CN205292323U - Electromagnetism train - Google Patents
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Abstract
本实用新型涉及一种电磁列车。该电磁列车包括：线路轨道、驱动系统、车辆、导向系统、电磁支撑系统。所述线路轨道两侧沿行驶方向安装多个长定子；所述驱动系统含有长定子，所述车辆含有车辆支撑架、车厢；所述导向系统含有导向磁铁、导向轨道、导向气隙传感器、导向控制器；所述电磁支撑系统包括转子、转子控制器、车辆载荷传感器，所述转子位于所述长定子下方，所述转子与所述长定子之间具有小气隙，气隙取值范围2mm-6mm；所述转子控制器实时调节所述转子的励磁电流，使其产生的电磁吸力等于车辆载荷。所述车辆通过其底部的支撑滑撬与所述线路轨道接触。本实用新型无需悬浮气隙传感器，功耗小、自重轻、成本低、控制简单、运行稳定。
The utility model relates to an electromagnetic train. The electromagnetic train includes: a line track, a driving system, a vehicle, a guiding system, and an electromagnetic supporting system. A plurality of long stators are installed along the traveling direction on both sides of the line track; the drive system includes long stators, and the vehicle includes a vehicle support frame and a compartment; the guide system includes guide magnets, guide rails, guide air gap sensors, guide controller; the electromagnetic support system includes a rotor, a rotor controller, and a vehicle load sensor, the rotor is located below the long stator, and there is a small air gap between the rotor and the long stator, and the value range of the air gap is 2mm- 6mm; the rotor controller adjusts the excitation current of the rotor in real time so that the electromagnetic attraction generated by it is equal to the vehicle load. The vehicle is in contact with the line track through a support skid at its bottom. The utility model does not need a suspension air gap sensor, has low power consumption, light weight, low cost, simple control and stable operation.
Description
技术领域technical field
本实用新型涉及一种列车，特别是一种电磁列车。The utility model relates to a train, in particular to an electromagnetic train.
背景技术Background technique
电磁悬浮列车具有无摩擦的优点，已在上海得到商业应用。但磁悬浮列车运行时其定转子之间的悬浮间隙一般要保持在8-10mm，停车时的气隙更大，约为15~20mm，要保持这样的悬浮气隙，悬浮磁铁（转子）的励磁电流势必要大，造成悬浮磁铁耗电量大，自重大，导致车辆的有效载荷低。更为重要的是，磁悬浮系统是一个强耦合、本质非线性、开环不稳定的系统，在列车起浮、降落、直行等悬浮过程中需要气隙传感器实时监测气隙的大小，其控制复杂、不易实现，因而限制着磁悬浮列车的推广使用。Electromagnetic levitation trains have the advantage of being frictionless and have been commercially applied in Shanghai. However, when the maglev train is running, the suspension gap between the stator and rotor should generally be kept at 8-10mm, and the air gap when it is parked is larger, about 15-20mm. To maintain such a suspension air gap, the excitation of the suspension magnet (rotor) The current is bound to be large, resulting in a large power consumption of the levitating magnet and a large self-weight, resulting in a low payload of the vehicle. More importantly, the maglev system is a strongly coupled, inherently nonlinear, and open-loop unstable system. During the levitation process of the train such as floating, landing, and straight running, an air gap sensor is required to monitor the size of the air gap in real time, and its control is complicated. , be difficult to realize, thereby limit the popularization and use of maglev train.
发明内容Contents of the invention
本实用新型的主要目的在于：针对现有技术中存在的缺陷或不足，提供一种功耗小、自重轻、成本低、控制简单易行、运行效果与磁悬浮列车相当的电磁列车。The main purpose of the utility model is to provide an electromagnetic train with low power consumption, light weight, low cost, simple and easy control, and equivalent operation effect to the maglev train in view of the defects or deficiencies in the prior art.
为了达到以上目的，本实用新型电磁列车，包括：线路轨道，所述线路轨道两侧沿行驶方向安装有多个长定子；驱动系统，所述驱动系统含有所述长定子；车辆，所述车辆含有车辆支撑架、车厢；导向系统，所述导向系统含有导向磁铁、导向轨道、导向气隙传感器、导向控制器；以及电磁支撑系统，其特征在于：所述电磁支撑系统包括转子、转子控制器、车辆载荷传感器，所述转子位于所述长定子下方，所述转子与所述长定子之间具有小气隙，气隙的取值范围为2mm-6mm；所述车辆通过其底部的支撑滑撬与所述线路轨道接触，列车在整个行驶过程中，均与所述线路轨道接触。In order to achieve the above purpose, the electromagnetic train of the present utility model comprises: a line track, a plurality of long stators are installed along the traveling direction on both sides of the line track; a drive system, the drive system contains the long stators; a vehicle, the vehicle Contains a vehicle support frame, a compartment; a guide system, the guide system includes guide magnets, guide rails, guide air gap sensors, guide controllers; and an electromagnetic support system, characterized in that: the electromagnetic support system includes a rotor, a rotor controller . Vehicle load sensor, the rotor is located below the long stator, there is a small air gap between the rotor and the long stator, and the value range of the air gap is 2mm-6mm; the vehicle passes through the support skid at its bottom In contact with the line track, the train is in contact with the line track during the whole running process.
所述转子控制器根据所述车辆载荷传感器测得的车辆载荷，实时调节所述转子的励磁电流，使得励磁电流产生的电磁吸力等于所述车辆载荷。The rotor controller adjusts the excitation current of the rotor in real time according to the vehicle load measured by the vehicle load sensor, so that the electromagnetic attraction generated by the excitation current is equal to the vehicle load.
所述电磁支撑系统安装在所述车辆支撑架上。The electromagnetic support system is mounted on the vehicle support frame.
本实用新型电磁列车与磁悬浮列车的主要区别在于：1）车辆与线路轨道固定接触，没有悬浮，因而可省去悬浮气隙传感器，也无需起浮、降落、悬浮控制，使得控制简单、运行稳定；2）定子与转子之间的气隙为2-6mm，显著小于磁悬浮列车定转子之间的悬浮气隙（8-10mm），其带来的有益效果是：如果产生同样的电磁吸力f（即同样的车辆载荷），本发明电磁列车所需的转子励磁电流I可以成倍缩小，而根据功率P=I2R（其中R为转子励磁线圈的电阻），则功耗将成平方倍减小，同时自重减轻；3）新增车辆载荷传感器，通过它实时测量车辆载荷，只要调节转子的励磁电流I，使其产生的电磁吸力f等于车辆载荷，也就是说电磁吸力抵消了车辆载荷重力，则车辆作用于轨道上的作用力为零，因而摩擦力亦为零，这样虽然是固定接触，但仍可达到与磁悬浮列车同样的无摩擦效果；进一步地，在遇到紧急情况时，通过降低转子的励磁电流I，使得电磁吸力f变小，即可增加摩擦力，达到辅助迅速制动停车的目的。The main difference between the electromagnetic train of the utility model and the magnetic levitation train is: 1) The vehicle is in fixed contact with the track without suspension, so the suspension air gap sensor can be omitted, and there is no need for floating, landing, and suspension control, which makes the control simple and the operation stable ; 2) The air gap between the stator and the rotor is 2-6mm, which is significantly smaller than the levitation air gap (8-10mm) between the stator and rotor of the maglev train. The beneficial effect is: if the same electromagnetic attraction force f( That is, the same vehicle load), the rotor excitation current I required by the electromagnetic train of the present invention can be reduced exponentially, and according to power P=I 2 R (wherein R is the resistance of the rotor excitation coil), then the power consumption will be reduced by squares , and the weight is reduced at the same time; 3) A new vehicle load sensor is added to measure the vehicle load in real time through it, as long as the excitation current I of the rotor is adjusted so that the electromagnetic attraction force f generated by it is equal to the vehicle load, that is to say, the electromagnetic attraction force offsets the gravity of the vehicle load, Then the force of the vehicle acting on the track is zero, so the friction force is also zero. Although it is a fixed contact, it can still achieve the same frictionless effect as the maglev train; further, in case of emergency, by reducing The excitation current I of the rotor makes the electromagnetic attraction f smaller, which can increase the friction force and achieve the purpose of assisting rapid braking and parking.
综上所述，本实用新型的有益效果是：1）无需悬浮气隙传感器，没有起浮、降落、悬浮控制，控制简单、运行稳定；2）由于定转子之间的气隙显著缩小，使得列车自重轻、成本低、有效载荷大、功耗大大降低；3）虽然是固定接触，但仍可达到与磁悬浮列车同样的无摩擦效果；4）在遇到紧急情况时，通过降低转子的励磁电流，使得电磁吸力变小，即可增加列车与轨道之间的摩擦力，达到迅速制动停车的目的。To sum up, the beneficial effects of the utility model are: 1) No need for a suspension air gap sensor, no control of floating, landing, and suspension, simple control, and stable operation; 2) Since the air gap between the stator and rotor is significantly reduced, the The train has light weight, low cost, large payload, and greatly reduced power consumption; 3) Although it is a fixed contact, it can still achieve the same frictionless effect as the maglev train; 4) In an emergency, by reducing the excitation of the rotor The electric current makes the electromagnetic attraction force smaller, which can increase the friction force between the train and the track, and achieve the purpose of braking and stopping quickly.
附图说明Description of drawings
附图1为本实用新型电磁列车的结构示意图。Accompanying drawing 1 is the structural representation of the utility model electromagnetic train.
附图2为本实用新型电磁支撑系统的力学分析示意图。Accompanying drawing 2 is the schematic diagram of mechanical analysis of the electromagnetic support system of the present invention.
图中标号：1-轨道，1a-定子面，1b-侧面导向轨面，1c-滑行轨面，2-钢筋混凝土支墩基础，3-长定子，4-转子，4a-转子励磁线圈，4b-转子铁心，5-车辆载荷传感器，6-车辆支撑架，6a-横梁，6b-纵梁，7-支撑滑撬，8-车辆，9-导向磁铁。Labels in the figure: 1-track, 1a-stator surface, 1b-side guide rail surface, 1c-sliding rail surface, 2-reinforced concrete pier foundation, 3-long stator, 4-rotor, 4a-rotor excitation coil, 4b - rotor core, 5 - vehicle load sensor, 6 - vehicle support frame, 6a - beam, 6b - longitudinal beam, 7 - support skid, 8 - vehicle, 9 - guide magnet.
具体实施方式detailed description
下面结合附图，对本实用新型作进一步详细说明。Below in conjunction with accompanying drawing, the utility model is described in further detail.
如附图1所示，本实用新型电磁列车的线路轨道包括轨道1、钢筋混凝土支墩基础2，其作用是引导列车前进方向，同时承受列车载荷并将之传至地基。轨道1为线路的上部结构，包括定子面1a（用于悬浮）、侧面导向轨面1b（用于控制列车方向）、滑行轨面1c（用于支承列车）及其固定附件；钢筋混凝土支墩基础2为线路的下部结构。As shown in accompanying drawing 1, the line track of electromagnetic train of the present utility model comprises track 1, reinforced concrete pier foundation 2, and its effect is to guide train advancing direction, bear train load simultaneously and pass it to foundation. Track 1 is the upper structure of the line, including stator surface 1a (for suspension), side guide rail surface 1b (for controlling the direction of the train), sliding rail surface 1c (for supporting the train) and its fixed accessories; reinforced concrete pier Foundation 2 is the substructure of the line.
电磁列车的驱动系统包括长定子3，它沿整个线路敷设在轨道两侧，与安装在车辆8上的转子4构成长定子线性同步电动机，既用于驱动也用于制动，其工作原理是：长定子3带有三相行波线圈，输入三相交流电后产生直线移动磁场，电磁力将列车吸引推动向前，其运行速度与长定子3中三相电流的频率成正比，因而列车可以根据三相电流的频率实现无级变速；长定子3中三相电流由地面固定的控制设备通过调节其频率、电压、电流及相位角来实施控制列车的牵引和制动。The driving system of the electromagnetic train includes a long stator 3, which is laid on both sides of the track along the entire line, and forms a long stator linear synchronous motor with the rotor 4 installed on the vehicle 8, which is used for both driving and braking. Its working principle is : The long stator 3 has a three-phase traveling wave coil. After inputting three-phase alternating current, a linear moving magnetic field is generated, and the electromagnetic force pushes the train forward. The frequency of the three-phase current realizes stepless speed change; the three-phase current in the long stator 3 is controlled by the control equipment fixed on the ground by adjusting its frequency, voltage, current and phase angle to control the traction and braking of the train.
电磁列车的车辆8包括车辆支撑架6和车厢。车辆支撑架6是车辆的主要部件，它由横梁6a、纵梁6b、支撑滑撬7等组成，转子4、导向磁铁9等均安装在车辆支撑架6上，车辆支撑架6将电磁力、导向力、牵引力和制动力通过悬挂系统传递给车厢。转子4和导向磁铁9安装在相邻两个车辆支撑架6的纵梁6b上。车辆8通过支撑滑撬7与线路轨道接触。滑撬7位于车辆8底部，固定在空气弹簧支架上，用于列车支撑车体和特殊情况下的紧急制动（利用其与轨道的摩擦力），承受列车载荷并将之传至地基。The vehicle 8 of the electromagnetic train includes a vehicle support frame 6 and a carriage. Vehicle supporting frame 6 is the main part of vehicle, and it is made up of beam 6a, longitudinal beam 6b, supporting skid 7 etc., and rotor 4, guide magnet 9 etc. are all installed on vehicle supporting frame 6, and vehicle supporting frame 6 will electromagnetic force, Guiding force, traction force and braking force are transmitted to the cabin through the suspension system. The rotor 4 and the guide magnet 9 are installed on the longitudinal beams 6 b of two adjacent vehicle support frames 6 . The vehicle 8 is in contact with the line track through the support skid 7 . The skid 7 is located at the bottom of the vehicle 8 and is fixed on the air spring bracket, which is used for the train supporting the car body and emergency braking under special circumstances (utilizing its friction with the track), bearing the load of the train and transmitting it to the foundation.
电磁列车的电磁支撑系统包括转子4、转子控制器、车辆载荷传感器5。转子4安装在车辆支撑架6上，且位于长定子3的下方，它们之间的气隙很小，其取值范围是2-6mm；车辆载荷传感器5安装在车辆支撑架6的横梁6a与支撑滑撬7之间，转子控制器根据车辆载荷传感器5测得的车辆载荷，实时调节所述转子的励磁电流，使得励磁电流产生的电磁吸力等于车辆载荷，即电磁吸力抵消了车辆载荷重力，则车辆8施加在线路轨道滑行轨面1c上的作用力等于零，从而车辆8与线路轨道之间的摩擦力也为零，达到与磁悬浮列车同样的无摩擦效果。The electromagnetic support system of the electromagnetic train includes a rotor 4 , a rotor controller, and a vehicle load sensor 5 . The rotor 4 is installed on the vehicle support frame 6, and is located below the long stator 3, the air gap between them is very small, and its value range is 2-6mm; the vehicle load sensor 5 is installed on the crossbeam 6a of the vehicle support frame 6 and Between the supporting skids 7, the rotor controller adjusts the excitation current of the rotor in real time according to the vehicle load measured by the vehicle load sensor 5, so that the electromagnetic attraction generated by the excitation current is equal to the vehicle load, that is, the electromagnetic attraction offsets the gravity of the vehicle load, Then the force exerted by the vehicle 8 on the sliding rail surface 1c of the line track is equal to zero, so that the friction force between the vehicle 8 and the line track is also zero, achieving the same frictionless effect as the maglev train.
电磁列车的导向系统包括导向磁铁9、导向轨道（即轨道1的侧面导向轨面1b）、导向气隙传感器、导向控制器，导向气隙传感器位于导向磁铁9侧，通过其实时监测，控制导向磁铁9产生的电磁力的大小，保证列车侧向与轨道1的侧面导向轨面1b保持8-10mm的导向间隙。The guidance system of the electromagnetic train includes a guide magnet 9, a guide rail (that is, the side guide rail surface 1b of the track 1), a guide air gap sensor, and a guide controller. The guide air gap sensor is located on the side of the guide magnet 9. The magnitude of the electromagnetic force that magnet 9 produces ensures that the guide gap of 8-10mm is maintained between the side guide rail surface 1b of the train side and track 1.
下面举例进一步说明本实用新型电磁列车实现无摩擦、辅助制动、自重轻、功耗小、成本低的实施方式。The following example further illustrates the embodiment of the utility model electromagnetic train that realizes frictionless, auxiliary braking, light weight, low power consumption and low cost.
图2为本实用新型电磁支撑系统的力学分析示意图，图中f为转子4通电以后产生的方向向上的电磁吸力，mg为车辆8的自重，即车辆载荷，方向向下，δ为转子4与定子3之间的气隙。Fig. 2 is the mechanical analysis schematic diagram of the electromagnetic support system of the present utility model, and among the figure f is the upward electromagnetic suction generated after the rotor 4 is energized, mg is the self-weight of the vehicle 8, that is, the vehicle load, and the direction is downward, and δ is the rotor 4 and the direction downward. Air gap between stator 3.
根据电磁学理论，有：According to the theory of electromagnetism, there are:
式中，μ0为真空磁导率，N为转子励磁线圈4a的匝数，S为电磁铁（即转子4）的磁极表面有效面积，I为转子4的励磁电流。In the formula, μ 0 is the vacuum magnetic permeability, N is the number of turns of the rotor excitation coil 4a, S is the effective area of the magnetic pole surface of the electromagnet (that is, the rotor 4), and I is the excitation current of the rotor 4.
根据图2，车辆施加在线路轨道上的作用力F等于其自重mg与电磁吸力f之差，即：According to Figure 2, the force F exerted by the vehicle on the track is equal to the difference between its own weight mg and the electromagnetic attraction f, that is:
通过调节转子的励磁电流I，使得电磁吸力f等于车辆载荷mg，则由式（1）可得：By adjusting the excitation current I of the rotor so that the electromagnetic attraction force f is equal to the vehicle load mg, it can be obtained from formula (1):
因此，只要调节转子的励磁电流I，使I满足式（3），则电磁吸力f就等于车辆载荷mg，由式（2）可知，此时车辆施加在线路轨道上的作用力F（合力）等于零，因而车辆与线路轨道之间的摩擦力也为零，达到磁悬浮列车的无摩擦效果。Therefore, as long as the excitation current I of the rotor is adjusted so that I satisfies formula (3), the electromagnetic attraction force f is equal to the vehicle load mg. From formula (2), it can be seen that the force F (resultant force) exerted by the vehicle on the track at this time It is equal to zero, so the friction force between the vehicle and the track is also zero, achieving the frictionless effect of the maglev train.
进一步地，在遇到紧急情况时，通过降低转子的励磁电流I，则电磁吸力f变小，使得合力F大于零，即可增加车辆与线路轨道之间的摩擦力，达到辅助迅速制动停车的目的。Furthermore, in case of an emergency, by reducing the excitation current I of the rotor, the electromagnetic attraction force f becomes smaller, so that the resultant force F is greater than zero, which can increase the friction between the vehicle and the line track, and achieve auxiliary rapid braking and parking the goal of.
与磁悬浮列车相比，本发明电磁列车定子3、转子4之间的气隙δ很小，气隙取值范围仅为2mm-6mm。不失一般性，举例：选取电磁列车定子3、转子4之间的气隙为4mm，而磁悬浮列车定转子之间的气隙是10mm，则电磁列车气隙是磁悬浮列车气隙的2/5（即40%）。由于定转子之间的气隙减小，如果产生与磁悬浮列车同样的电磁吸力f（即同样的车辆载荷），则从式（1）可以得出三种效果：Compared with the maglev train, the air gap δ between the stator 3 and the rotor 4 of the electromagnetic train of the present invention is very small, and the value range of the air gap is only 2mm-6mm. Without loss of generality, for example: select the air gap between the electromagnetic train stator 3 and the rotor 4 to be 4mm, and the air gap between the magnetic levitation train stator and rotor is 10mm, then the electromagnetic train air gap is 2/5 of the magnetic levitation train air gap (ie 40%). Since the air gap between the stator and rotor is reduced, if the same electromagnetic attraction f (that is, the same vehicle load) as that of the maglev train is generated, three effects can be obtained from formula (1):
1）所需励磁电流I可以相应同比例减小为原来的40%（即降低60%），则根据功率P=I2R（其中R为转子励磁线圈4a的电阻）可算出：转子的电磁功耗P仅为磁悬浮列车的16%（即节约84%），功耗大大降低；同时由于励磁电流I减小，转子励磁线圈4a可以选用线径较小的导线，转子铁心4b可以变薄，转子4体积变小，转子4的自重得以减轻，则可降低长定子3的驱动功耗，或可增加车辆8的有效载荷。1) The required excitation current I can be reduced to 40% of the original (i.e. reduced by 60%) in the same proportion, then according to the power P=I 2 R (where R is the resistance of the rotor excitation coil 4a), it can be calculated: the rotor electromagnetic The power consumption P is only 16% of that of the maglev train (i.e. saving 84%), and the power consumption is greatly reduced; at the same time, due to the reduction of the excitation current I, the rotor excitation coil 4a can use a wire with a smaller wire diameter, and the rotor core 4b can be thinner. The volume of the rotor 4 becomes smaller and the weight of the rotor 4 is reduced, which can reduce the driving power consumption of the long stator 3 or increase the payload of the vehicle 8 .
2）如果保持励磁电流I不变，则所需转子励磁线圈4a的匝数N可相应同比例减小为原来的40%（即减少60%），从而转子铁心4b可以变薄，高度减小为原来的40%（即降低60%），转子4体积变小，节约了励磁线圈4a导线和转子铁心4b的成本，且显著减轻了转子4的自重，同样可降低长定子3的驱动功耗，或增加车辆8的有效载荷。2) If the excitation current I is kept constant, the number of turns N of the required rotor excitation coil 4a can be reduced to 40% of the original (i.e. 60%) in the same proportion, so that the rotor core 4b can be thinned and reduced in height 40% of the original (i.e. reduced by 60%), the volume of the rotor 4 becomes smaller, which saves the cost of the excitation coil 4a wire and the rotor core 4b, and significantly reduces the weight of the rotor 4, which can also reduce the driving power consumption of the long stator 3 , or increase the payload of the vehicle 8.
3）如果保持励磁电流I和转子励磁线圈4a的匝数N不变，则电磁铁（转子4）的磁极表面积S可以减小到仅为磁悬浮列车的16%（即减少84%），则转子4体积变小，降低了转子铁心4b的成本，且显著减轻了转子4的自重，同样可降低长定子3的驱动功耗，或增加车辆8的有效载荷。3) If the excitation current I and the number of turns N of the rotor excitation coil 4a remain unchanged, the pole surface area S of the electromagnet (rotor 4) can be reduced to only 16% of that of the maglev train (i.e. 84%), and the rotor 4 The volume becomes smaller, which reduces the cost of the rotor core 4b, and significantly reduces the weight of the rotor 4, which can also reduce the driving power consumption of the long stator 3, or increase the payload of the vehicle 8.
由上可知，本实用新型电磁列车的节能降耗效果非常显著。如果定子3与转子4之间的气隙选择得更小，则功耗可以更小、自重更轻、成本更低，节能降耗效果更为显著。As can be seen from the above, the energy-saving and consumption-reducing effect of the electromagnetic train of the present utility model is very remarkable. If the air gap between the stator 3 and the rotor 4 is selected to be smaller, the power consumption can be smaller, the self-weight is lighter, the cost is lower, and the effect of energy saving and consumption reduction is more remarkable.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691233A (en) * | 2016-01-14 | 2016-06-22 | 曲阜师范大学 | Electromagnetic train |
| CN108657012A (en) * | 2018-06-12 | 2018-10-16 | 胡铁林 | Novel high speed magnetic suspension train and suspension mechanism |
| CN109532904A (en) * | 2018-11-21 | 2019-03-29 | 中车青岛四方机车车辆股份有限公司 | A kind of rail vehicle |
| CN110071677A (en) * | 2019-05-30 | 2019-07-30 | 中国科学院电工研究所 | High-speed maglev train long stator synchronous linear motor traction control method |
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2016
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691233A (en) * | 2016-01-14 | 2016-06-22 | 曲阜师范大学 | Electromagnetic train |
| CN105691233B (en) * | 2016-01-14 | 2018-02-09 | 曲阜师范大学 | Electromagnetism train |
| CN108657012A (en) * | 2018-06-12 | 2018-10-16 | 胡铁林 | Novel high speed magnetic suspension train and suspension mechanism |
| CN108657012B (en) * | 2018-06-12 | 2023-12-29 | 胡铁林 | High-speed magnetic suspension train and suspension mechanism |
| CN109532904A (en) * | 2018-11-21 | 2019-03-29 | 中车青岛四方机车车辆股份有限公司 | A kind of rail vehicle |
| CN109532904B (en) * | 2018-11-21 | 2021-03-02 | 中车青岛四方机车车辆股份有限公司 | Rail vehicle |
| CN110071677A (en) * | 2019-05-30 | 2019-07-30 | 中国科学院电工研究所 | High-speed maglev train long stator synchronous linear motor traction control method |
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