WO2020237985A1 - 一种磁浮列车牵引系统位置控制环的精度校正方法及系统 - Google Patents
一种磁浮列车牵引系统位置控制环的精度校正方法及系统 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000005339 levitation Methods 0.000 title abstract 4
- 238000004891 communication Methods 0.000 claims abstract description 59
- 238000012937 correction Methods 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims description 35
- 230000004907 flux Effects 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 6
- 230000000737 periodic effect Effects 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/026—Relative localisation, e.g. using odometer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
- B61L15/0027—Radio-based, e.g. using GSM-R
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2210/00—Vehicle systems
- B61L2210/04—Magnetic elevation vehicles [maglev]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/04—Large scale networks; Deep hierarchical networks
- H04W84/042—Public Land Mobile systems, e.g. cellular systems
Definitions
- the invention belongs to the technical field of maglev train speed measurement and positioning, and in particular relates to a method and system for correcting the accuracy of a position control loop of a maglev train traction system.
- the maglev type high-speed maglev train (hereinafter referred to as the high-speed maglev train) that meets the requirements of "constant magnetic attraction” adopts linear synchronous motor for traction.
- the mover of the synchronous motor and the suspension electromagnet are integrated, and the stator is installed under the track Three-phase winding. According to the working principle of the synchronous motor, only when the winding magnetic field of the long stator and the excitation magnetic field are synchronized, can a constant traction force be produced. Therefore, the position detection of high-speed maglev trains is the key to traction control.
- the traction system of the high-speed maglev train is installed in the ground traction control room, and the actual position is obtained by the position detection system installed on the car, and is transmitted to the on-board wireless communication system through the synchronous RS485 communication channel according to the update cycle of 20ms and the transmission cycle of 512kps , And then transmitted to the ground wireless communication system via 38G and other wireless communication, and finally transmitted to the traction system via the synchronous RS485 communication channel to achieve closed-loop control of the train position.
- the purpose of the present invention is to provide a method and system for correcting the accuracy of the position control loop of the maglev train traction system in view of the above-mentioned shortcomings of the prior art, which can eliminate the time delay and is low in cost.
- the technical solution adopted by the present invention is:
- a method for correcting the accuracy of the position control loop of the maglev train traction system including:
- Step A the speed measurement system collects the position-related information of the train
- Step B The speed measurement system sends the collected position-related information to the traction system through the signal system;
- Step C The traction system performs closed-loop control on the position of the train according to the position-related information
- step A it also includes:
- Step A1 time-check the speed measurement system, signal system and traction system and add time stamp information.
- the signal system includes a vehicle-mounted wireless communication system and a ground wireless communication system.
- the speed measurement system is connected with the vehicle-mounted wireless communication system
- the traction system is connected with the ground wireless communication system
- the vehicle-mounted wireless communication system is connected through the 4G-LTE wireless communication network. Connect with the ground wireless communication system;
- the location-related information is sequentially sent to the traction system through the vehicle-mounted wireless communication system, 4G-LTE wireless communication network, and ground wireless communication system.
- the position-related information includes train speed, magnetic pole phase angle, and absolute train position.
- the closed-loop control process includes:
- the Beidou system and/or GPS system are used to synchronize the time of the speed measurement system, signal system and traction system.
- the present invention also provides a precision correction method for the position control loop of the maglev train traction system, including:
- Speed measurement system used to collect train location related information
- Signal system used to receive the position-related information sent by the speed measurement system, and send the position-related information to the traction system:
- Traction system used for closed-loop control of the train's position based on position-related information
- Time synchronization system used to synchronize the time of the speed measurement system, signal system and traction system, and add time stamp information.
- the signal system includes a vehicle-mounted wireless communication system and a ground wireless communication system
- the speed measurement system is connected with the vehicle-mounted wireless communication system
- the traction system is connected with the ground wireless communication system
- the vehicle-mounted wireless communication system is connected through the 4G-LTE wireless communication network. Connect with the ground wireless communication system.
- the position-related information collected by the speed measurement system includes train speed, magnetic pole phase angle, and absolute train position.
- the closed-loop control process of the traction system includes:
- the time synchronization system uses Beidou system and/or GPS system to synchronize the time of the speed measurement system, the signal system and the traction system.
- the present invention has the following beneficial effects:
- a method for correcting the accuracy of the position control loop of the maglev train traction system including:
- Step A1 Use the Beidou system and/or GPS system to perform time synchronization on the speed measurement system, signal system and traction system, and add time stamp information. Eliminate the influence of position positioning information from transmission cycle delay and jitter, and meet the traction needs of medium and high speed maglev trains.
- Step A the speed measurement system collects the position-related information of the train.
- the position-related information includes train speed, magnetic pole phase angle, and absolute train position.
- Step B The speed measurement system sends the collected position-related information to the traction system through the signal system.
- Step C The traction system performs closed-loop control on the position of the train according to the position-related information.
- the closed-loop control process includes:
- Main reference 1) According to the line information, the coil cycle length is 516mm, and the position sensor resolution is 3°, which is 4.3mm; 2) According to the collected train speed, magnetic pole angle, train absolute position information, and time information, perform least square fitting , Estimate the train position information at this time; 3) Combine simulation to calculate the delay jitter of the magnetic pole phase angle, calculate the compensation amount, and use the compensation amount to correct the precise rotor magnetic pole phase angle position.
- the speed is very small, the precise magnetic pole accuracy, effective traction for the train, and superior dynamic performance. When the speed exceeds 3.3m/s, the speed measurement resolution often does not meet the control requirements.
- the back EMF generated by the magnetic poles must be used to estimate the current speed and the phase relationship between the magnetic poles and the stator maglev.
- the signal system includes a vehicle-mounted wireless communication system and a ground wireless communication system.
- the speed measurement system is connected with the vehicle-mounted wireless communication system.
- the traction system is connected with the ground wireless communication system.
- the vehicle-mounted wireless communication system is connected to the ground wireless through a mature and cheap 4G-LTE wireless communication network.
- the communication system is connected; the position-related information is sent to the traction system through the vehicle-mounted wireless communication system, 4G-LTE wireless communication network, and ground wireless communication system in turn.
- the invention also provides a method for correcting the accuracy of the position control loop of the maglev train traction system, including:
- Speed measurement system used to collect train location related information
- Signal system used to receive the position-related information sent by the speed measurement system, and send the position-related information to the traction system:
- Traction system used for closed-loop control of the train's position based on position-related information
- Time synchronization system used to synchronize the speed measurement system, signal system and traction system with Beidou system and/or GPS system, and add time stamp information.
- the signal system includes a vehicle-mounted wireless communication system and a ground wireless communication system.
- the speed measurement system is connected with the vehicle-mounted wireless communication system
- the traction system is connected with the ground wireless communication system
- the vehicle-mounted wireless communication system is connected with the ground wireless communication system through the 4G-LTE wireless communication network. .
- the position-related information collected by the speed measurement system includes train speed, magnetic pole phase angle, and absolute train position.
- the closed-loop control process of the traction system includes:
- stator current in order to realize decoupling control, the stator current must be strictly controlled.
- To achieve the vertical control of the stator current vector and the rotor vector it includes three closed-loop control of position, speed and current. By comparing the actual position of the train with a given position, the speed and current are calculated. It is necessary to detect or observe the position of the rotor pole angle in real time during the control process.
- Main reference 1) According to the line information, that is, the coil period length is 516mm, and the resolution of the position sensor is 3°, which is 4.3mm; 2) According to the collected train speed, magnetic pole angle, train absolute position information, and time information, perform least squares fitting , Estimate the position information of the train at this time; 3) Calculate the delay jitter of the magnetic pole phase angle with simulation, calculate the compensation amount, and use the compensation amount to correct the precise rotor magnetic pole phase angle position.
- the speed is very low, the precise magnetic pole accuracy, effective traction for the train and superior dynamic performance. When the speed exceeds 3.3m/s, the speed measurement resolution often does not meet the control requirements.
- the back EMF generated by the magnetic poles must be used to estimate the current speed and the phase relationship between the magnetic poles and the stator maglev.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
一种磁浮列车牵引系统位置控制环的精度校正方法及系统,其中精度校正方法包括:步骤A,测速系统采集列车的位置相关信息;步骤B,将位置相关信息通过信号系统发送至牵引系统;步骤C,牵引系统根据位置相关信息,对列车的位置进行闭环控制;在步骤A之前还包括步骤A1,对测速系统、信号系统和牵引系统进行对时,增加时间戳信息。该校正方法和系统对测速系统、信号系统和牵引系统进行对时,增加时间戳信息,克服延时与周期随机抖动的影响,满足中高速磁浮列车牵引控制的需求;采用成熟廉价的4G‑LTE无线通讯,具备高带宽、低时延、广覆盖、QOS保证和高速移动特性;提供一种简单实用的提升中高速磁浮磁极相角精度的方法,有很好的工程应用前景。
Description
本发明属于磁浮列车测速定位技术领域,特别涉及一种磁浮列车牵引系统位置控制环的精度校正方法及系统。
目前,满足“常导磁吸”磁浮式高速磁浮列车(以下简称高速磁浮列车)采用直线同步电机进行牵引,同步电机的动子与悬浮电磁铁是一体的,而定子则是安装于轨道下的三相绕组。根据同步电机的工作原理,只有当长定子的绕组磁场与励磁磁场两者同步时,才能产生恒定的牵引力。因此,高速磁浮列车的位置检测是牵引控制的关键。
高速磁浮列车的牵引系统安装在地面牵引控制室内,而实际位置是由安装于车上的位置检测系统获得,并按照20ms的更新周期、512kps的传输周期通过同步RS485通讯信道传输给车载无线通讯系统,再经38G等无线通讯传到地面无线通讯系统,最后经同步RS485通讯信道传递给牵引系统,实现对列车位置闭环控制。
在实际控制过程中,从位置检测、信息处理打包,到将检测的位置信息传递给牵引系统,均存在一定延时,具体的延时时间与传感器及信号处理、信号传输方式有关。此外,目前国内外的38G无线网络属于专有的无线通讯技术,产品在成熟的轨道交通领域中应用较少,价格昂贵。
发明内容
本发明的目的在于,针对上述现有技术的不足,提供一种磁浮列车牵引系统位置控制环的精度校正方法及系统,能够消除延时,且成本低廉。
为解决上述技术问题,本发明所采用的技术方案是:
一种磁浮列车牵引系统位置控制环的精度校正方法,包括:
步骤A,测速系统采集列车的位置相关信息;
步骤B,测速系统将采集到的位置相关信息通过信号系统发送至牵引系统;
步骤C,牵引系统根据位置相关信息,对列车的位置进行闭环控制;
其特点是在步骤A之前,还包括:
步骤A1,对测速系统、信号系统和牵引系统进行对时,增加时 间戳信息。
作为一种优选方式,所述信号系统包括车载无线通讯系统和地面无线通讯系统,测速系统与车载无线通讯系统相连,牵引系统与地面无线通讯系统相连,车载无线通讯系统通过4G-LTE无线通讯网络与地面无线通讯系统相连;
位置相关信息依次通过车载无线通讯系统、4G-LTE无线通讯网络、地面无线通讯系统发送至牵引系统。
作为一种优选方式,所述位置相关信息包括列车速度、磁极相角、列车绝对位置。
作为一种优选方式,所述步骤C中,闭环控制过程包括:
利用列车动力学方程,直线电机数学公式、电机参数建立模型,采取按转子磁场定向的矢量控制,实现转矩和磁链的动态解耦,实现连续控制;
依据采集的列车速度、磁极相角、列车绝对位置信息、时间信息进行最小二乘法拟合,预估此时列车位置信息;
结合仿真计算磁极相角的延时抖动,计算补偿量,利用补偿量修正转子磁极相角的位置。
作为一种优选方式,利用北斗系统和/或GPS系统对测速系统、信号系统和牵引系统进行对时。
基于同一个发明构思,本发明还提供了一种磁浮列车牵引系统位置控制环的精度校正方法,包括:
测速系统:用于采集列车的位置相关信息;
信号系统:用于接收测速系统发送的位置相关信息,并将位置相关信息发送至牵引系统:
牵引系统:用于根据位置相关信息,对列车的位置进行闭环控制;
其特征在于,还包括:
对时系统:用于对测速系统、信号系统和牵引系统进行对时,并增加时间戳信息。
作为一种优选方式,所述信号系统包括车载无线通讯系统和地面无线通讯系统,测速系统与车载无线通讯系统相连,牵引系统与地面无线通讯系统相连,车载无线通讯系统通过4G-LTE无线通讯网络与地面无线通讯系统相连。
作为一种优选方式,测速系统采集到的位置相关信息包括列车速度、磁极相角、列车绝对位置。
作为一种优选方式,牵引系统的闭环控制过程包括:
利用列车动力学方程,直线电机数学公式、电机参数建立模型,采取按转子磁场定向的矢量控制,实现转矩和磁链的动态解耦,实现连续控制;
依据采集的列车速度、磁极相角、列车绝对位置信息、时间信息进行最小二乘法拟合,预估此时列车位置信息;
结合仿真计算磁极相角的延时抖动,计算补偿量,利用补偿量修正转子磁极相角的位置。
作为一种优选方式,所述对时系统利用北斗系统和/或GPS系统对测速系统、信号系统和牵引系统进行对时。
与现有技术相比,本发明具有以下有益效果:
(1)对测速系统、信号系统和牵引系统进行对时,增加时间戳信息,克服磁极相角及位置、速度的信息在无线传输过程中的延时与周期随机抖动的影响,满足中高速磁浮列车牵引控制的需求。
(2)采用成熟廉价的4G-LTE无线通讯,具备高带宽、低时延、广覆盖、QOS保证和高速移动特性的技术优势。
(3)提供一种简单实用的提升中高速磁浮磁极相角精度的方法,有很好的工程应用前景。
一种磁浮列车牵引系统位置控制环的精度校正方法,包括:
步骤A1,利用北斗系统和/或GPS系统对测速系统、信号系统和牵引系统进行对时,增加时间戳信息。消除位置定位信息受传输周期延时、抖动的影响,满足中高速磁浮列车牵引的需求。
步骤A,测速系统采集列车的位置相关信息。所述位置相关信息包括列车速度、磁极相角、列车绝对位置。
步骤B,测速系统将采集到的位置相关信息通过信号系统发送至牵引系统。
步骤C,牵引系统根据位置相关信息,对列车的位置进行闭环控制。闭环控制过程包括:
利用列车动力学方程,直线电机数学公式、电机参数建立模型,采取按转子磁场定向的矢量控制,实现转矩和磁链的动态解耦,实现连续控制。依据磁浮定向控制理论,为实现解耦控制,必须严格控制定子电流。要实现定子电流矢量与转子矢量垂直控制,包括位置、速度和电流三个控制闭环。通过把列车的实际位置与给定位置的比较, 推算出速度、电流。必须控制过程中实时检测或观测估计出转子磁极角的位置。主要参考:1)依据线路信息即线圈周期长度516mm,位置传感器分辨率3°,即4.3mm;2)依据采集的列车速度、磁极相角、列车绝对位置信息、时间信息进行最小二乘法拟合,预估此时列车位置信息;3)结合仿真计算磁极相角的延时抖动,计算补偿量,利用补偿量修正精准的转子磁极相角的位置。列车在启动过程中,速度很小,精准的磁极精度,对列车有效牵引、动态性能优越。当超过3.3m/s后,测速分辨率往往不满足控制要求,必须采用磁极产生的反电动势来估计当前的速度以及磁极与定子磁浮的相位关系。
所述信号系统包括车载无线通讯系统和地面无线通讯系统,测速系统与车载无线通讯系统相连,牵引系统与地面无线通讯系统相连,车载无线通讯系统通过成熟廉价的4G-LTE无线通讯网络与地面无线通讯系统相连;位置相关信息依次通过车载无线通讯系统、4G-LTE无线通讯网络、地面无线通讯系统发送至牵引系统。
本发明还提供了一种磁浮列车牵引系统位置控制环的精度校正方法,包括:
测速系统:用于采集列车的位置相关信息;
信号系统:用于接收测速系统发送的位置相关信息,并将位置相关信息发送至牵引系统:
牵引系统:用于根据位置相关信息,对列车的位置进行闭环控制;
还包括:
对时系统:用于利用北斗系统和/或GPS系统对测速系统、信号系统和牵引系统进行对时,并增加时间戳信息。
所述信号系统包括车载无线通讯系统和地面无线通讯系统,测速系统与车载无线通讯系统相连,牵引系统与地面无线通讯系统相连,车载无线通讯系统通过4G-LTE无线通讯网络与地面无线通讯系统相连。
测速系统采集到的位置相关信息包括列车速度、磁极相角、列车绝对位置。
牵引系统的闭环控制过程包括:
利用列车动力学方程,直线电机数学公式、电机参数建立模型,采取按转子磁场定向的矢量控制,实现转矩和磁链的动态解耦,实现连续控制。依据磁浮定向控制理论,为实现解耦控制,必须严格控制定子电流。要实现定子电流矢量与转子矢量垂直控制,包括位置、速 度和电流三个控制闭环。通过把列车的实际位置与给定位置的比较,推算出速度、电流。必须控制过程中实时检测或观测估计出转子磁极角的位置。主要参考:1)依据线路信息即线圈周期长度516mm,位置传感器分辨率3°,即4.3mm;2)依据采集的列车速度、磁极相角、列车绝对位置信息、时间信息进行最小二乘法拟合,预估此时列车位置信息;3)结合仿真计算磁极相角的延时抖动,计算补偿量,利用补偿量修正精准的转子磁极相角的位置。列车在启动过程中,速度很小,精准的磁极精度,对列车有效牵引、动态性能优越。当超过3.3m/s后,测速分辨率往往不满足控制要求,必须采用磁极产生的反电动势来估计当前的速度以及磁极与定子磁浮的相位关系。
上面对本发明的实施例进行了描述,但是本发明并不局限于上述的具体实施方式,上述的具体实施方式仅仅是示意性的,而不是局限性的,本领域的普通技术人员在本发明的启示下,在不脱离本发明宗旨和权利要求所保护的范围情况下,还可做出很多形式,这些均属于本发明的保护范围之内。
Claims (10)
- 一种磁浮列车牵引系统位置控制环的精度校正方法,包括:步骤A,测速系统采集列车的位置相关信息;步骤B,测速系统将采集到的位置相关信息通过信号系统发送至牵引系统;步骤C,牵引系统根据位置相关信息,对列车的位置进行闭环控制;其特征在于,在步骤A之前,还包括:步骤A1,对测速系统、信号系统和牵引系统进行对时,增加时间戳信息。
- 如权利要求1所述的磁浮列车牵引系统位置控制环的精度校正方法,其特征在于,所述信号系统包括车载无线通讯系统和地面无线通讯系统,测速系统与车载无线通讯系统相连,牵引系统与地面无线通讯系统相连,车载无线通讯系统通过4G-LTE无线通讯网络与地面无线通讯系统相连;位置相关信息依次通过车载无线通讯系统、4G-LTE无线通讯网络、地面无线通讯系统发送至牵引系统。
- 如权利要求1所述的磁浮列车牵引系统位置控制环的精度校正方法,其特征在于,所述位置相关信息包括列车速度、磁极相角、列车绝对位置。
- 如权利要求3所述的磁浮列车牵引系统位置控制环的精度校正方法,其特征在于,所述步骤C中,闭环控制过程包括:利用列车动力学方程,直线电机数学公式、电机参数建立模型,采取按转子磁场定向的矢量控制,实现转矩和磁链的动态解耦,实现连续控制;依据采集的列车速度、磁极相角、列车绝对位置信息、时间信息进行最小二乘法拟合,预估此时列车位置信息;结合仿真计算磁极相角的延时抖动,计算补偿量,利用补偿量修正转子磁极相角的位置。
- 如权利要求1所述的磁浮列车牵引系统位置控制环的精度校正方法,其特征在于,利用北斗系统和/或GPS系统对测速系统、信号系统和牵引系统进行对时。
- 一种磁浮列车牵引系统位置控制环的精度校正方法,包括:测速系统:用于采集列车的位置相关信息;信号系统:用于接收测速系统发送的位置相关信息,并将位置相关信息发送至牵引系统:牵引系统:用于根据位置相关信息,对列车的位置进行闭环控制;其特征在于,还包括:对时系统:用于对测速系统、信号系统和牵引系统进行对时,并增加时间戳信息。
- 如权利要求6所述的磁浮列车牵引系统位置控制环的精度校正系统,其特征在于,所述信号系统包括车载无线通讯系统和地面无线通讯系统,测速系统与车载无线通讯系统相连,牵引系统与地面无线通讯系统相连,车载无线通讯系统通过4G-LTE无线通讯网络与地面无线通讯系统相连。
- 如权利要求6所述的磁浮列车牵引系统位置控制环的精度校正系统,其特征在于,测速系统采集到的位置相关信息包括列车速度、磁极相角、列车绝对位置。
- 如权利要求8所述的磁浮列车牵引系统位置控制环的精度校正系统,其特征在于,牵引系统的闭环控制过程包括:利用列车动力学方程,直线电机数学公式、电机参数建立模型,采取按转子磁场定向的矢量控制,实现转矩和磁链的动态解耦,实现连续控制;依据采集的列车速度、磁极相角、列车绝对位置信息、时间信息进行最小二乘法拟合,预估此时列车位置信息;结合仿真计算磁极相角的延时抖动,计算补偿量,利用补偿量修正转子磁极相角的位置。
- 如权利要求6所述的磁浮列车牵引系统位置控制环的精度校正系统,其特征在于,所述对时系统利用北斗系统和/或GPS系统对测速系统、信号系统和牵引系统进行对时。
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