of the control quantity is faster; in the process of guiding control of each guiding control point, the consistency of the guiding clearance between the point and the opposite point can be effectively ensured, the current balance between the point and the adjacent point is ensured, and the overall stability of the guiding control system is improved.
Example 2
Referring to fig. 4, the present embodiment discloses a guidance control system of a high-speed magnetic-levitation train based on multipoint information fusion, which performs guidance control on the high-speed magnetic-levitation train by using the guidance control method in embodiment 1. Specifically, the guidance control system comprises an information acquisition unit, a control processing unit and a control output unit. The information acquisition unit is a sensor arranged on the electromagnet and is used for acquiring real-time measurement information of the point, the opposite point and the adjacent point, specifically, the guide gap and the gap current of the point, the guide gap and the gap current of the opposite point and the guide gap and the gap current of the adjacent point. The control processing unit is connected with the information acquisition unit and used for obtaining the real-time guiding control quantity of each guiding control point according to the real-time measurement information of the current point, the relative point and the adjacent point; and the control output unit is connected with the control processing unit and used for controlling the guide controllers of the guide control points according to the real-time guide control quantity of the guide control points.
In this embodiment, the real-time guidance control quantity of each guidance control point obtained by the control processing unit according to the real-time measurement information of the current point, the relative point, and the adjacent point is:
wherein u is the real-time pilot control quantity of the local point, x1Guide clearance, x, of origin2Guide clearance at opposite points, x3Guide gaps for adjacent points, i1Gap current of this point, i3Is the gap current of the adjacent point(s),
the derivative representing the difference between the instant and relative point gaps, [ integral ] x1-x2) Integral representing the difference between the present point gap and the relative point gap (i ^ integral3-i1) Denotes the integral, k, of the difference between the relative point and the present point gap currentp、kd、kcRespectively representing the gap feedback coefficient, the gap differential feedback coefficient and the current feedback coefficient.
In the specific implementation process, the debugging process of the gap feedback coefficient, the gap differential feedback coefficient and the current feedback coefficient is as follows:
firstly, the current feedback coefficient k is debuggedcReducing the current response time in the electromagnet, introducing square wave current with the period of 1 second into the electromagnet, then adding current feedback into a guide control law model, enabling a gap feedback coefficient and a gap differential feedback coefficient to be 0, adjusting the current feedback coefficient to enable the current rise time of the electromagnet to be about 10 milliseconds, and determining the current feedback coefficient k at the momentcTo thereby determine-kci1(ii) a Secondly, adjusting the current feedback coefficient kcOn the basis of the previous step, the gap differential feedback coefficient is continuously set to be 0, and the gap feedback coefficient is adjusted to enable the electromagnet to vibrate up and downState, determining the gap feedback coefficient k at that timepTo thereby determine kp(x1-x2)-kci1(ii) a Finally adjusting the gap differential feedback coefficient kdOn the basis of the previous step, the gap differential feedback coefficient is adjusted to enable the electromagnet to be stably suspended in the air, and the gap differential feedback coefficient k at the moment is determineddTo thereby determine
Under the control of the guide control system, the current balance of the electromagnets of the adjacent points and the consistency of the guide gaps of the adjacent points can be effectively ensured while the overall stability is ensured.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A high-speed maglev train guiding control method based on multipoint information fusion is characterized by comprising the following steps:
step 1, acquiring real-time measurement information of a local point, a relative point and an adjacent point;
step 2, establishing a guide control law model with information fusion of three guide control points including the local point, the relative point and the adjacent point;
and 3, obtaining the real-time guiding control quantity of each guiding control point based on the real-time measurement information and the guiding control law model.
2. The guidance control method of a high-speed magnetic-levitation train as recited in claim 1, wherein in step 1, the real-time measurement information of the local point, the relative point and the adjacent point comprises: the guide gap and gap current of the point, the guide gap and gap current of the opposite point, and the guide gap and gap current of the adjacent point.
3. The method for controlling the guidance of the high-speed magnetic-levitation train based on the multipoint information fusion according to the claim 1 or 2, wherein in the step 1, the guidance control law model is as follows:
wherein u is the real-time pilot control quantity of the local point, x1Guide clearance, x, of origin2Guide clearance at opposite points, x3Guide gaps for adjacent points, i1Gap current of this point, i3Is the gap current of the adjacent point(s),
the derivative representing the difference between the instant and relative point gaps, [ integral ] x1-x2) Integral representing the difference between the present point gap and the relative point gap (i ^ integral3-i1) Denotes the integral, k, of the difference between the relative point and the present point gap currentp、kd、kcRespectively representing the gap feedback coefficient, the gap differential feedback coefficient and the current feedback coefficient.
4. The guidance control method for high-speed maglev trains based on multipoint information fusion as claimed in claim 3, wherein in the guidance control law model, the gap feedback coefficient k ispGap differential feedback coefficient kdAnd current feedback coefficient kcThe debugging process comprises the following steps:
step 2.1, reducing the current response time in the electromagnet, introducing square wave current with the period of 1 second into the electromagnet, and then adding current feedback into a guide control law model;
step 2.2, enabling the gap feedback coefficient and the gap differential feedback coefficient to be 0, adjusting the current feedback coefficient to enable the current rise time of the electromagnet to be 9-11 milliseconds, and determining the current feedback coefficient k at the momentc；
Step 2.3, orderGap differential feedback coefficient of 0, current feedback coefficient of k determined in step 2.2cAdjusting the gap feedback coefficient to enable the electromagnet to generate an up-and-down vibration state, and determining the gap feedback coefficient k at the momentp；
Step 2.4, let the current feedback coefficient be k determined in step 2.2cCurrent feedback factor k determined in step 2.3pAdjusting the gap differential feedback coefficient to enable the electromagnet to be stably suspended in the air, and determining the gap differential feedback coefficient k at the momentd。
5. The guidance control method for the high-speed maglev train based on the multipoint information fusion as claimed in claim 4, wherein in step 2.2, the current feedback coefficient is adjusted so that the current rise time of the electromagnet is 9-11 milliseconds, specifically:
the current feedback coefficient was adjusted so that the current rise time of the electromagnet was 10 milliseconds.
6. A guidance control system of a high-speed maglev train based on multipoint information fusion, which is characterized in that the guidance control method of any one of claims 1 to 5 is adopted to perform guidance control on the high-speed maglev train, and the guidance control system comprises:
the information acquisition unit is used for acquiring real-time measurement information of the local point, the relative point and the adjacent point;
the control processing unit is connected with the information acquisition unit and used for obtaining the real-time guiding control quantity of each guiding control point according to the real-time measurement information of the current point, the relative point and the adjacent point;
and the control output unit is connected with the control processing unit and used for controlling the guide controllers of the guide control points according to the real-time guide control quantity of the guide control points.
7. A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform some or all of the steps described in the guidance control method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111660053.2A CN114290912B (en) | 2021-12-30 | 2021-12-30 | High-speed maglev train guiding control method and system based on multipoint information fusion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111660053.2A CN114290912B (en) | 2021-12-30 | 2021-12-30 | High-speed maglev train guiding control method and system based on multipoint information fusion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114290912A true CN114290912A (en) | 2022-04-08 |
| CN114290912B CN114290912B (en) | 2023-07-04 |
Family
ID=80973620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111660053.2A Active CN114290912B (en) | 2021-12-30 | 2021-12-30 | High-speed maglev train guiding control method and system based on multipoint information fusion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114290912B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030107289A1 (en) * | 2001-10-01 | 2003-06-12 | Thornton Richard D. | Synchronous machine design and manufacturing |
| CN101348082A (en) * | 2008-09-11 | 2009-01-21 | 中国人民解放军国防科学技术大学 | Method for inhibiting maglev train suspending system track coupled vibrations and control unit |
| RU85998U1 (en) * | 2009-03-23 | 2009-08-20 | Государственное образовательное учреждение высшего профессионального образования "Орловский государственный технический университет" (ОрелГТУ) | SMALL MOVEMENT SENSOR FOR SCANNING OBJECT |
| CN109532509A (en) * | 2018-12-28 | 2019-03-29 | 西南交通大学 | A kind of magnetic floating train suspending control method based on Sliding mode variable structure control |
| WO2020029715A1 (en) * | 2018-08-06 | 2020-02-13 | 江西理工大学 | Suspended rail transport device and magnetic-electric hybrid suspension rail system thereof |
| CN111016678A (en) * | 2019-12-19 | 2020-04-17 | 江西理工大学 | Electromagnetic active guiding system and guiding control method of permanent magnetic levitation air rail train |
| CN111257020A (en) * | 2020-01-20 | 2020-06-09 | 中车青岛四方机车车辆股份有限公司 | Test device and test method for simulating rail irregularity of rail train |
| CN112848912A (en) * | 2021-02-25 | 2021-05-28 | 湖南凌翔磁浮科技有限责任公司 | High-speed magnetic levitation control method, controller, unit and system |
-
2021
- 2021-12-30 CN CN202111660053.2A patent/CN114290912B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030107289A1 (en) * | 2001-10-01 | 2003-06-12 | Thornton Richard D. | Synchronous machine design and manufacturing |
| CN101348082A (en) * | 2008-09-11 | 2009-01-21 | 中国人民解放军国防科学技术大学 | Method for inhibiting maglev train suspending system track coupled vibrations and control unit |
| RU85998U1 (en) * | 2009-03-23 | 2009-08-20 | Государственное образовательное учреждение высшего профессионального образования "Орловский государственный технический университет" (ОрелГТУ) | SMALL MOVEMENT SENSOR FOR SCANNING OBJECT |
| WO2020029715A1 (en) * | 2018-08-06 | 2020-02-13 | 江西理工大学 | Suspended rail transport device and magnetic-electric hybrid suspension rail system thereof |
| CN109532509A (en) * | 2018-12-28 | 2019-03-29 | 西南交通大学 | A kind of magnetic floating train suspending control method based on Sliding mode variable structure control |
| CN111016678A (en) * | 2019-12-19 | 2020-04-17 | 江西理工大学 | Electromagnetic active guiding system and guiding control method of permanent magnetic levitation air rail train |
| CN111257020A (en) * | 2020-01-20 | 2020-06-09 | 中车青岛四方机车车辆股份有限公司 | Test device and test method for simulating rail irregularity of rail train |
| CN112848912A (en) * | 2021-02-25 | 2021-05-28 | 湖南凌翔磁浮科技有限责任公司 | High-speed magnetic levitation control method, controller, unit and system |
Non-Patent Citations (1)
| Title |
|---|
| 黄今辉;李晓龙;佘龙华;: "高速磁浮列车搭接结构的相邻磁铁电流平衡算法", 铁道学报, no. 11 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114290912B (en) | 2023-07-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhang et al. | Research on the mechanism of a newly developed levitation frame with mid-set air spring | |
| CN110254244A (en) | A kind of magnetic floating train suspending control method, system, device and readable storage medium storing program for executing | |
| CN103895704B (en) | Based on the variable ratio control method of trailing wheel active steering | |
| CN106379378B (en) | A kind of offline and online method and system for combining adjustment and driving curve | |
| CN108248325A (en) | Vehicle active suspension state feedback control method based on event triggering | |
| CN106004830B (en) | The adaptive gradient brake control method of rail vehicle and system | |
| CN103204079B (en) | Method and system for controlling levitation force decoupling for normally-conducting magnetically levitated trains | |
| CN109835372A (en) | A kind of Active Fault-tolerant Control Method of railway transportation train stability | |
| CN114290912A (en) | High-speed maglev train guiding control method and system based on multipoint information fusion | |
| CN112208581A (en) | ATO vehicle control method, ATO vehicle control device, electronic equipment and storage medium | |
| CN109341989B (en) | Bridge influence line identification method capable of eliminating vehicle power effect | |
| Li et al. | Active control strategy for the running attitude of high-speed train under strong crosswind condition | |
| CN110091889B (en) | Magnetic track brake control system and method and magnetic suspension train | |
| CN109693554A (en) | Method for inhibiting track dislocation of maglev train | |
| CN116147943B (en) | Method for evaluating running stability of high-speed magnetic levitation train system | |
| CN105035099B (en) | Introduce the magnetic-levitation train-bridge self-excited vibration suppressing method of bridge vibration speed | |
| Wang et al. | Coupling vibration analysis of full-vehicle vehicle-guideway for maglev train | |
| CN107584984A (en) | Electromagnetism mixing suspension modes switching method based on front end road roughness | |
| CN204569068U (en) | Straight line elevator magnetic suspension guide is to system platform | |
| CN103895520B (en) | Line inductance electromotor brake control method is used in a kind of traction | |
| Song et al. | Robust ℋ∞ Control for Disturbance Rejection in a Magnetic Levitation Device | |
| CN105912850B (en) | A method of the optimization track data data volume based on g-sensor | |
| CN114161940B (en) | Gap differential signal extraction method and system of high-speed maglev train | |
| CN113183767B (en) | Mixed suspension magnet suitable for medium-speed maglev train | |
| CN112811318A (en) | Anti-swing boundary control method for bridge crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |