CN115729117A - Simulation method of vehicle-bridge system of magnetic levitation vehicle and related product - Google Patents
Simulation method of vehicle-bridge system of magnetic levitation vehicle and related product Download PDFInfo
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Abstract
The application discloses a simulation construction method of a vehicle-bridge system of a magnetic levitation vehicle and a related product. The method comprises the following steps: constructing a virtual model corresponding to the real part of the vehicle-bridge system according to an operation algorithm corresponding to the real part of the vehicle-bridge system of the magnetic levitation vehicle; and performing combined simulation based on the virtual model and the real part to obtain a simulation system model corresponding to the vehicle-bridge system. Therefore, according to the pre-constructed virtual model and by means of partial real parts of the vehicle-bridge system, the semi-physical simulation system model of the vehicle-bridge system can be constructed, and a system-level semi-physical cross-linking test can be realized without constructing a full-real test environment, so that the simulation precision and the working efficiency can be improved, and the development risk can be reduced. In addition, by adopting the virtual-real combination mode, namely the simulation method of combining the virtual model with the real part, the simulation system model closer to the real vehicle-bridge system can be constructed, so that the construction precision of the simulation system model is improved.
Description
The present application claims priority of chinese patent application entitled "simulation method of vehicle-bridge system of magnetic levitation vehicle and related product" filed by the chinese intellectual property office of china at 28/10/2022 under the application number 202211336259.4, the entire contents of which are incorporated herein by reference.
Technical Field
The application relates to the technical field of vehicle engineering, in particular to a simulation method of a vehicle-bridge system of a magnetic levitation vehicle and a related product.
Background
In recent years, with the development of rail transit technology, magnetic levitation technology gradually takes an important role. The magnetic suspension vehicle has the advantages of high speed, low noise, safety, reliability and the like, so that the high-speed passenger transport traffic network can be perfected, and the traveling speed gap between aviation and high-speed rail passenger transport is filled. In order to improve the competitiveness of magnetic levitation vehicles in urban rail transit, the magnetic levitation routes mostly adopt lighter elevated bridges. When the magnetic levitation vehicle passes through the bridge section, the bridge has a significant influence on the suspension stability and the dynamic response of the vehicle, so that the vehicle-bridge system of the magnetic levitation vehicle needs to be tested in advance before the magnetic levitation vehicle is put into use, so as to improve the running safety and stability of the magnetic levitation vehicle.
At present, most of the existing testing methods for a vehicle-bridge system of a magnetic levitation vehicle are real test lines for constructing the magnetic levitation vehicle, so as to truly simulate the situation when the magnetic levitation vehicle passes through a track beam. However, the method needs to construct a real test environment, and has the disadvantages of high development risk and low efficiency.
Disclosure of Invention
The embodiment of the application provides a simulation method and a related product of a vehicle-bridge system of a magnetic levitation vehicle, and the simulation of the vehicle-bridge system of the magnetic levitation vehicle can be realized without constructing a real test environment.
In a first aspect, an embodiment of the present application provides a method for simulating a vehicle-bridge system of a magnetic levitation vehicle, including:
according to an operation algorithm corresponding to a real part of a vehicle-bridge system of the magnetic levitation vehicle, constructing a virtual model corresponding to the real part of the vehicle-bridge system;
and performing combined simulation based on the virtual model and the real part to obtain a simulation system model corresponding to the vehicle-bridge system.
Optionally, the performing joint simulation based on the virtual model and the real part includes:
converting the first signal output by the virtual model, and sending the converted first signal to the real part to obtain a real signal output by the real part;
and converting the real signal to obtain a second signal, and sending the second signal to the virtual model.
Optionally, the genuine article comprises a plurality of types;
the joint simulation based on the virtual model and the real part to obtain a simulation system model corresponding to the vehicle-bridge system comprises:
acquiring a real signal logic relation among the multiple types of true pieces;
and integrating virtual models respectively corresponding to the various types of real parts based on the real signal logic relationship to obtain the simulation system model.
Optionally, the real part comprises a vehicle system, a suspension system, a guidance system and an eddy current braking system;
the virtual model corresponding to the vehicle system is constructed by the following steps:
according to the operation algorithm of the vehicle system, constructing a digital twin model of the vehicle system as a virtual model corresponding to the vehicle system; the virtual model corresponding to the vehicle system is used for inputting corresponding operation instructions to the virtual model corresponding to the suspension system, the virtual model corresponding to the guidance system and the virtual model corresponding to the eddy current braking system respectively.
Optionally, the plurality of types of real parts further comprises a vehicle dynamics system;
the virtual models respectively corresponding to the suspension system, the guiding system and/or the eddy current braking system are constructed by the following steps:
according to the operation algorithm of the suspension system, constructing a digital twin model of the suspension system as a virtual model corresponding to the suspension system; the virtual model corresponding to the suspension system is used for inputting first virtual state data to the virtual model corresponding to the vehicle system and inputting suspension force virtual data to the virtual model corresponding to the vehicle dynamic system; and/or the presence of a gas in the gas,
according to the operation algorithm of the guide system, constructing a digital twin model of the guide system as a virtual model corresponding to the guide system; the virtual model corresponding to the guidance system is used for inputting second virtual state data to the virtual model corresponding to the vehicle system and inputting guidance force virtual data to the virtual model corresponding to the vehicle dynamic system; and/or the presence of a gas in the gas,
according to the operation algorithm of the eddy current braking system, constructing a digital twin model of the eddy current braking system as a virtual model corresponding to the eddy current braking system; and the virtual model corresponding to the eddy current braking system is used for inputting third virtual state data to the virtual model corresponding to the vehicle system and inputting braking force virtual data to the virtual model corresponding to the vehicle dynamic system.
Optionally, the virtual model corresponding to the vehicle dynamics system is constructed by the following steps:
establishing a digital twin model of the vehicle dynamic system as a virtual model corresponding to the vehicle dynamic system based on a finite element method and according to an operation algorithm of the vehicle dynamic system; and the virtual models corresponding to the vehicle dynamics system are used for inputting vehicle dynamics virtual data to the virtual models corresponding to the multiple types of real parts respectively.
Optionally, the simulation method of the vehicle-bridge system of the magnetic levitation vehicle further includes:
respectively constructing a vehicle kinematic virtual model, a track bridge system virtual model and a track irregularity virtual model; the vehicle kinematic virtual model is used for inputting vehicle kinematic virtual data to a virtual model corresponding to the vehicle dynamic system, the track bridge system virtual model and the track irregularity virtual model respectively; the track bridge system virtual model is used for inputting bridge displacement virtual data to a virtual model corresponding to the vehicle dynamic system; the track irregularity model is used for inputting track irregularity virtual data to the virtual model corresponding to the vehicle dynamic system.
In a second aspect, an embodiment of the present application provides a simulation apparatus for a vehicle-bridge system of a magnetic levitation vehicle, including:
the virtual model building module is used for building a virtual model corresponding to a real part of a vehicle-bridge system of the magnetic levitation vehicle according to an operation algorithm corresponding to the real part of the vehicle-bridge system;
and the joint simulation module is used for performing joint simulation based on the virtual model and the real part to obtain a simulation system model corresponding to the vehicle-bridge system.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, a system bus;
the processor and the memory are connected through the system bus;
the memory is for storing one or more programs, the one or more programs including instructions, which when executed by the processor, cause the processor to perform the method described above.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where instructions are stored, and when the instructions are executed on a terminal device, the terminal device is caused to execute the method described above.
According to the technical scheme, the embodiment of the application has the following advantages:
in the embodiment of the application, a virtual model corresponding to the real part of the vehicle-bridge system can be established according to the running algorithm corresponding to the real part of the vehicle-bridge system of the magnetic levitation vehicle, and then the combined simulation is performed based on the virtual model and the real part, so that a simulation system model corresponding to the vehicle-bridge system is obtained. Therefore, according to the virtual model corresponding to the real part of the vehicle-bridge system constructed in advance, the semi-physical simulation system model of the vehicle-bridge system can be constructed by means of partial real parts of the vehicle-bridge system, so that a system-level semi-physical cross-linking test can be realized without constructing a full-real test environment, the simulation precision and the working efficiency can be improved, and the development risk can be reduced. In addition, by adopting the virtual-real combination mode, namely the simulation method of combining the virtual model with the real part, the simulation system model closer to the real vehicle-bridge system can be constructed, so that the construction precision of the simulation system model is improved.
Drawings
Fig. 1 is a schematic structural diagram of a simulation system model corresponding to a vehicle-bridge system according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a simulation method of a vehicle-bridge system of a magnetic levitation vehicle according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of joint simulation of a virtual model and a levitation system corresponding to a levitation system provided in the embodiment of the present application;
fig. 4 is a schematic structural diagram of joint simulation of a virtual model and a guidance system corresponding to a guidance system according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a virtual model corresponding to an eddy current braking system and a combined simulation of the eddy current braking system according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an emulation apparatus of a vehicle-bridge system of a magnetic levitation vehicle according to an embodiment of the present application.
Detailed Description
As described above, the inventors found in the study of the test method for the vehicle-bridge system of the magnetic levitation vehicle that: in the related art, a real test line of the magnetic levitation vehicle is mostly constructed, and the condition of the magnetic levitation vehicle passing through the track beam is truly simulated. However, the method needs to construct a real test environment and has the defects of high difficulty and high cost.
In order to solve the above problem, an embodiment of the present application provides a simulation construction method for a vehicle-bridge system of a magnetic levitation vehicle, where the method may include: the method comprises the steps of constructing a virtual model corresponding to a real part of the vehicle-bridge system according to an operation algorithm corresponding to the real part of the vehicle-bridge system of the magnetic levitation vehicle, and performing combined simulation based on the virtual model and the real part to obtain a simulation system model corresponding to the vehicle-bridge system.
Therefore, according to the virtual model corresponding to the real part of the vehicle-bridge system constructed in advance, the semi-physical simulation system model of the vehicle-bridge system can be constructed by means of partial real parts of the vehicle-bridge system, so that a system-level semi-physical cross-linking test can be realized without constructing a full-real test environment, the simulation precision and the working efficiency can be improved, and the development risk can be reduced. In addition, by adopting the virtual-real combination mode, namely the simulation method of combining the virtual model with the real part, the simulation system model which is closer to the real vehicle-bridge system can be constructed, so that the construction precision of the simulation system model is improved.
In order to facilitate understanding of the technical solutions provided in the embodiments of the present application, an exemplary description is provided below with reference to the embodiments and accompanying drawings for a simulation system model constructed by the simulation method for a vehicle-bridge system of a magnetic levitation vehicle provided in the embodiments of the present application.
Fig. 1 is a schematic structural diagram of a simulation system model corresponding to a vehicle-bridge system according to an embodiment of the present disclosure. As shown in fig. 1, the simulation system model mainly includes: the virtual model of the vehicle kinematics 10, the virtual model of the track bridge system 20, the virtual model of the track irregularity 30, the virtual model of the vehicle system 40, the virtual model of the levitation system 50, the virtual model of the guidance system 60, the virtual model of the eddy current braking system 70, and the virtual model of the vehicle dynamics system 80.
Here, the virtual model 40 corresponding to the vehicle system may be connected to the virtual model 50 corresponding to the levitation system, the virtual model 60 corresponding to the guidance system, and the virtual model 70 corresponding to the eddy current braking system, respectively, so as to output corresponding operation commands to the virtual model 50 corresponding to the levitation system, the virtual model 60 corresponding to the guidance system, and the virtual model 70 corresponding to the eddy current braking system, respectively, and receive virtual state data output from the virtual model 50 corresponding to the levitation system, the virtual model 60 corresponding to the guidance system, and the virtual model 70 corresponding to the eddy current braking system, respectively. The virtual model 50 corresponding to the levitation system may output first virtual state data, the virtual model 60 corresponding to the guidance system may output second virtual state data, and the virtual model 70 corresponding to the eddy current braking system may output third virtual state data.
The virtual model 50 corresponding to the suspension system, the virtual model 60 corresponding to the guidance system, and the virtual model 70 corresponding to the eddy current braking system may be further connected to the virtual model 80 corresponding to the vehicle dynamics system, so as to receive the vehicle dynamics virtual data output by the virtual model 80 corresponding to the vehicle dynamics system, and input the corresponding mechanics virtual data to the virtual model 80 corresponding to the vehicle dynamics system, respectively, wherein the virtual model 50 corresponding to the suspension system may output the suspension force virtual data, the virtual model 60 corresponding to the guidance system may output the guidance force virtual data, and the virtual model 70 corresponding to the eddy current braking system may output the braking force virtual data.
The virtual model 80 corresponding to the vehicle dynamics system may be further connected to the vehicle kinematics virtual model 10, the track bridge system virtual model 20, and the track irregularity virtual model 30, respectively, so as to receive vehicle kinematics virtual data output by the vehicle kinematics virtual model 10, bridge displacement virtual data output by the track bridge system virtual model 20, and track irregularity virtual data output by the track irregularity virtual model 30, respectively. The vehicle kinematic virtual model 10 is further connected to the track bridge system virtual model 20 and the track irregularity virtual model 30, respectively, so as to input vehicle kinematic virtual data to the track bridge system virtual model 20 and the track irregularity virtual model 30.
Further, the virtual model 40 corresponding to the vehicle system, the virtual model 50 corresponding to the suspension system, the virtual model 60 corresponding to the guidance system, the virtual model 70 corresponding to the eddy current braking system, and the virtual model 80 corresponding to the vehicle dynamics system may be further connected to corresponding real parts in the vehicle-bridge system, so as to perform joint simulation based on the virtual model and the real parts, and obtain a simulation system model corresponding to the vehicle-bridge system.
In addition, in order to further couple the virtual model 90 corresponding to the traction and operation control system, in the embodiment of the present application, the virtual model 40 corresponding to the vehicle system may also be connected to the virtual model 90 corresponding to the traction and operation control system.
According to the relevant content of the simulation system model, in the embodiment of the application, the semi-physical simulation system model of the vehicle-bridge system can be constructed by means of partial real parts of the vehicle-bridge system according to the virtual model corresponding to the real parts of the vehicle-bridge system which are constructed in advance, so that the system-level semi-physical cross-linking test can be realized without constructing a full-real test environment, the simulation precision and the working efficiency can be improved, and the development risk can be reduced. In addition, by adopting the virtual-real combination mode, namely the simulation method of combining the virtual model with the real part, the simulation system model closer to the real vehicle-bridge system can be constructed, so that the construction precision of the simulation system model is improved.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
Fig. 2 is a flowchart of a simulation method of a vehicle-bridge system of a magnetic levitation vehicle according to an embodiment of the present application. With reference to fig. 2, the simulation method for a vehicle-bridge system of a magnetic levitation vehicle provided in the embodiment of the present application may include:
s201: and constructing a virtual model corresponding to the real part of the vehicle-bridge system according to the running algorithm corresponding to the real part of the vehicle-bridge system of the magnetic levitation vehicle.
Generally, in a vehicle-bridge system of a maglev vehicle, real parts include various types. In particular, the various types of real parts may include vehicle systems, suspension systems, guidance systems, eddy current braking systems, and vehicle dynamics systems. The suspension system specifically comprises a suspension controller, a suspension sensor and a suspension electromagnet; the guiding system specifically comprises a guiding controller, a guiding sensor and a guiding electromagnet; the eddy current braking system may specifically comprise an eddy current brake controller and an eddy current brake electromagnet.
Here, in the embodiment of the present application, the construction method of the virtual model, that is, S201, is not particularly limited, and for convenience of understanding, the following description is made separately.
In one possible embodiment, the virtual model corresponding to the vehicle system may be constructed by: according to an operation algorithm of the vehicle system, constructing a digital twin model of the vehicle system as a virtual model corresponding to the vehicle system; the virtual model corresponding to the vehicle system is used for inputting corresponding operation instructions to the virtual model corresponding to the suspension system, the virtual model corresponding to the guide system and the virtual model corresponding to the eddy current braking system respectively. For the virtual model corresponding to the suspension system, the corresponding operation instruction is a suspension instruction; for the virtual model corresponding to the guidance system, the corresponding operation instruction is a guidance instruction; for the virtual model corresponding to the eddy current braking system, the corresponding operation command is a braking command. In addition, a virtual model corresponding to the eddy current braking system can be logically constructed using a MATLAB Simulink tool.
Further, the virtual model corresponding to the suspension system may be constructed by the following steps: according to an operation algorithm of the suspension system, constructing a digital twin model of the suspension system as a virtual model corresponding to the suspension system; the virtual model corresponding to the suspension system is used for inputting first virtual state data to the virtual model corresponding to the vehicle system and inputting suspension force virtual data to the virtual model corresponding to the vehicle dynamics system. The first virtual state data can be embodied as floating state data; the virtual model corresponding to the suspension system can be constructed by using a MATLAB Simulink tool.
The virtual model corresponding to the guiding system can be constructed by the following steps: according to the operation algorithm of the guide system, constructing a digital twin model of the guide system as a virtual model corresponding to the guide system; and the virtual model corresponding to the guiding system is used for inputting second virtual state data to the virtual model corresponding to the vehicle system and inputting guiding force virtual data to the virtual model corresponding to the vehicle dynamic system. Wherein the second virtual state data may be embodied as oriented state data; the virtual model corresponding to the guidance system can be constructed by using a MATLAB Simulink tool.
The virtual model corresponding to the eddy current braking system can be constructed by the following steps: according to an operation algorithm of the eddy current braking system, constructing a digital twin model of the eddy current braking system as a virtual model corresponding to the eddy current braking system; and the virtual model corresponding to the eddy current braking system is used for inputting the third virtual state data to the virtual model corresponding to the vehicle system and inputting the braking force virtual data to the virtual model corresponding to the vehicle dynamic system. Wherein the third virtual state data may be embodied as eddy current braking state data; a virtual model corresponding to an eddy current braking system may be constructed using a MATLAB Simulink tool. Here, the embodiments of the present application may describe in detail a virtual model corresponding to a suspension system in combination with the embodiments and the drawings. Specifically, because the real part in the suspension system may specifically include the suspension controller, the suspension sensor, and the suspension electromagnet, constructing the digital twin model of the suspension system as the implementation process of the virtual model corresponding to the suspension system may specifically include: respectively constructing a suspension controller virtual model corresponding to the operation algorithm of the suspension controller, a suspension sensor virtual model corresponding to the operation algorithm of the suspension sensor and a suspension electromagnet virtual model corresponding to the operation algorithm of the suspension electromagnet. Fig. 3 is a schematic structural diagram of joint simulation of a virtual model and a suspension system corresponding to a suspension system according to an embodiment of the present application. As shown in fig. 3, the suspension sensor virtual model 51 may be connected to a virtual model (not shown in the figure) corresponding to a vehicle dynamic system, a suspension controller virtual model 52, and a suspension electromagnet virtual model 53, respectively, so as to receive vehicle dynamic virtual data output by the virtual model corresponding to the vehicle dynamic system, input the vehicle dynamic virtual data to the suspension controller virtual model 52, and input a virtual electromagnetic gap in the vehicle dynamic virtual data to the suspension electromagnet virtual model 53. The levitation controller virtual model 52 may also be connected to a corresponding virtual model (not shown) of the vehicle system to receive an operation command, i.e., a levitation command, output by the corresponding virtual model of the vehicle system. In addition, the virtual model 50 corresponding to the suspension system may further include a suspension interface platform 54, the suspension sensor virtual model 51, the suspension controller virtual model 52, and the suspension electromagnet virtual model 53 may be connected to the suspension interface platform 54, and the suspension interface platform 54 may also be connected to the real part of the suspension system, that is, the suspension controller, the suspension sensor, and the suspension electromagnet, so as to perform joint simulation based on the virtual model corresponding to the suspension system and the real part of the suspension system. For convenience of understanding, in fig. 3, a levitation controller 55 and a levitation controller virtual model 52 are taken as an example for joint simulation, the levitation controller 55 and the levitation controller virtual model 52 are respectively connected to a levitation interface platform 54, the levitation controller 55 may first obtain a conversion result of a first signal output by the levitation controller virtual model 52 to obtain a corresponding real signal, and input the real signal to the levitation controller virtual model 52 through the levitation interface platform 54, so as to convert the real signal to obtain a second signal corresponding to the levitation controller virtual model 52, and then further send the second signal to the levitation controller virtual model 52. Correspondingly, the levitation controller virtual model 52 may be further connected with the levitation electromagnet virtual model 53, so as to input a second signal to the levitation electromagnet virtual model 53, and output levitation force virtual data by the levitation electromagnet virtual model 53 based on the second signal and the virtual electromagnetic gap. In addition, in order to simulate the levitation control system more accurately, the virtual model 50 corresponding to the levitation system may also consider the problem of fault redundancy. Specifically, the levitation controller virtual model 52 and the levitation sensor virtual model 51 may also take fault data as input data, respectively, to further simulate a fault redundancy algorithm.
The embodiment of the application can be combined with the embodiment and the attached drawings to describe the virtual model corresponding to the guiding system in detail. Specifically, since the real part in the guidance system may specifically include the guidance controller, the guidance sensor, and the guidance electromagnet, constructing a digital twin model of the guidance system as an implementation process of a virtual model corresponding to the guidance system may specifically include: and respectively constructing a guide controller virtual model corresponding to the operation algorithm of the guide controller, a guide sensor virtual model corresponding to the operation algorithm of the guide sensor and a guide electromagnet virtual model corresponding to the operation algorithm of the guide electromagnet. Fig. 4 is a schematic structural diagram of joint simulation of a virtual model and a guidance system corresponding to a guidance system according to an embodiment of the present application. As shown in fig. 4, the guidance sensor virtual model 61 may be connected to a virtual model (not shown in the figure) corresponding to the vehicle dynamic system, a guidance controller virtual model 62, and a guidance electromagnet virtual model 63, respectively, so as to receive vehicle dynamic virtual data output by the virtual model corresponding to the vehicle dynamic system, input the vehicle dynamic virtual data to the guidance controller virtual model 62, and input a virtual electromagnetic gap in the vehicle dynamic virtual data to the guidance electromagnet virtual model 63. The guidance controller virtual model 62 may also be connected to a virtual model (not shown) corresponding to a vehicle system to receive an operation command, i.e., a guidance command, output by the virtual model corresponding to the vehicle system. In addition, the virtual model 60 corresponding to the guidance system may further include a guidance interface platform 64, the guidance sensor virtual model 61, the guidance controller virtual model 62, and the guidance electromagnet virtual model 63 may be connected to the guidance interface platform 64, and the guidance interface platform 64 may also be connected to the real devices of the guidance control system, that is, the guidance controller, the guidance sensor, and the guidance electromagnet, respectively, so as to perform joint simulation based on the virtual model corresponding to the guidance system and the real devices of the guidance control system. For convenience of understanding, fig. 4 illustrates that the guidance controller 65 and the guidance controller virtual model 62 perform joint simulation, the guidance controller 65 and the guidance controller virtual model 62 are respectively connected to the guidance interface platform 64, the guidance controller 65 may first obtain a conversion result of a first signal output by the guidance controller virtual model 62 to obtain a corresponding real signal, and input the real signal to the guidance controller virtual model 62 through the guidance interface platform 64, so as to convert the real signal to obtain a second signal corresponding to the guidance controller virtual model 62, and then further send the second signal to the guidance controller virtual model 62. Correspondingly, the guidance controller virtual model 62 may be further connected to the guidance electromagnet virtual model 63 so as to input a second signal to the guidance electromagnet virtual model 63, and the guidance force virtual data is output by the guidance electromagnet virtual model 63 based on the second signal and the virtual electromagnetic gap. In addition, in order to simulate the guidance control system more accurately, the virtual model 60 corresponding to the guidance system may also consider the problem of fault redundancy. Specifically, pilot controller virtual model 62 and pilot sensor virtual model 61 may also take fault data as input data, respectively, to further simulate a fault redundancy algorithm.
The embodiments of the present application may be combined with the embodiments and the accompanying drawings to describe in detail a virtual model corresponding to an eddy current braking system. Specifically, since the real part in the eddy current braking system may specifically include the eddy current braking controller and the eddy current braking electromagnet, constructing a digital twin model of the eddy current braking system as an implementation process of a virtual model corresponding to the eddy current braking system may specifically include: and respectively constructing an eddy current brake controller virtual model corresponding to the operation algorithm of the eddy current brake controller and an eddy current brake electromagnet virtual model corresponding to the operation algorithm of the eddy current brake electromagnet. Fig. 5 is a schematic structural diagram of a virtual model corresponding to an eddy current braking system and a joint simulation of the eddy current braking system according to an embodiment of the present application. As shown in fig. 5, the eddy current brake controller virtual model 71 and the eddy current brake electromagnet virtual model 72 may be respectively connected to a virtual model (not shown) corresponding to a vehicle dynamic system, so as to receive vehicle dynamic virtual data output by the virtual model corresponding to the vehicle dynamic system. The virtual model 72 of the eddy current brake controller may also be connected to a corresponding virtual model (not shown) of the vehicle system to receive an operation command, i.e., an eddy current brake command, output by the corresponding virtual model of the vehicle system. In addition, the virtual model 70 corresponding to the eddy current braking system may further include an eddy current braking interface platform 73, both the eddy current braking controller virtual model 71 and the eddy current braking electromagnet virtual model 72 may be connected to the eddy current braking interface platform 73, and the eddy current braking interface platform 73 may also be connected to the real part of the eddy current braking system, that is, the eddy current braking controller and the eddy current braking electromagnet, so as to perform joint simulation based on the virtual model corresponding to the eddy current braking system and the real part of the eddy current braking system. For easy understanding, in fig. 5, a combined simulation of the eddy current brake controller 74 and the eddy current brake controller virtual model 71 is taken as an example, the eddy current brake controller 74 and the eddy current brake controller virtual model 71 are respectively connected to the eddy current brake interface platform 73, the eddy current brake controller 74 may first obtain a conversion result of a first signal output by the eddy current brake controller virtual model 71 to obtain a corresponding real signal, and input the real signal to the eddy current brake controller virtual model 71 through the eddy current brake interface platform 73, so as to convert the real signal to obtain a second signal corresponding to the eddy current brake controller virtual model 71, and then further send the second signal to the eddy current brake controller virtual model 71. Correspondingly, the eddy current brake controller virtual model 71 may be further connected with the eddy current brake electromagnet virtual model 72 so as to input a second signal to the eddy current brake electromagnet virtual model 72, and the brake force virtual data is output by the eddy current brake electromagnet virtual model 72 based on the second signal and the vehicle dynamics virtual data. In addition, in order to simulate the eddy current braking control system more accurately, the problem of fault redundancy can be considered in the virtual model 70 corresponding to the eddy current braking system. In particular, the vortex brake controller virtual model 71 may also take fault data as input data to further simulate a fault redundancy algorithm.
Further, in this embodiment of the present application, the virtual model corresponding to the vehicle dynamics system may be constructed through the following steps: establishing a digital twin model of the vehicle dynamic system as a virtual model corresponding to the vehicle dynamic system based on a finite element method and according to an operation algorithm of the vehicle dynamic system; the virtual models corresponding to the vehicle dynamics system are used for inputting vehicle dynamics virtual data to the virtual models corresponding to the various real parts respectively. The vehicle dynamics virtual data may include a virtual electromagnetic gap, a virtual acceleration, and a virtual operating speed in the vehicle dynamics virtual data. The virtual model corresponding to the vehicle dynamic system can be constructed by adopting a C language development tool, and can also be constructed by adopting Simpack software. Therefore, the simulation precision of the vehicle dynamic system can be improved by adopting a finite element method to construct the digital twin model, so that the system characteristics of the real vehicle dynamic system can be accurately simulated.
In addition, the policy method may further include: respectively constructing a vehicle kinematic virtual model, a track bridge system virtual model and a track irregularity virtual model; the vehicle kinematic virtual model is used for respectively inputting vehicle kinematic virtual data to a virtual model corresponding to a vehicle dynamic system, a track bridge system virtual model and a track irregularity virtual model; the track bridge system virtual model is used for inputting bridge displacement virtual data to a virtual model corresponding to a vehicle dynamic system; the track irregularity model is used for inputting track irregularity virtual data to a virtual model corresponding to the vehicle dynamics system. The vehicle kinematic virtual data can be embodied as the virtual running speed and the virtual running mileage of the magnetic levitation vehicle. Specifically, the bridge displacement virtual data can be embodied as a virtual bridge transverse displacement amplitude and a virtual bridge vertical displacement amplitude; the track irregularity virtual data may be embodied as a virtual track lateral irregularity magnitude and a virtual track vertical irregularity magnitude. In addition, a vehicle kinematics virtual model, a track bridge system virtual model and a track irregularity virtual model can be respectively constructed by adopting an MATLAB Simulink tool. In addition, in the virtual model of the track bridge system, a Bernoulli-Euler beam model can be specifically used for carrying out simulation calculation, so that the calculation process is simplified by using the model, and the calculation efficiency is improved.
Based on the relevant content of the S201, the high-precision simulation construction of the virtual model is realized through the digital twin technology without constructing a real test environment, so that the simulation difficulty and the cost can be reduced.
S202: and performing combined simulation based on the virtual model and the real part to obtain a simulation system model corresponding to the vehicle-bridge system.
In the embodiment of the present application, the implementation process of the joint simulation, that is, S202, may not be specifically limited herein, and for convenience of understanding, the following description is made in conjunction with a possible implementation manner.
In a possible implementation manner, S202 may specifically include: converting the first signal output by the virtual model, and sending the converted first signal to the real part to obtain a real signal output by the real part; and converting the real signal to obtain a second signal, and sending the second signal to the virtual model. The signal interaction is carried out between the virtual model and the real part, so that the semi-physical simulation between the virtual model and the real part can be realized, the semi-physical simulation system model of the vehicle-bridge system is constructed, and the system-level semi-physical cross-linking test can be realized without constructing a full-real test environment.
As can be seen from the above related contents of S201-S202, in the embodiment of the present application, a virtual model corresponding to the real part of the vehicle-bridge system may be first constructed according to the operation algorithm corresponding to the real part of the vehicle-bridge system of the magnetic levitation vehicle, and then the joint simulation is performed based on the virtual model and the real part, so as to obtain a simulation system model corresponding to the vehicle-bridge system. Therefore, according to the virtual model corresponding to the real part of the vehicle-bridge system constructed in advance, the semi-physical simulation system model of the vehicle-bridge system can be constructed by means of partial real parts of the vehicle-bridge system, so that a system-level semi-physical cross-linking test can be realized without constructing a full-real test environment, the simulation precision and the working efficiency can be improved, and the development risk can be reduced. In addition, by adopting the virtual-real combination mode, namely the simulation method of combining the virtual model with the real part, the simulation system model closer to the real vehicle-bridge system can be constructed, so that the construction precision of the simulation system model is improved.
Based on the simulation method of the vehicle-bridge system of the magnetic levitation vehicle provided by the embodiment, the embodiment of the application also provides a simulation device of the vehicle-bridge system of the magnetic levitation vehicle, which is explained and explained below with reference to the attached drawings.
Fig. 6 is a schematic structural diagram of an emulation apparatus of a vehicle-bridge system of a magnetic levitation vehicle according to an embodiment of the present application. Referring to fig. 6, an emulation apparatus 100 for a vehicle-bridge system of a magnetic levitation vehicle according to an embodiment of the present application may include:
the virtual model building module 101 is used for building a virtual model corresponding to a real part of a vehicle-bridge system of the magnetic levitation vehicle according to an operation algorithm corresponding to the real part of the vehicle-bridge system;
and the joint simulation module 102 is configured to perform joint simulation based on the virtual model and the real part to obtain a simulation system model corresponding to the vehicle-bridge system.
In the embodiment of the application, through the cooperation of the virtual model building module 101 and the joint simulation module 102, a semi-physical simulation system model of the vehicle-bridge system can be built according to a virtual model corresponding to a pre-built real part of the vehicle-bridge system and by means of a part of real parts of the vehicle-bridge system, so that a system-level semi-physical cross-linking test can be realized without building a full-real test environment, thereby improving the simulation precision and the working efficiency, and reducing the development risk. In addition, by adopting the virtual-real combination mode, namely the simulation method of combining the virtual model with the real part, the simulation system model which is closer to the real vehicle-bridge system can be constructed, so that the construction precision of the simulation system model is improved.
As an embodiment, in order to realize the simulation of the vehicle-bridge system of the magnetic levitation vehicle without constructing a real testing environment, the joint simulation module 102 may specifically include:
the first signal conversion module is used for converting a first signal output by the virtual model and sending the converted first signal to the real part to obtain a real signal output by the real part;
and the second signal conversion module is used for converting the real signal to obtain a second signal and sending the second signal to the virtual model.
As an embodiment, in order to realize the simulation of the vehicle-bridge system of the magnetic levitation vehicle without constructing a real test environment, the real parts include various types. Correspondingly, the joint simulation module 102 may specifically include:
the signal logic relation acquisition module is used for acquiring the real signal logic relation among various types of real parts;
and the model integration module is used for integrating virtual models respectively corresponding to various types of real parts based on the real signal logic relation to obtain a simulation system model.
As an embodiment, in order to realize the simulation of the vehicle-bridge system of the magnetic levitation vehicle without constructing a real test environment, various types of real parts include a vehicle system, a levitation system, a guidance system and an eddy current braking system. Accordingly, the virtual model corresponding to the vehicle system may be specifically constructed by the following modules:
the first virtual model building module is used for building a digital twin model of the vehicle system as a virtual model corresponding to the vehicle system according to an operation algorithm of the vehicle system; the virtual model corresponding to the vehicle system is used for inputting corresponding operation instructions to the virtual model corresponding to the suspension system, the virtual model corresponding to the guide system and the virtual model corresponding to the eddy current braking system respectively.
As an embodiment, in order to realize the simulation of the vehicle-bridge system of the magnetic levitation vehicle without constructing a real test environment, the various types of real parts further include a vehicle dynamics system. Accordingly, the virtual model corresponding to the suspension system, the guidance system and/or the eddy current braking system can be constructed by the following modules:
the second virtual model building module is used for building a digital twin model of the suspension system as a virtual model corresponding to the suspension system according to the operation algorithm of the suspension system; the virtual model corresponding to the suspension system is used for inputting first virtual state data to the virtual model corresponding to the vehicle system and inputting suspension force virtual data to the virtual model corresponding to the vehicle dynamic system; and/or the presence of a gas in the gas,
the third virtual model building module is used for building a digital twin model of the guide system as a virtual model corresponding to the guide system according to the operation algorithm of the guide system; the virtual model corresponding to the guiding system is used for inputting second virtual state data to the virtual model corresponding to the vehicle system and inputting guiding force virtual data to the virtual model corresponding to the vehicle dynamic system; and/or the presence of a gas in the atmosphere,
the fourth virtual model building module is used for building a digital twin model of the eddy current braking system as a virtual model corresponding to the eddy current braking system according to the operation algorithm of the eddy current braking system; and the virtual model corresponding to the eddy current braking system is used for inputting the third virtual state data to the virtual model corresponding to the vehicle system and inputting the braking force virtual data to the virtual model corresponding to the vehicle dynamic system.
As an embodiment, in order to realize the simulation of the vehicle-bridge system of the magnetic levitation vehicle without constructing a real test environment, the virtual model corresponding to the vehicle dynamics system can be constructed by the following modules:
the fifth virtual model building module is used for building a digital twin model of the vehicle dynamic system as a virtual model corresponding to the vehicle dynamic system based on a finite element method and according to an operation algorithm of the vehicle dynamic system; the virtual models corresponding to the vehicle dynamics system are used for inputting vehicle dynamics virtual data to the virtual models corresponding to the various types of real parts respectively.
As an embodiment, in order to realize the simulation of the vehicle-bridge system of the magnetic levitation vehicle without constructing a real test environment, the simulation apparatus 100 of the vehicle-bridge system of the magnetic levitation vehicle may further include:
the sixth virtual model building module is used for respectively building a vehicle kinematics virtual model, a track bridge system virtual model and a track irregularity virtual model; the vehicle kinematic virtual model is used for respectively inputting vehicle kinematic virtual data to a virtual model corresponding to a vehicle dynamic system, a track bridge system virtual model and a track irregularity virtual model; the track bridge system virtual model is used for inputting bridge displacement virtual data to a virtual model corresponding to a vehicle dynamic system; the track irregularity model is used for inputting track irregularity virtual data to a virtual model corresponding to the vehicle dynamics system.
Further, an embodiment of the present application further provides an apparatus, including: a processor, a memory, a system bus;
the processor and the memory are connected through a system bus;
the memory is used for storing one or more programs, and the one or more programs comprise instructions which when executed by the processor cause the processor to execute any implementation method of the simulation method of the vehicle-bridge system of the magnetic levitation vehicle.
Further, an embodiment of the present application further provides a computer-readable storage medium, in which instructions are stored, and when the instructions are executed on a terminal device, the terminal device is enabled to execute any implementation method of the above simulation method for a vehicle-bridge system of a magnetic levitation vehicle.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A simulation method of a vehicle-bridge system of a magnetic levitation vehicle is characterized by comprising the following steps:
according to an operation algorithm corresponding to a real part of a vehicle-bridge system of the magnetic levitation vehicle, constructing a virtual model corresponding to the real part of the vehicle-bridge system;
and performing combined simulation based on the virtual model and the real part to obtain a simulation system model corresponding to the vehicle-bridge system.
2. The method of claim 1, wherein the co-simulating based on the virtual model and the real part comprises:
converting the first signal output by the virtual model, and sending the converted first signal to the real part to obtain a real signal output by the real part;
and converting the real signal to obtain a second signal, and sending the second signal to the virtual model.
3. The method of claim 1, wherein the genuine article comprises a plurality of types;
the joint simulation based on the virtual model and the real part to obtain a simulation system model corresponding to the vehicle-bridge system comprises:
acquiring a real signal logic relationship among the multiple types of real parts;
and integrating virtual models respectively corresponding to the various types of real parts based on the real signal logic relationship to obtain the simulation system model.
4. The method of claim 1, wherein the real part comprises a vehicle system, a suspension system, a guidance system, and an eddy current braking system;
the virtual model corresponding to the vehicle system is constructed by the following steps:
according to the operation algorithm of the vehicle system, constructing a digital twin model of the vehicle system as a virtual model corresponding to the vehicle system; the virtual model corresponding to the vehicle system is used for inputting corresponding operation instructions to the virtual model corresponding to the suspension system, the virtual model corresponding to the guidance system and the virtual model corresponding to the eddy current braking system respectively.
5. The method of claim 4, wherein the plurality of types of real parts further comprises a vehicle dynamics system;
the virtual models respectively corresponding to the suspension system, the guiding system and/or the eddy current braking system are constructed by the following steps:
according to the operation algorithm of the suspension system, constructing a digital twin model of the suspension system as a virtual model corresponding to the suspension system; the virtual model corresponding to the suspension system is used for inputting first virtual state data to the virtual model corresponding to the vehicle system and inputting suspension force virtual data to the virtual model corresponding to the vehicle dynamic system; and/or the presence of a gas in the atmosphere,
according to the operation algorithm of the guide system, constructing a digital twin model of the guide system as a virtual model corresponding to the guide system; the virtual model corresponding to the guiding system is used for inputting second virtual state data to the virtual model corresponding to the vehicle system and inputting guiding force virtual data to the virtual model corresponding to the vehicle dynamic system; and/or the presence of a gas in the atmosphere,
according to the operation algorithm of the eddy current braking system, constructing a digital twin model of the eddy current braking system as a virtual model corresponding to the eddy current braking system; and the virtual model corresponding to the eddy current braking system is used for inputting third virtual state data to the virtual model corresponding to the vehicle system and inputting braking force virtual data to the virtual model corresponding to the vehicle dynamic system.
6. The method of claim 5, wherein the virtual model corresponding to the vehicle dynamics system is constructed by:
establishing a digital twin model of the vehicle dynamic system as a virtual model corresponding to the vehicle dynamic system based on a finite element method and according to an operation algorithm of the vehicle dynamic system; and the virtual models corresponding to the vehicle dynamics system are used for inputting vehicle dynamics virtual data to the virtual models corresponding to the multiple types of real parts respectively.
7. The method of claim 6, further comprising:
respectively constructing a vehicle kinematics virtual model, a track bridge system virtual model and a track irregularity virtual model; the vehicle kinematic virtual model is used for inputting vehicle kinematic virtual data to a virtual model corresponding to the vehicle dynamic system, the track bridge system virtual model and the track irregularity virtual model respectively; the track bridge system virtual model is used for inputting bridge displacement virtual data to a virtual model corresponding to the vehicle dynamic system; the track irregularity model is used for inputting track irregularity virtual data to the virtual model corresponding to the vehicle dynamic system.
8. A simulation apparatus of a vehicle-bridge system of a magnetic levitation vehicle, comprising:
the virtual model building module is used for building a virtual model corresponding to a real part of a vehicle-bridge system of the magnetic levitation vehicle according to an operation algorithm corresponding to the real part of the vehicle-bridge system;
and the joint simulation module is used for performing joint simulation based on the virtual model and the real part to obtain a simulation system model corresponding to the vehicle-bridge system.
9. An electronic device, comprising: a processor, a memory, a system bus;
the processor and the memory are connected through the system bus;
the memory is to store one or more programs, the one or more programs comprising instructions, which when executed by the processor, cause the processor to perform the method of any of claims 1 to 7.
10. A computer-readable storage medium having stored therein instructions which, when run on a terminal device, cause the terminal device to perform the method of any one of claims 1 to 7.
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| PCT/CN2022/134169 WO2024087288A1 (en) | 2022-10-28 | 2022-11-24 | Simulation method for vehicle-bridge system of magnetic levitation vehicle, and related product |
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| CN104374586B (en) * | 2014-11-25 | 2017-10-31 | 中车青岛四方机车车辆股份有限公司 | high-speed train braking system simulation test platform and test method |
| CN111332130B (en) * | 2020-02-26 | 2022-06-07 | 同济大学 | Digital twinning technology-based debugging method for suspension system of magnetic-levitation train |
| CN112987700B (en) * | 2021-04-27 | 2021-08-03 | 湖南中车时代通信信号有限公司 | Integrated test system of magnetic suspension traffic operation control system |
| CN114326434A (en) * | 2021-12-29 | 2022-04-12 | 湖南凌翔磁浮科技有限责任公司 | Semi-physical maglev vehicle dynamics simulation system |
| CN114578726B (en) * | 2022-01-28 | 2024-03-19 | 中车唐山机车车辆有限公司 | Magnetic levitation train operation simulation system |
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