WO2024087288A1 - Simulation method for vehicle-bridge system of magnetic levitation vehicle, and related product - Google Patents

Abstract

Disclosed in the present application are a simulation construction method for a vehicle-bridge system of a magnetic levitation vehicle, and a related product. The method comprises: according to operation algorithms corresponding to real parts of a vehicle-bridge system of a magnetic levitation vehicle, constructing virtual models corresponding to the real parts of the vehicle-bridge system; and performing joint simulation on the basis of the virtual models and the real parts, so as to obtain a simulation system model corresponding to the vehicle-bridge system. In this way, a semi-physical simulation system model of the vehicle-bridge system can be constructed according to pre-constructed virtual models and by means of some real parts of the vehicle-bridge system, and a system-level semi-physical cross-linking test can be realized without the need for constructing a fully real test environment, such that simulation precision and working efficiency can be improved, and development risks can be reduced. In addition, by using such a virtual-real combination mode, i.e., a simulation method combining virtual models with real parts, a simulation system model closer to a real vehicle-bridge system can be constructed, thereby improving the construction precision of the simulation system model.

Description

A simulation method for a vehicle-bridge system of a maglev vehicle and related products

The present invention claims the priority of the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on November 16, 2022, with application number 202211434661.6 and application name “A simulation method for a vehicle-bridge system of a maglev vehicle and related products”, and the priority of the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on October 28, 2022, with application number 202211336259.4 and application name “A simulation method for a vehicle-bridge system of a maglev vehicle and related products”, the entire contents of which are incorporated by reference into the present invention.

Technical Field

The present application relates to the field of vehicle engineering technology, and in particular to a simulation method for a vehicle-bridge system of a maglev vehicle and related products.

Background technique

In recent years, with the development of rail transit technology, maglev technology has gradually played an important role. Since maglev vehicles have the advantages of high speed, low noise, safety and reliability, they can improve the high-speed passenger transportation network and fill the travel speed gap between aviation and high-speed rail passenger transportation. In order to improve the competitiveness of maglev vehicles in urban rail transit, maglev routes mostly use lighter elevated bridges. When maglev vehicles pass through bridge sections, the bridge has a significant impact on the suspension stability and dynamic response of the vehicle. Therefore, before the maglev vehicle is put into use, the vehicle-bridge system of the maglev vehicle needs to be tested in advance to improve the operation safety and stability of the maglev vehicle.

At present, most of the existing vehicle-bridge system testing methods for maglev vehicles are to build a real test line for maglev vehicles to truly simulate the situation when the maglev vehicle passes through the track beam. However, this method requires the construction of a real test environment, which has the disadvantages of high development risk and low efficiency.

Summary of the invention

The embodiments of the present application provide a simulation method and related products for a vehicle-bridge system of a maglev vehicle, which can realize the simulation of the vehicle-bridge system of a maglev vehicle without building a real test environment.

In a first aspect, an embodiment of the present application provides a simulation method for a vehicle-bridge system of a maglev vehicle, comprising:

According to the operation algorithm corresponding to the real parts of the vehicle-bridge system of the maglev vehicle, a virtual model corresponding to the real parts of the vehicle-bridge system is constructed;

A joint simulation is performed based on the virtual model and the real component 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;

The real signal is converted into a second signal, and the second signal is sent to the virtual model.

Optionally, the genuine article includes multiple 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 includes:

Acquire the real signal logic relationship between the multiple types of real items;

Based on the real signal logical relationship, the virtual models corresponding to the multiple types of real parts are integrated to obtain the simulation system model.

Optionally, the real parts include 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 operating algorithm of the vehicle system, a digital twin model of the vehicle system is constructed as a virtual model corresponding to the vehicle system; the virtual model corresponding to the vehicle system is used to input corresponding operating 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 also include a vehicle dynamics system;

The virtual models corresponding to the suspension system, the guide system and/or the eddy current braking system are constructed by the following steps:

According to the operation algorithm of the suspension system, a digital twin model of the suspension system is constructed as a virtual model corresponding to the suspension system; the virtual model corresponding to the suspension system is used to input first virtual state data to the virtual model corresponding to the vehicle system, and input suspension force virtual data to the virtual model corresponding to the vehicle dynamics system; and/or,

According to the operation algorithm of the guidance system, a digital twin model of the guidance system is constructed as a virtual model corresponding to the guidance system; the virtual model corresponding to the guidance system is used to input second virtual state data to the virtual model corresponding to the vehicle system, and input guidance force virtual data to the virtual model corresponding to the vehicle dynamics system; and/or,

According to the operating algorithm of the eddy current braking system, a digital twin model of the eddy current braking system is constructed as a virtual model corresponding to the eddy current braking system; the virtual model corresponding to the eddy current braking system is used to input third virtual state data into the virtual model corresponding to the vehicle system, and to input braking force virtual data into the virtual model corresponding to the vehicle dynamics system.

Optionally, the virtual model corresponding to the vehicle dynamics system is constructed by the following steps:

Based on the finite element method and in accordance with the operating algorithm of the vehicle dynamics system, a digital twin model of the vehicle dynamics system is established as a virtual model corresponding to the vehicle dynamics system; the virtual model corresponding to the vehicle dynamics system is used to input vehicle dynamics virtual data into the virtual models corresponding to the multiple types of real parts.

Optionally, the simulation method of the vehicle-bridge system of the maglev vehicle further includes:

A vehicle kinematics virtual model, a track-bridge system virtual model and a track irregularity virtual model are constructed respectively; the vehicle kinematics virtual model is used to input vehicle kinematics virtual data to the virtual models corresponding to the vehicle dynamics system, the track-bridge system virtual model and the track irregularity virtual model respectively; the track-bridge system virtual model is used to input bridge displacement virtual data to the virtual model corresponding to the vehicle dynamics system; the track irregularity model is used to input track irregularity virtual data to the virtual model corresponding to the vehicle dynamics system.

In a second aspect, an embodiment of the present application provides a simulation device for a vehicle-bridge system of a maglev vehicle, comprising:

A virtual model building module, used to build a virtual model corresponding to the real part of the vehicle-bridge system of the maglev vehicle according to the operation algorithm corresponding to the real part of the vehicle-bridge system;

The joint simulation module is used 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 a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a system bus;

The processor and the memory are connected via the system bus;

The memory is used to store one or more programs, and the one or more programs include instructions. When the instructions are executed by the processor, the processor executes the above method.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the above method.

It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

In the embodiment of the present application, a virtual model corresponding to the real part of the vehicle-bridge system can be constructed first according to the operation algorithm corresponding to the real part of the vehicle-bridge system of the maglev vehicle, and then a 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. In this way, according to the virtual model corresponding to the real part of the vehicle-bridge system constructed in advance, and with the help of some real parts of the vehicle-bridge system, a semi-physical simulation system model of the vehicle-bridge system can be constructed, so that a system-level semi-physical cross-linking test can be realized without building a fully real test environment, thereby improving the simulation accuracy and work efficiency, and reducing the development risk. In addition, by adopting this virtual-real combination method, that is, the simulation method of combining the virtual model with the real part, a simulation system model of the vehicle-bridge system that is closer to the real one can be constructed, thereby improving the construction accuracy of the simulation system model.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of a simulation system model corresponding to a vehicle-bridge system provided in an embodiment of the present application;

FIG2 is a flow chart of a simulation method for a vehicle-bridge system of a maglev vehicle provided in an embodiment of the present application;

FIG3 is a schematic diagram of a structure of a virtual model corresponding to a suspension system and a joint simulation of the suspension system provided in an embodiment of the present application;

FIG4 is a schematic diagram of a structure of a virtual model corresponding to a guidance system and a joint simulation of the guidance system provided in an embodiment of the present application;

5 is a schematic diagram of the structure of a virtual model corresponding to an eddy current braking system and a joint simulation of the eddy current braking system provided in an embodiment of the present application;

FIG6 is a schematic structural diagram of a simulation device for a vehicle-bridge system of a maglev vehicle provided in an embodiment of the present application.

Detailed ways

As mentioned above, the inventors found in their research on the test method for the vehicle-bridge system of a maglev vehicle that most of the related technologies build a real test line for the maglev vehicle to realistically simulate the situation when the maglev vehicle passes through the track beam. However, this method requires the construction of a real test environment, which has the disadvantages of being difficult and costly.

In order to solve the above problems, an embodiment of the present application provides a simulation construction method for a vehicle-bridge system of a maglev vehicle. The method may include: first, according to an operation algorithm corresponding to the real component of the vehicle-bridge system of the maglev vehicle, a virtual model corresponding to the real component of the vehicle-bridge system can be constructed, and then a joint simulation based on the virtual model and the real component can be performed to obtain a simulation system model corresponding to the vehicle-bridge system.

In this way, according to the virtual model corresponding to the real parts of the pre-built vehicle-bridge system, and with the help of some real parts of the vehicle-bridge system, a semi-physical simulation system model of the vehicle-bridge system can be constructed, so that the system-level semi-physical cross-linking test can be realized without building a fully real test environment, thereby improving the simulation accuracy and work efficiency, and reducing development risks. In addition, by adopting this virtual-real combination method, that is, the simulation method of combining virtual models with real parts, a simulation system model of a vehicle-bridge system that is closer to the real one can be constructed, thereby improving the construction accuracy of the simulation system model.

To facilitate understanding of the technical solution provided in the embodiments of the present application, the simulation system model constructed by the simulation method of the vehicle-bridge system of the maglev vehicle provided in the embodiments of the present application is exemplarily introduced below in combination with the embodiments and drawings.

Fig. 1 is a structural schematic diagram of a simulation system model corresponding to a vehicle-bridge system provided in an embodiment of the present application. As shown in Fig. 1, the simulation system model can mainly include: a vehicle kinematics virtual model 10, a track bridge system virtual model 20, a track irregularity virtual model 30, a virtual model 40 corresponding to the vehicle system, a virtual model 50 corresponding to the suspension system, a virtual model 60 corresponding to the guidance system, a virtual model 70 corresponding to the eddy current braking system, and a virtual model 80 corresponding to the vehicle dynamics system.

Here, the virtual model 40 corresponding to the vehicle system can be connected to 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 brake system, so as to output corresponding operation instructions to 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 brake system, and receive virtual state data outputted by 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 brake system, respectively. Among them, the virtual model 50 corresponding to the suspension system can output the first virtual state data, the virtual model 60 corresponding to the guidance system can output the second virtual state data, and the virtual model 70 corresponding to the eddy current brake system can output the 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 can also be connected to the virtual model 80 corresponding to the vehicle dynamics system, so as to respectively receive the vehicle dynamics virtual data output by the virtual model 80 corresponding to the vehicle dynamics system, and respectively input the corresponding mechanical virtual data into the virtual model 80 corresponding to the vehicle dynamics system, wherein the virtual model 50 corresponding to the suspension system can output suspension force virtual data, the virtual model 60 corresponding to the guidance system can output guidance force virtual data, and the virtual model 70 corresponding to the eddy current braking system can output braking force virtual data.

The virtual model 80 corresponding to the vehicle dynamics system can also be 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 the vehicle kinematics virtual data output by the vehicle kinematics virtual model 10, the bridge displacement virtual data output by the track bridge system virtual model 20, and the track irregularity virtual data output by the track irregularity virtual model 30. Among them, the vehicle kinematics virtual model 10 is also connected to the track bridge system virtual model 20 and the track irregularity virtual model 30, respectively, so as to input the vehicle kinematics virtual data into the track bridge system virtual model 20 and the track irregularity virtual model 30.

Furthermore, 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 can also be connected to the corresponding real parts in the vehicle-bridge system, so as to perform joint simulation based on the virtual model and the real parts to 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 transportation control system, in the embodiment of the present application, the virtual model 40 corresponding to the vehicle system can also be connected to the virtual model 90 corresponding to the traction and transportation control system.

Combined with the relevant contents of the above-mentioned simulation system model, it can be known that in the embodiment of the present application, according to the virtual model corresponding to the real parts of the pre-built vehicle-bridge system, and with the help of some real parts of the vehicle-bridge system, a semi-physical simulation system model of the vehicle-bridge system can be constructed, so that the system-level semi-physical cross-linking test can be realized without building a fully real test environment, thereby improving the simulation accuracy and work efficiency, and reducing the development risk. In addition, by adopting this virtual-real combination method, that is, the simulation method of combining virtual models with real parts, a simulation system model of a vehicle-bridge system that is closer to the real one can be constructed, thereby improving the construction accuracy of the simulation system model.

In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

FIG2 is a flow chart of a simulation method for a vehicle-bridge system of a maglev vehicle provided in an embodiment of the present application. In conjunction with FIG2 , the simulation method for a vehicle-bridge system of a maglev vehicle provided in an embodiment of the present application may include:

S201: Constructing a virtual model corresponding to the real component of the vehicle-bridge system according to the operation algorithm corresponding to the real component of the vehicle-bridge system of the maglev vehicle.

Generally speaking, in the vehicle-bridge system of a maglev vehicle, the components include various types. Specifically, the various types of components may include a vehicle system, a suspension system, a guide system, an eddy current braking system, and a vehicle dynamics system. Among them, the suspension system may specifically include a suspension controller, a suspension sensor, and a suspension electromagnet; the guide system may specifically include a guide controller, a guide sensor, and a guide electromagnet; and the eddy current braking system may specifically include an eddy current braking controller and an eddy current braking electromagnet.

Here, the embodiment of the present application does not make any specific limitation on the method of constructing the virtual model, that is, S201. For ease of understanding, they are explained below separately.

In a possible implementation, the virtual model corresponding to the vehicle system can be constructed by the following steps: according to the operation algorithm of the vehicle system, a digital twin model of the vehicle system is constructed as the virtual model corresponding to the vehicle system; the virtual model corresponding to the vehicle system is used to input 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. Among them, for the virtual model corresponding to the suspension system, its corresponding operation instruction is the suspension instruction; for the virtual model corresponding to the guidance system, its corresponding operation instruction is the guidance instruction; for the virtual model corresponding to the eddy current braking system, its corresponding operation instruction is the braking instruction. In addition, the virtual model corresponding to the eddy current braking system can be logically constructed using the MATLAB Simulink tool.

Furthermore, the virtual model corresponding to the suspension system can be constructed through the following steps: according to the operation algorithm of the suspension system, a digital twin model of the suspension system is constructed as the virtual model corresponding to the suspension system; the virtual model corresponding to the suspension system is used to input the first virtual state data to the virtual model corresponding to the vehicle system, and input the suspension force virtual data to the virtual model corresponding to the vehicle dynamics system. Among them, the first virtual state data can be reflected as suspension state data; the virtual model corresponding to the suspension system can be constructed using the MATLAB Simulink tool.

The virtual model corresponding to the guidance system can be constructed through the following steps: according to the operation algorithm of the guidance system, a digital twin model of the guidance system is constructed as the virtual model corresponding to the guidance system; the virtual model corresponding to the guidance system is used to input the second virtual state data to the virtual model corresponding to the vehicle system, and input the virtual data of the guidance force to the virtual model corresponding to the vehicle dynamics system. Among them, the second virtual state data can be reflected as the guidance state data; the virtual model corresponding to the guidance system can be constructed using the MATLAB Simulink tool.

The virtual model corresponding to the eddy current braking system can be constructed by the following steps: according to the operation algorithm of the eddy current braking system, a digital twin model of the eddy current braking system is constructed as the virtual model corresponding to the eddy current braking system; the virtual model corresponding to the eddy current braking system is used to input the third virtual state data to the virtual model corresponding to the vehicle system, and input the braking force virtual data to the virtual model corresponding to the vehicle dynamics system. Among them, the third virtual state data can be embodied as eddy current braking state data; the virtual model corresponding to the eddy current braking system can be constructed using the MATLAB Simulink tool. Here, the embodiment of the present application can describe the virtual model corresponding to the suspension system in detail in combination with the embodiment and the accompanying drawings. Specifically, since the real parts in the suspension system can specifically include a suspension controller, a suspension sensor and a suspension electromagnet, the implementation process of constructing a digital twin model of the suspension system as the virtual model corresponding to the suspension system can specifically include: 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. Among them, Figure 3 is a structural schematic diagram of a virtual model corresponding to a suspension system and a suspension system joint simulation provided by an embodiment of the present application. As shown in FIG3 , the suspension sensor virtual model 51 can be connected to the virtual model (not shown) corresponding to the vehicle dynamics system, the suspension controller virtual model 52, and the suspension electromagnet virtual model 53, respectively, so as to receive the vehicle dynamics virtual data output by the virtual model corresponding to the vehicle dynamics system, and input the vehicle dynamics virtual data into the suspension controller virtual model 52, and input the virtual electromagnetic gap in the vehicle dynamics virtual data into the suspension electromagnet virtual model 53. The suspension controller virtual model 52 can also be connected to the virtual model (not shown) corresponding to the vehicle system to receive the operation instruction output by the virtual model corresponding to the vehicle system, that is, the suspension instruction. In addition, the virtual model 50 corresponding to the suspension system can also include a suspension interface platform 54, and the suspension sensor virtual model 51, the suspension controller virtual model 52, and the suspension electromagnet virtual model 53 can all be connected to the suspension interface platform 54, and the suspension interface platform 54 can also be connected to the real parts of the suspension system, that is, the suspension controller, the suspension sensor, and the suspension electromagnet, respectively, so as to perform joint simulation based on the virtual model corresponding to the suspension system and the real parts of the suspension system. For ease of understanding, FIG3 takes the joint simulation of the suspension controller 55 and the suspension controller virtual model 52 as an example. The suspension controller 55 and the suspension controller virtual model 52 are respectively connected to the suspension interface platform 54. The suspension controller 55 can first obtain the conversion result of the first signal output by the suspension controller virtual model 52 to obtain the corresponding real signal, and input the real signal to the suspension controller virtual model 52 through the suspension interface platform 54, so as to convert the real signal to obtain the second signal corresponding to the suspension controller virtual model 52, and then further send the second signal to the suspension controller virtual model 52. Correspondingly, the suspension controller virtual model 52 can also be connected to the suspension electromagnet virtual model 53, so as to input the second signal to the suspension electromagnet virtual model 53, and the suspension electromagnet virtual model 53 outputs the suspension force virtual data based on the second signal and the virtual electromagnetic gap. In addition, in order to simulate the suspension control system more accurately, the fault redundancy problem can also be considered in the virtual model 50 corresponding to the suspension system. Specifically, the suspension controller virtual model 52 and the suspension sensor virtual model 51 can also use the fault data as input data respectively to further simulate the fault redundancy algorithm.

The embodiment of the present application can be combined with the embodiment and the accompanying drawings to describe in detail the virtual model corresponding to the guidance system. Specifically, since the real parts in the guidance system can specifically include a guidance controller, a guidance sensor and a guidance electromagnet, the digital twin model of the guidance system is constructed as the implementation process of the virtual model corresponding to the guidance system, which can specifically include: constructing a virtual model of the guidance controller corresponding to the operation algorithm of the guidance controller, a virtual model of the guidance sensor corresponding to the operation algorithm of the guidance sensor, and a virtual model of the guidance electromagnet corresponding to the operation algorithm of the guidance electromagnet. Among them, Figure 4 is a structural schematic diagram of a virtual model corresponding to a guidance system and a joint simulation of the guidance system provided by an embodiment of the present application. In conjunction with Figure 4, the guidance sensor virtual model 61 can be connected to the virtual model corresponding to the vehicle dynamics system (not shown in the figure), the guidance controller virtual model 62, and the guidance electromagnet virtual model 63, respectively, so as to receive the vehicle dynamics virtual data output by the virtual model corresponding to the vehicle dynamics system, and input the vehicle dynamics virtual data to the guidance controller virtual model 62, and input the virtual electromagnetic gap in the vehicle dynamics virtual data to the guidance electromagnet virtual model 63. The guidance controller virtual model 62 can also be connected to the virtual model corresponding to the vehicle system (not shown in the figure) to receive the operation instruction output by the virtual model corresponding to the vehicle system, that is, the guidance instruction. In addition, the virtual model 60 corresponding to the guidance system can also include a guidance interface platform 64, and the guidance sensor virtual model 61, the guidance controller virtual model 62 and the guidance electromagnet virtual model 63 can all be connected to the guidance interface platform 64, and the guidance interface platform 64 can also be respectively connected to the real components of the guidance control system, that is, the guidance controller, the guidance sensor, and the guidance electromagnet, so as to perform a joint simulation based on the virtual model corresponding to the guidance system and the real components of the guidance control system. For ease of understanding, FIG4 takes the joint simulation of the guidance controller 65 and the guidance controller virtual model 62 as an example, and the guidance controller 65 and the guidance controller virtual model 62 are respectively connected to the guidance interface platform 64, and the guidance controller 65 can first obtain the conversion result of the first signal output by the guidance controller virtual model 62 to obtain the 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 the 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 virtual model 62 of the guide controller can also be connected to the virtual model 63 of the guide electromagnet, so as to input the second signal into the virtual model 63 of the guide electromagnet, and the virtual model 63 of the guide electromagnet outputs the virtual data of the guide force based on the second signal and the virtual electromagnetic gap. In addition, in order to simulate the guide control system more accurately, the fault redundancy problem can also be considered in the virtual model 60 corresponding to the guide system. Specifically, the virtual model 62 of the guide controller and the virtual model 61 of the guide sensor can also use the fault data as input data respectively to further simulate the fault redundancy algorithm.

The embodiment of the present application can be combined with the embodiment and the accompanying drawings to describe in detail the virtual model corresponding to the eddy current braking system. Specifically, since the real parts in the eddy current braking system can specifically include an eddy current braking controller and an eddy current braking electromagnet, the digital twin model of the eddy current braking system is constructed as the implementation process of the virtual model corresponding to the eddy current braking system, which can specifically include: constructing a virtual model of the eddy current braking controller corresponding to the operation algorithm of the eddy current braking controller, and a virtual model of the eddy current braking electromagnet corresponding to the operation algorithm of the eddy current braking electromagnet. Among them, Figure 5 is a structural schematic diagram of a virtual model corresponding to an eddy current braking system and an eddy current braking system joint simulation provided by an embodiment of the present application. In combination with Figure 5, the eddy current braking controller virtual model 71 and the eddy current braking electromagnet virtual model 72 can be connected to the virtual model corresponding to the vehicle dynamics system (not shown in the figure) respectively, so as to receive the vehicle dynamics virtual data output by the virtual model corresponding to the vehicle dynamics system. The eddy current braking controller virtual model 72 can also be connected to the virtual model corresponding to the vehicle system (not shown in the figure) to receive the operation instruction output by the virtual model corresponding to the vehicle system, that is, the eddy current braking instruction. In addition, the virtual model 70 corresponding to the eddy current braking system may also include an eddy current braking interface platform 73, and 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 respectively connected to the real parts of the eddy current braking system, that is, the eddy current braking controller and the eddy current braking electromagnet, so as to perform a joint simulation based on the virtual model corresponding to the eddy current braking system and the real parts of the eddy current braking system. For ease of understanding, FIG5 takes the eddy current braking controller 74 and the eddy current braking controller virtual model 71 as an example for joint simulation, and the eddy current braking controller 74 and the eddy current braking controller virtual model 71 are respectively connected to the eddy current braking interface platform 73, and the eddy current braking controller 74 may first obtain the conversion result of the first signal output by the eddy current braking controller virtual model 71 to obtain the corresponding real signal, and input the real signal to the eddy current braking controller virtual model 71 through the eddy current braking interface platform 73, so as to convert the real signal to obtain the second signal corresponding to the eddy current braking controller virtual model 71, and then further send the second signal to the eddy current braking controller virtual model 71. Correspondingly, the eddy current brake controller virtual model 71 can also be connected to the eddy current brake electromagnet virtual model 72, so as to input the second signal into the eddy current brake electromagnet virtual model 72, and the eddy current brake electromagnet virtual model 72 outputs the braking force virtual data based on the second signal and the vehicle dynamics virtual data. In addition, in order to more accurately simulate the eddy current brake control system, the fault redundancy problem can also be considered in the virtual model 70 corresponding to the eddy current brake system. Specifically, the eddy current brake controller virtual model 71 can also use the fault data as input data to further simulate the fault redundancy algorithm.

Furthermore, in an embodiment of the present application, the virtual model corresponding to the above-mentioned vehicle dynamics system can be constructed by the following steps: based on the finite element method and according to the operating algorithm of the vehicle dynamics system, a digital twin model of the vehicle dynamics system is established as the virtual model corresponding to the vehicle dynamics system; the virtual model corresponding to the vehicle dynamics system is used to input the vehicle dynamics virtual data to the virtual models corresponding to various types of real parts. Among them, the vehicle dynamics virtual data may include the virtual electromagnetic gap, virtual acceleration and virtual running speed in the vehicle dynamics virtual data. The virtual model corresponding to the vehicle dynamics system can be constructed using the C language development tool or the Simpack software. In this way, the digital twin model constructed using the finite element method can improve the simulation accuracy of the vehicle dynamics system, thereby accurately simulating the system characteristics of the real vehicle dynamics system.

In addition, the above-mentioned policy and method may also include: constructing a virtual model of vehicle kinematics, a virtual model of the track bridge system, and a virtual model of track irregularity respectively; the virtual model of vehicle kinematics is used to input the virtual data of vehicle kinematics into the virtual model corresponding to the vehicle dynamics system, the virtual model of the track bridge system, and the virtual model of track irregularity respectively; the virtual model of the track bridge system is used to input the virtual data of bridge displacement into the virtual model corresponding to the vehicle dynamics system; the track irregularity model is used to input the virtual data of track irregularity into the virtual model corresponding to the vehicle dynamics system. Among them, the virtual data of vehicle kinematics can be reflected in the virtual running speed and virtual running mileage of the maglev vehicle. Specifically, the virtual data of bridge displacement can be reflected in the amplitude of the lateral displacement of the virtual bridge and the amplitude of the vertical displacement of the virtual bridge; the virtual data of track irregularity can be reflected in the amplitude of the lateral irregularity of the virtual track and the amplitude of the vertical irregularity of the virtual track. In addition, the virtual model of vehicle kinematics, the virtual model of the track bridge system, and the virtual model of track irregularity can be constructed respectively using MATLAB Simulink tools. Moreover, in the virtual model of the rail bridge system, the Bernoulli-Euler beam model can be specifically used for simulation calculation, so as to simplify the calculation process and improve the calculation efficiency by using the model.

Based on the above S201 related content, it can be seen that the digital twin technology can be used to achieve high-precision simulation construction of virtual models without building a real test environment, thereby reducing the difficulty and cost of simulation.

S202: 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 present application, the implementation process of the joint simulation, that is, S202, may not be specifically limited here. For ease of understanding, it is described below in conjunction with a possible implementation method.

In a possible implementation, S202 may specifically include: 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; converting the real signal to obtain a second signal, and sending the second signal to the virtual model. Through signal interaction between the virtual model and the real part, semi-physical simulation between the virtual model and the real part can be achieved, thereby constructing a semi-physical simulation system model of the vehicle-bridge system, so that system-level semi-physical cross-linking tests can be achieved without building a fully real test environment.

In combination with the above S201-S202, it can be known that in the embodiment of the present application, a virtual model corresponding to the real part of the vehicle-bridge system can be constructed according to the operation algorithm corresponding to the real part of the vehicle-bridge system of the maglev vehicle, and then a joint simulation is performed based on the virtual model and the real part, thereby obtaining a simulation system model corresponding to the vehicle-bridge system. In this way, according to the virtual model corresponding to the real part of the vehicle-bridge system constructed in advance, and with the help of some real parts of the vehicle-bridge system, a semi-physical simulation system model of the vehicle-bridge system can be constructed, so that a system-level semi-physical cross-linking test can be realized without building a fully real test environment, thereby improving simulation accuracy and work efficiency, and reducing development risks. In addition, by adopting this virtual-real combination method, that is, a simulation method combining a virtual model with a real part, a simulation system model of a vehicle-bridge system that is closer to reality can be constructed, thereby improving the construction accuracy of the simulation system model.

Based on the simulation method of the vehicle-bridge system of a maglev vehicle provided in the above-mentioned embodiment, the embodiment of the present application also provides a simulation device of the vehicle-bridge system of a maglev vehicle, which is explained and illustrated below in conjunction with the accompanying drawings.

FIG6 is a schematic diagram of the structure of a simulation device for a vehicle-bridge system of a maglev vehicle provided in an embodiment of the present application. In conjunction with FIG6 , the simulation device 100 for a vehicle-bridge system of a maglev vehicle provided in an embodiment of the present application may include:

A virtual model building module 101 is used to build a virtual model corresponding to the real part of the vehicle-bridge system according to the operation algorithm corresponding to the real part of the vehicle-bridge system of the maglev vehicle;

The joint simulation module 102 is used 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 present application, through the cooperation of the virtual model construction module 101 and the joint simulation module 102, a semi-physical simulation system model of the vehicle-bridge system can be constructed according to the virtual model corresponding to the real parts of the pre-constructed vehicle-bridge system and with the help of some real parts of the vehicle-bridge system, so that the system-level semi-physical cross-linking test can be realized without building a fully real test environment, thereby improving the simulation accuracy and work efficiency and reducing the development risk. In addition, by adopting this virtual-real combination method, that is, the simulation method of combining virtual models with real parts, a simulation system model of a vehicle-bridge system that is closer to the real one can be constructed, thereby improving the construction accuracy of the simulation system model.

As an implementation method, in order to realize the simulation of the vehicle-bridge system of the maglev vehicle without building a real test environment, the joint simulation module 102 may specifically include:

A first signal conversion module, 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;

The second signal conversion module is used to convert the real signal to obtain a second signal, and send the second signal to the virtual model.

As an implementation method, in order to realize the simulation of the vehicle-bridge system of the maglev vehicle without building a real test environment, the real parts include multiple types. Accordingly, the joint simulation module 102 may specifically include:

A signal logic relationship acquisition module is used to acquire the real signal logic relationship between various types of real parts;

The model integration module is used to integrate the virtual models corresponding to various types of real parts based on the logical relationship of real signals to obtain a simulation system model.

As an implementation method, in order to realize the simulation of the vehicle-bridge system of the maglev vehicle without building a real test environment, various types of real parts include vehicle system, suspension system, guidance system and eddy current braking system. Accordingly, the virtual model corresponding to the vehicle system can be specifically constructed through the following modules:

The first virtual model construction module is used to construct a digital twin model of the vehicle system as a virtual model corresponding to the vehicle system according to the operation algorithm of the vehicle system; the virtual model corresponding to the vehicle system is used to input 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.

As an implementation method, in order to realize the simulation of the vehicle-bridge system of the maglev vehicle without building a real test environment, the various types of real parts also include a vehicle dynamics system. Accordingly, the virtual models corresponding to the suspension system, the guidance system and/or the eddy current braking system can be constructed through the following modules:

A second virtual model building module is used to build a digital twin model of the suspension system as a virtual model corresponding to the suspension system according to an operation algorithm of the suspension system; the virtual model corresponding to the suspension system is used to input first virtual state data to the virtual model corresponding to the vehicle system, and input suspension force virtual data to the virtual model corresponding to the vehicle dynamics system; and/or,

a third virtual model construction module, for constructing a digital twin model of the guidance system as a virtual model corresponding to the guidance system according to an operation algorithm of the guidance system; the virtual model corresponding to the guidance system is used to input second virtual state data to the virtual model corresponding to the vehicle system, and input guidance force virtual data to the virtual model corresponding to the vehicle dynamics system; and/or,

The fourth virtual model construction module is used to construct a digital twin model of the eddy current braking system as a virtual model corresponding to the eddy current braking system according to the operating algorithm of the eddy current braking system; the virtual model corresponding to the eddy current braking system is used to input the third virtual state data into the virtual model corresponding to the vehicle system, and to input the braking force virtual data into the virtual model corresponding to the vehicle dynamics system.

As an implementation method, in order to realize the simulation of the vehicle-bridge system of the maglev vehicle without building a real test environment, the virtual model corresponding to the vehicle dynamics system can be constructed through the following modules:

The fifth virtual model construction module is used to establish a digital twin model of the vehicle dynamics system as a virtual model corresponding to the vehicle dynamics system based on the finite element method and in accordance with the operating algorithm of the vehicle dynamics system; the virtual model corresponding to the vehicle dynamics system is used to input vehicle dynamics virtual data into virtual models corresponding to various types of real parts.

As an implementation mode, in order to realize the simulation of the vehicle-bridge system of the maglev vehicle without constructing a real test environment, the simulation device 100 of the vehicle-bridge system of the maglev vehicle may further include:

The sixth virtual model construction module is used to respectively construct a vehicle kinematics virtual model, a track bridge system virtual model and a track irregularity virtual model; the vehicle kinematics virtual model is used to input vehicle kinematics virtual data into the virtual models corresponding to the vehicle dynamics system, the track bridge system virtual model and the track irregularity virtual model respectively; the track bridge system virtual model is used to input bridge displacement virtual data into the virtual model corresponding to the vehicle dynamics system; the track irregularity model is used to input track irregularity virtual data into the virtual model corresponding to the vehicle dynamics system.

Furthermore, an embodiment of the present application also provides a device, including: a processor, a memory, and a system bus;

The processor and memory are connected via a system bus;

The memory is used to store one or more programs, and the one or more programs include instructions. When the instructions are executed by the processor, the processor executes any one of the implementation methods of the simulation method of the vehicle-bridge system of the magnetic levitation vehicle.

Furthermore, an embodiment of the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes any one of the implementation methods of the above-mentioned vehicle-bridge system simulation method of the maglev vehicle.

It can be known from the description of the above implementation mode that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM/RAM, a disk, an optical disk, etc., including several instructions for enabling a computer device (which can be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A simulation method for a vehicle-bridge system of a maglev vehicle, characterized by comprising:

   According to the operation algorithm corresponding to the real parts of the vehicle-bridge system of the maglev vehicle, a virtual model corresponding to the real parts of the vehicle-bridge system is constructed;

   A joint simulation is performed based on the virtual model and the real component to obtain a simulation system model corresponding to the vehicle-bridge system.
2. The method according to claim 1, characterized in that the joint simulation 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;

   The real signal is converted into a second signal, and the second signal is sent to the virtual model.
3. The method according to claim 1, characterized in that the authentic documents include multiple 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 includes:

   Acquire the real signal logic relationship between the multiple types of real items;

   Based on the real signal logical relationship, the virtual models corresponding to the multiple types of real parts are integrated to obtain the simulation system model.
4. The method according to claim 1, characterized in that the real parts include a vehicle system, a suspension system, a guide system and an eddy current braking system;

   The virtual model corresponding to the vehicle system is constructed by the following steps:

   According to the operating algorithm of the vehicle system, a digital twin model of the vehicle system is constructed as a virtual model corresponding to the vehicle system; the virtual model corresponding to the vehicle system is used to input corresponding operating 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 according to claim 4, characterized in that the plurality of types of real parts also include vehicle dynamics systems;

   The virtual models corresponding to the suspension system, the guide system and/or the eddy current braking system are constructed by the following steps:

   According to the operation algorithm of the suspension system, a digital twin model of the suspension system is constructed as a virtual model corresponding to the suspension system; the virtual model corresponding to the suspension system is used to input first virtual state data to the virtual model corresponding to the vehicle system, and input suspension force virtual data to the virtual model corresponding to the vehicle dynamics system; and/or,

   According to the operation algorithm of the guidance system, a digital twin model of the guidance system is constructed as a virtual model corresponding to the guidance system; the virtual model corresponding to the guidance system is used to input second virtual state data to the virtual model corresponding to the vehicle system, and input guidance force virtual data to the virtual model corresponding to the vehicle dynamics system; and/or,

   According to the operating algorithm of the eddy current braking system, a digital twin model of the eddy current braking system is constructed as a virtual model corresponding to the eddy current braking system; the virtual model corresponding to the eddy current braking system is used to input third virtual state data into the virtual model corresponding to the vehicle system, and to input braking force virtual data into the virtual model corresponding to the vehicle dynamics system.
6. The method according to claim 5 is characterized in that the virtual model corresponding to the vehicle dynamics system is constructed by the following steps:

   Based on the finite element method and in accordance with the operating algorithm of the vehicle dynamics system, a digital twin model of the vehicle dynamics system is established as a virtual model corresponding to the vehicle dynamics system; the virtual model corresponding to the vehicle dynamics system is used to input vehicle dynamics virtual data into the virtual models corresponding to the multiple types of real parts.
7. The method according to claim 6, characterized in that the method further comprises:

   A vehicle kinematics virtual model, a track-bridge system virtual model and a track irregularity virtual model are constructed respectively; the vehicle kinematics virtual model is used to input vehicle kinematics virtual data to the virtual models corresponding to the vehicle dynamics system, the track-bridge system virtual model and the track irregularity virtual model respectively; the track-bridge system virtual model is used to input bridge displacement virtual data to the virtual model corresponding to the vehicle dynamics system; the track irregularity model is used to input track irregularity virtual data to the virtual model corresponding to the vehicle dynamics system.
8. A simulation device for a vehicle-bridge system of a maglev vehicle, characterized by comprising:

   A virtual model building module, used to build a virtual model corresponding to the real part of the vehicle-bridge system of the maglev vehicle according to the operation algorithm corresponding to the real part of the vehicle-bridge system;

   The joint simulation module is used to perform joint simulation based on the virtual model and the real component to obtain a simulation system model corresponding to the vehicle-bridge system.
9. An electronic device, characterized in that it comprises: a processor, a memory, and a system bus;

   The processor and the memory are connected via the system bus;

   The memory is used to store one or more programs, wherein the one or more programs include instructions, and when the instructions are executed by the processor, the processor executes the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that instructions are stored in the computer-readable storage medium, and when the instructions are executed on a terminal device, the terminal device executes the method described in any one of claims 1 to 7.

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