CN114489022A - Real-time fault simulation system of high-speed magnetic levitation vehicle-mounted motion control system - Google Patents
Real-time fault simulation system of high-speed magnetic levitation vehicle-mounted motion control system Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
Abstract
The invention provides a real-time fault simulation system of a high-speed magnetic levitation vehicle-mounted motion control system. The method comprises the following steps: the system comprises a real-time simulator, a fault injection unit, a high-speed maglev train-mounted motion control simulation system and a real-time data acquisition and analysis unit, wherein the real-time simulator is used for simulating and monitoring a normal model and a fault model of each part in the high-speed maglev train motion control system in real time; the fault injection unit is used for realizing fault injection and signal conversion of various faults of each component in the high-speed maglev train motion control system; the high-speed magnetic levitation vehicle-mounted motion control simulation system is used for resolving position/speed feedback signals, generating traction/brake control signals and protecting the high-speed magnetic levitation vehicle-mounted motion control system; and the real-time data acquisition and monitoring unit is used for realizing data monitoring, storage control, data viewing and data analysis of the fault simulation system.
Description
Technical Field
The invention relates to the technical field of high-speed magnetic levitation traffic operation control, in particular to a real-time fault simulation system of a high-speed magnetic levitation vehicle-mounted motion control system.
Background
The rapid development of the high-speed magnetic suspension transportation system not only can provide convenience for the travel of the Chinese people, but also can realize the contribution of the strong-country dream of transportation in China. Since thirteen plans, a high-speed magnetic levitation operation control technical system under the condition of 600 kilometers per hour is formed in China, and the technical level and the application level are ahead of the world. However, the high speed maglev transportation train has high speed per hour, complex environment and possible subsystem faults caused by long-term running, which bring serious potential safety hazards to the safe running of the maglev train.
The vehicle-mounted running control system of the high-speed maglev train mainly comprises two sets of train safety control and overspeed protection systems of a first train and a tail train, and the specific equipment comprises subsystems such as a vehicle-mounted safety computer, a vehicle-mounted wireless communication module, a speed measuring and positioning module, a vehicle-mounted control unit, vehicle-mounted bottom equipment and the like. The function of the vehicle-mounted operation control system of the high-speed maglev train is train safety control and overspeed protection, and the vehicle-mounted operation control system specifically comprises the following components: vehicle start/shut down, forced stop management, operating mode transition, train levitation, stop (standstill) monitoring, eddy current braking, on-board control device monitoring, auxiliary release, power rail release, and door monitoring. The vehicle-mounted running control system of the high-speed maglev train is one of key systems for ensuring the running safety of the high-speed maglev train, and any fault or potential safety hazard of the high-speed maglev train can cause a chain accident even cause catastrophic consequences to cause serious social influence if the fault or the potential safety hazard can not be diagnosed in real time and processed correctly in time.
Therefore, whether the vehicle-mounted running control system of the high-speed maglev train can realize real-time fault diagnosis is the key for ensuring the safe running of the high-speed maglev train.
At present, the fault diagnosis method of the high-speed maglev train in the prior art is limited to the fault diagnosis research of a levitation system, and the research of multiple faults and concurrent faults of other subsystems is lacked. Therefore, the existing fault diagnosis theoretical result is difficult to be directly applied to the vehicle-mounted operation and control system of the high-speed maglev train, and the problem of real-time detection and diagnosis of complex faults possibly occurring in the high-speed maglev train cannot be solved. The lack of a real-time fault simulation system for simulating complex fault simulation of the maglev train facing the high-speed maglev train vehicle-mounted operation control system causes the problems of long debugging period, poor reliability, low technical portability and the like when most research achievements are subjected to vehicle-mounted application verification, and is difficult to be successfully applied to actual high-speed maglev train operation control.
Fault injection has been used for monitoring the operation of high-speed train traction drive systems as an important technical means for safety testing and fault diagnosis verification. Compared with a high-speed train, the high-speed maglev train vehicle-mounted operation control system comprises more subsystems and is more complex in the operation environment, most of the conventional high-speed maglev operation control system application verification platforms mainly aim at simulating and verifying subsystem-level normal behaviors, only simple faults of some subsystems and corresponding actions under a fault guide safety mechanism can be injected, the research of complex system-level fault injection and maglev operation control system simulation mechanisms is lacked, and the full-process system-level complex faults of the high-speed maglev train vehicle-mounted operation control system cannot be simulated. Therefore, a real-time fault injection method and a simulation platform of the high-speed maglev vehicle-mounted operation and control system are urgently needed to be established.
Disclosure of Invention
The embodiment of the invention provides a real-time fault simulation system of a high-speed magnetic levitation vehicle-mounted motion control system, which overcomes the defects in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme.
A real-time fault simulation system of a high-speed magnetic levitation vehicle-mounted motion control system comprises: the system comprises a real-time simulator, a fault injection unit, a high-speed magnetic levitation vehicle-mounted motion control simulation system and a real-time data acquisition and analysis unit, wherein the high-speed magnetic levitation vehicle-mounted motion control simulation system is respectively connected with the real-time simulator, the fault injection unit and the real-time data acquisition and analysis unit;
the real-time simulator is used for simulating and monitoring a normal model and a fault model of each component in the high-speed maglev train motion control system in real time;
the fault injection unit is used for realizing fault injection and signal conversion of various faults of each component in the high-speed maglev train motion control system;
the high-speed magnetic levitation vehicle-mounted motion control simulation system is used for realizing the resolving of position/speed feedback signals and the generation of traction/brake control signals and the protection function of the high-speed magnetic levitation motion control system based on the simulation result of the real-time simulator and the fault injection of the fault injection unit;
and the real-time data acquisition and monitoring unit is used for realizing data monitoring, storage control, data viewing and data analysis of the fault simulation system.
Preferably, the fault injection unit performs single-point traversal fault injection simulation and random multi-point complex combination fault injection simulation on the sensor, the actuator, the train-ground wireless communication unit, the vehicle control unit and the high-speed maglev train dynamics simulation model parameters of the high-speed maglev train vehicle-mounted operation control system.
Preferably, the high-speed maglev vehicle-mounted motion control simulation system provides a virtual-real combined simulation platform signal interface, is in butt joint with the virtual/real high-speed maglev running control system, realizes signal conversion between the simulation platform and the virtual/real high-speed maglev running control system, and realizes high-speed maglev running control system testing under a fault injection condition.
Preferably, the real-time simulator prestores a plurality of train curve planning and operation control methods, and different planning methods and control methods can be set for simulation verification during fault injection simulation.
Preferably, the fault injection unit injects a fault into the high-speed magnetic levitation vehicle-mounted operation control system;
the dynamic model of the high-speed maglev train is as follows:
wherein p (T) and v (T) respectively represent the position and speed of the maglev train, T is time, and T is the time which satisfies T epsilon [0, T]F (t) is the total resistance, including the air resistance fa(v) Eddy current resistance fb(v) And a rampResistance fi(p)；
Failure of the magnetic suspension train actuator:
setting multiplicative fault alpha1(t)：uf(t)＝α1(t)u(t)
Setting additive fault alpha2(t)：uf(t)＝u(t)+α2(t)
Setting random interference alpha3(t)：uf(t)＝u(t)+α3(t)
Setting a combinational Fault alpha1(t),α2(t),α3(t):uf(t)＝α1(t)u(t)+α2(t)+α3(t)
Magnetic-levitation train sensor failure:
setting multiplicative fault beta1(t)：vf(t)＝β1(t)v(t)
Setting additive fault beta2(t)：vf(t)＝v(t)+β2(t)
Setting random interference beta3(t)：vf(t)＝v(t)+β3(t)
Setting a combinational fault beta1(t),β2(t),β3(t)：vf(t)＝β1(t)v(t)+β2(t)+β3(t)
Magnetic-levitation train parameter variation:
setting the air resistance coefficient gamma1(t),γ2(t),γ3(t)：fa(v)＝γ1(t)v(t)2+γ2(t)v(t)+γ3(t)
Setting the eddy current resistance k1(t),k2(t),k3(t)：
Preferably, the fault injection method of the fault injection unit includes a fault injection method for traversing all faults in the fault library and a fault injection method for randomly generating a combined fault.
Preferably, the fault injection unit, which is specifically used for setting a maglev train motion simulation fault library, includes: a partial fault operating state, a fail safe state and a fault dangerous state;
the magnetic-levitation train actuator faults comprise: multiplicative faults, additive faults, random disturbances, and combinational faults;
maglev train sensor faults include: multiplicative faults, additive faults, random disturbances, and combinational faults;
the magnetic suspension train parameter change comprises vehicle parameter changes such as resistance coefficient and the like;
the method for setting fault injection comprises the following steps: the method carries out single-point traversal on the sensor and the actuator of the high-speed maglev vehicle-mounted running control system and the dynamic simulation model parameters of the high-speed maglev train, traverses all faults of a fault library, and checks the safety protection effect and the fault-tolerant running control effect of the high-speed maglev train.
Preferably, the high-speed maglev vehicle-mounted motion control simulation system is used for realizing state control of a vehicle-mounted operation control system, and dividing states of the high-speed maglev vehicle-mounted operation control system into the following 4 types:
the system has no fault state: the vehicle-mounted safety computer, the vehicle-mounted control unit and the vehicle bottom layer equipment of the vehicle-mounted operation control system are in a normal working state without faults;
the partial fault working state is a state that faults occur in the vehicle-mounted safety computer, the vehicle-mounted control unit and the vehicle bottom layer equipment, but the system can also work normally;
the failure safety state is the state that failures occur in the vehicle-mounted safety computer, the vehicle-mounted control unit and the vehicle bottom layer equipment, and the system cannot work normally and is guided to the safety side for output;
a fault-risk state is a collection of all states except the three states described above.
According to the technical scheme provided by the embodiment of the invention, the real-time fault simulation system of the high-speed magnetic levitation vehicle-mounted motion control system can be connected with relevant equipment in an actual high-speed magnetic levitation running control system, realizes the conversion from signals of the actual running control system to simulation platform data, and can realize semi-physical simulation under the fault injection condition by combining with the high-speed magnetic levitation running control system.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a structural diagram of a real-time fault simulation system of a high-speed magnetic levitation vehicle-mounted motion control system according to an embodiment of the present invention.
FIG. 2 is a high-speed magnetic levitation vehicle-mounted motion control system real-time fault simulation platform architecture provided by the implementation of the present invention
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
For the convenience of understanding the embodiments of the present invention, the following description will be further explained by taking several specific embodiments as examples in conjunction with the drawings, and the embodiments are not to be construed as limiting the embodiments of the present invention.
The embodiment of the invention provides a real-time fault simulation system of a high-speed magnetic levitation vehicle-mounted motion control system, which comprises 4 units, namely a real-time simulator, a fault injection unit, the high-speed magnetic levitation vehicle-mounted motion control simulation system and a real-time data acquisition and analysis unit. The high-speed magnetic levitation vehicle-mounted motion control simulation system is respectively connected with the real-time simulator, the fault injection unit and the real-time data acquisition and analysis unit.
The real-time simulator comprises real-time simulation software and is used for simulating and monitoring a normal model and a fault model of each component in the high-speed maglev train motion control system in real time;
and the fault injection unit is used for realizing fault injection and signal conversion of various faults of each component in the high-speed maglev train motion control system. The injectable faults are specifically: failure of the magnetic suspension train actuator: multiplicative faults, additive faults, random disturbances, and combinational faults; magnetic-levitation train sensor failure: multiplicative faults, additive faults, random disturbances, and combinational faults; magnetic-levitation train parameter variation: the vehicle parameters such as the resistance coefficient and the like are changed; abnormal operating state of the vehicle control unit; a vehicle-to-ground wireless communication network failure, etc. The states of the magnetic suspension train after fault injection comprise a partial fault working state, a fault safety state and a fault dangerous state.
The high-speed magnetic levitation vehicle-mounted motion control simulation system is used for realizing resolving of feedback signals such as position/speed and the like and generation of signals such as traction/brake control and the like based on a simulation result of the real-time simulator and fault injection of the fault injection unit and has a protection function on the high-speed magnetic levitation motion control system;
and the real-time data acquisition and monitoring unit is used for monitoring, storing and controlling, checking and analyzing the data of the whole fault simulation system.
The embodiment is as follows:
1. the real-time simulator prestores a plurality of train curve planning and operation control methods, and different planning methods and control methods can be set for simulation verification during fault injection simulation. Planning the position and speed curve of the maglev train according to the following formula
Given the starting point, the end point and the running time of the maglev train, the expected position and the speed curve of the maglev train are planned as follows
pd(0)＝0,vd(0)＝0,
pd(T)＝Pd,vd(T)＝0
Wherein p isd(t) and vd(t) represents a desired position and a desired velocity of the magnetic levitation train, respectively.
2. Real-time simulator setting vehicle-mounted operation control method u (t) ═ f (e)p(t),ev(t))
3. Fault injection unit injects fault into high-speed magnetic levitation vehicle-mounted operation control system
The dynamic model of the high-speed maglev train is as follows:
wherein p (T) and v (T) respectively represent the position and the speed of the maglev train, T is time and satisfies T epsilon [0, T ∈]F (t) is the total resistance, including the air resistance fa(v) Eddy current resistance fb(v) And ramp resistance fi(p)。
Failure of the magnetic suspension train actuator:
setting multiplicative fault alpha1(t)：uf(t)＝α1(t)u(t)
Setting additive fault alpha2(t)：uf(t)＝u(t)+α2(t)
Setting random interference alpha3(t)：uf(t)＝u(t)+α3(t)
Setting a combinational Fault alpha1(t),α2(t),α3(t):uf(t)＝α1(t)u(t)+α2(t)+α3(t)
Magnetic-levitation train sensor failure:
setting multiplicative fault beta1(t)：vf(t)＝β1(t)v(t)
Setting additive fault beta2(t)：vf(t)＝v(t)+β2(t)
Setting random interference beta3(t)：vf(t)＝v(t)+β3(t)
Setting a combinational fault beta1(t),β2(t),β3(t)：vf(t)＝β1(t)v(t)+β2(t)+β3(t)
The parameters of the magnetic-levitation train are changed:
setting the air resistance coefficient gamma1(t),γ2(t),γ3(t)：fa(v)＝γ1(t)v(t)2+γ2(t)v(t)+γ3(t)
Setting the eddy current resistance k1(t),k2(t),k3(t)：
4. Vehicle control unit abnormal operating state injection
And setting the abnormal working state of the equipment such as the door and the suspension of the high-speed magnetic levitation vehicle.
Vehicle-ground wireless communication network failure
And setting the packet loss rate and the delay time of the train-ground wireless communication.
The fault injection method comprises a fault injection method for traversing all faults of a fault library and a fault injection method for randomly generating combined faults, and aims to test the safety protection effect and the fault-tolerant operation control effect of the high-speed magnetic-levitation train. The method comprises the following specific steps:
fault injection method for traversing all faults of fault library
Setting fault injection point
Setting fault injection levels
Setting fault injection parameters
Generating a specific fault injection signal
Storing input, output and intermediate status signals before and after fault injection of vehicle-mounted operation control system
Analyzing fault-tolerant operation control effect of operation control system
Analyzing safety protection effect of operation control system
Return to 2) reset other fault injection levels until all fault levels are traversed
Returning to 1) resetting other fault injection points until all fault points are traversed
Fault injection method for randomly generating combined fault
Randomly generating a plurality of fault injection points
Randomly setting fault injection levels
Setting fault injection parameters
Generating a specific fault injection signal
Storing input, output and intermediate status signals before and after fault injection of vehicle-mounted operation control system
Analyzing fault-tolerant operation control effect of operation control system
Analyzing safety protection effect of operation control system
Return to 2) reset other fault injection levels until all fault levels are traversed
Returning to 1) resetting other fault injection points until all fault points are traversed
The state of the magnetic suspension train after fault injection: partial fault operating state, fault safe state, fault dangerous state.
The vehicle-mounted control unit updates the traction/braking force according to the set control method
And calculating the position/speed error according to the expected position/speed of the magnetic suspension train and the position/speed of the magnetic suspension train detected by the sensor unit in real time.
error:ep(t)＝pd(t)-p(t),ev(t)＝vd(t)-v(t)
Updating traction/braking force by the on-board control unit further calculates control inputs based on position and speed errors
u(t)＝f(ep(t),ev(t))
5. State monitoring of high-speed magnetic levitation vehicle-mounted operation control system
And monitoring and storing all data of the fault injection simulation process, and monitoring the state of the high-speed maglev vehicle-mounted running control system of the maglev train under the fault injection condition.
The states of the high-speed magnetic levitation vehicle-mounted running control system are divided into the following 4 types
The system has no fault state: for the vehicle-mounted operation control system, the fault-free state of the system is the state that the vehicle-mounted safety computer, the vehicle-mounted control unit and the vehicle bottom layer equipment of the vehicle-mounted operation control system are not in fault and work normally;
part of the fault working states are the states that faults occur in the vehicle-mounted safety computer, the vehicle-mounted control unit and the vehicle bottom layer equipment, but the system can also work normally;
the failure safety state is the state that failures occur in the vehicle-mounted safety computer, the vehicle-mounted control unit and the vehicle bottom layer equipment, and the system cannot work normally and is guided to the safety side for output;
the fault-dangerous state is the set of all states except the three states described above.
6. Fault injection analysis of high-speed magnetic levitation vehicle-mounted operation control system
And analyzing the performances of safety protection, fault-tolerant operation control and the like of the high-speed magnetic levitation vehicle-mounted operation control system according to the state of the high-speed magnetic levitation vehicle-mounted operation control system monitored after fault injection.
In summary, the real-time fault simulation system of the high-speed magnetic levitation vehicle-mounted motion control system according to the embodiment of the invention can be connected with relevant devices in an actual high-speed magnetic levitation running control system, so that the conversion from signals of the actual running control system to data of a simulation platform is realized, and the semi-physical simulation under the fault injection condition can be realized by combining with the high-speed magnetic levitation running control system.
The real-time fault simulation system of the high-speed maglev vehicle-mounted motion control system can be a real-time fault simulation platform of a high-speed normally-conducting electromagnetic levitation train vehicle-mounted motion control system with the speed of 600 kilometers per hour, and can realize the simulation and real-time monitoring of normal models and fault models of all parts in the high-speed maglev train motion control system; fault injection and signal conversion of various faults of each component in the high-speed maglev train motion control system can be realized; the method can realize the resolving of feedback signals such as position/speed and the like and the generation of signals such as traction/brake control and the like, and has a protection function on a high-speed magnetic levitation motion control system; the functions of data monitoring, storage control, data viewing, data analysis and the like of the whole fault simulation platform can be realized.
Compared with the research of a fault diagnosis method and a fault-tolerant control method of the existing suspension system, the existing suspension system is only one subsystem of a vehicle-mounted operation control system, the research object of the invention comprises a plurality of subsystems including the suspension system, and in addition, the research of the invention is a subsystem fault injection method and a plurality of subsystem combination fault injection method.
The invention relates to a fault injection method and a real-time fault simulation platform for a high-speed maglev vehicle-mounted operation control system, which comprise more subsystems and are more complex in the operation environment (the air resistance characteristic is more complex and the eddy resistance is increased compared with a high-speed train).
Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for apparatus or system embodiments, since they are substantially similar to method embodiments, they are described in relative terms, as long as they are described in partial descriptions of method embodiments. The above-described embodiments of the apparatus and system are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a real-time fault simulation system of high-speed magnetic levitation vehicle-mounted motion control system which characterized in that includes: the system comprises a real-time simulator, a fault injection unit, a high-speed magnetic levitation vehicle-mounted motion control simulation system and a real-time data acquisition and analysis unit, wherein the high-speed magnetic levitation vehicle-mounted motion control simulation system is respectively connected with the real-time simulator, the fault injection unit and the real-time data acquisition and analysis unit;
the real-time simulator is used for simulating and monitoring a normal model and a fault model of each component in the high-speed maglev train motion control system in real time;
the fault injection unit is used for realizing fault injection and signal conversion of various faults of each component in the high-speed maglev train motion control system;
the high-speed magnetic levitation vehicle-mounted motion control simulation system is used for realizing the resolving of position/speed feedback signals and the generation of traction/brake control signals and the protection function of the high-speed magnetic levitation motion control system based on the simulation result of the real-time simulator and the fault injection of the fault injection unit;
and the real-time data acquisition and monitoring unit is used for realizing data monitoring, storage control, data viewing and data analysis of the fault simulation system.
2. The system of claim 1, wherein the fault injection unit performs single-point traversal fault injection simulation and random multi-point complex combination fault injection simulation on the sensors, actuators, train-ground wireless communication units, vehicle control units and dynamic simulation model parameters of the high-speed maglev train vehicle-mounted running control system.
3. The system of claim 1, wherein the high-speed maglev vehicle-mounted motion control simulation system provides a virtual-real combined simulation platform signal interface, is in butt joint with a virtual/real high-speed maglev running control system, realizes signal conversion of the simulation platform and the virtual/real high-speed maglev running control system, and realizes high-speed maglev running control system testing under a fault injection condition.
4. The system according to claim 3, wherein the real-time simulator prestores a plurality of train curve planning and operation control methods, and different planning methods and control methods can be set for simulation verification during fault injection simulation.
5. The system according to any one of claims 1 to 4, wherein the fault injection unit injects a fault into the high-speed maglev vehicle-mounted operation control system;
the dynamic model of the high-speed maglev train is as follows:
wherein p (T) and v (T) respectively represent the position and speed of the maglev train, T is time, and T is the time which satisfies T epsilon [0, T]F (t) is the total resistance, including the air resistance fa(v) Eddy current resistance fb(v) And ramp resistance fi(p)；
Failure of the magnetic suspension train actuator:
setting multiplicative fault alpha1(t)：uf(t)＝α1(t)u(t)
Setting additive fault alpha2(t)：uf(t)＝u(t)+α2(t)
Setting random interference alpha3(t)：uf(t)＝u(t)+α3(t)
Setting a combinational Fault alpha1(t),α2(t),α3(t):uf(t)＝α1(t)u(t)+α2(t)+α3(t)
Magnetic-levitation train sensor failure:
setting multiplicative fault beta1(t)：vf(t)＝β1(t)v(t)
Setting additive fault beta2(t)：vf(t)＝v(t)+β2(t)
Setting random interference beta3(t)：vf(t)＝v(t)+β3(t)
Setting a combinational fault beta1(t),β2(t),β3(t)：vf(t)＝β1(t)v(t)+β2(t)+β3(t)
Magnetic-levitation train parameter variation:
setting the air resistance coefficient gamma1(t),γ2(t),γ3(t)：fa(v)＝γ1(t)v(t)2+γ2(t)v(t)+γ3(t)
Setting the eddy current resistance k1(t),k2(t),k3(t)：
6. The system according to claim 5, wherein the fault injection methods of the fault injection unit include a fault injection method that traverses all faults of the fault library and a fault injection method that randomly generates a combined fault.
7. The system of claim 6, wherein the fault injection unit, in particular for setting a maglev train motion simulation fault library, comprises: a partial fault operating state, a fail safe state and a fault dangerous state;
the magnetic-levitation train actuator faults comprise: multiplicative faults, additive faults, random disturbances, and combinational faults;
maglev train sensor faults include: multiplicative faults, additive faults, random disturbances, and combinational faults;
the magnetic suspension train parameter change comprises vehicle parameter changes such as resistance coefficient and the like;
the method for setting fault injection comprises the following steps: the method carries out single-point traversal on the sensor and the actuator of the high-speed maglev vehicle-mounted running control system and the dynamic simulation model parameters of the high-speed maglev train, traverses all faults of a fault library, and checks the safety protection effect and the fault-tolerant running control effect of the high-speed maglev train.
8. The system of claim 1, wherein the high-speed maglev vehicle-mounted motion control simulation system is configured to implement state control of a vehicle-mounted operation control system, and the states of the high-speed maglev vehicle-mounted operation control system are divided into the following 4 types:
the system has no fault state: the vehicle-mounted safety computer, the vehicle-mounted control unit and the vehicle bottom equipment of the vehicle-mounted operation control system are in a normal working state without faults;
the partial fault working state is a state that faults occur in the vehicle-mounted safety computer, the vehicle-mounted control unit and the vehicle bottom layer equipment, but the system can also work normally;
the failure safety state is the state that failures occur in the vehicle-mounted safety computer, the vehicle-mounted control unit and the vehicle bottom layer equipment, the system cannot work normally and the safety side is guided to output;
a fault-risk state is a collection of all states except the three states described above.
Priority Applications (1)
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