WO2024087288A1 - Procédé de simulation pour système de pont de véhicule de véhicule à lévitation magnétique, et produit associé - Google Patents

Procédé de simulation pour système de pont de véhicule de véhicule à lévitation magnétique, et produit associé Download PDF

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WO2024087288A1
WO2024087288A1 PCT/CN2022/134169 CN2022134169W WO2024087288A1 WO 2024087288 A1 WO2024087288 A1 WO 2024087288A1 CN 2022134169 W CN2022134169 W CN 2022134169W WO 2024087288 A1 WO2024087288 A1 WO 2024087288A1
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vehicle
virtual model
virtual
real
simulation
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PCT/CN2022/134169
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English (en)
Chinese (zh)
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李小庆
谭富星
邵晴
马宏宇
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中车长春轨道客车股份有限公司
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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  • 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.
  • 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.
  • 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.
  • 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.
  • an embodiment of the present application provides a simulation method for a vehicle-bridge system of a maglev vehicle, comprising:
  • 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.
  • the performing joint simulation based on the virtual model and the real part includes:
  • the real signal is converted into a second signal, and the second signal is sent to the virtual model.
  • 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:
  • the virtual models corresponding to the multiple types of real parts are integrated to obtain the simulation system model.
  • 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:
  • 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.
  • 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:
  • 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,
  • 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,
  • 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.
  • the virtual model corresponding to the vehicle dynamics system is constructed by the following steps:
  • 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.
  • 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.
  • 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.
  • 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.
  • the processor executes the above method.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the components include various types.
  • 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.
  • 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;
  • the eddy current braking system may specifically include an eddy current braking controller and an eddy current braking electromagnet.
  • 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.
  • 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.
  • its corresponding operation instruction is the suspension instruction
  • 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.
  • the virtual model corresponding to the eddy current braking system can be logically constructed using the MATLAB Simulink tool.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the fault redundancy problem can also be considered in the virtual model 50 corresponding to the suspension system.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the fault redundancy problem can also be considered in the virtual model 60 corresponding to the guide system.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the fault redundancy problem can also be considered in the virtual model 70 corresponding to the eddy current brake system.
  • the eddy current brake controller virtual model 71 can also use the fault data as input data to further simulate the fault redundancy algorithm.
  • 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.
  • 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.
  • 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.
  • the virtual data of vehicle kinematics can be reflected in the virtual running speed and virtual running mileage of the maglev vehicle.
  • 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.
  • 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.
  • 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.
  • 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.
  • the implementation process of the joint simulation that is, S202, may not be specifically limited here.
  • S202 the implementation process of the joint simulation
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the various types of real parts also include a vehicle dynamics system.
  • 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.
  • 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.
  • 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.
  • 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.
  • the processor executes any one of the implementation methods of the simulation method of the vehicle-bridge system of the magnetic levitation vehicle.
  • an embodiment of the present application also provides a computer-readable storage medium, in which instructions are stored.
  • the terminal device executes any one of the implementation methods of the above-mentioned vehicle-bridge system simulation method of the maglev vehicle.
  • 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.
  • a computer device which can be a personal computer, a server, or a network communication device such as a media gateway, etc.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

Sont divulgués dans la présente demande un procédé de construction de simulation pour un système de pont de véhicule d'un véhicule à lévitation magnétique, et un produit associé. Le procédé consiste à : selon des algorithmes d'opération correspondant à des parties réelles d'un système de pont de véhicule d'un véhicule à lévitation magnétique, construire des modèles virtuels correspondant aux parties réelles du système de pont de véhicule ; et réaliser une simulation conjointe sur la base des modèles virtuels et des parties réelles, de façon à obtenir un modèle de système de simulation correspondant au système de pont de véhicule. De cette manière, un modèle de système de simulation semi-physique du système de pont de véhicule peut être construit selon des modèles virtuels pré-construits et au moyen de certaines parties réelles du système de pont de véhicule, et un test de liaison croisée semi-physique au niveau du système peut être réalisé sans avoir besoin de construire un environnement de test entièrement réel, de telle sorte que la précision de simulation et l'efficacité de travail peuvent être améliorées, et les risques de développement peuvent être réduits. De plus, en utilisant un tel mode de combinaison virtuel-réel, c'est-à-dire un procédé de simulation combinant des modèles virtuels avec des parties réelles, un modèle de système de simulation plus proche d'un système de pont de véhicule réel peut être construit, ce qui permet d'améliorer la précision de construction du modèle de système de simulation.
PCT/CN2022/134169 2022-10-28 2022-11-24 Procédé de simulation pour système de pont de véhicule de véhicule à lévitation magnétique, et produit associé WO2024087288A1 (fr)

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CN202211336259.4 2022-10-28
CN202211336259 2022-10-28
CN202211434661.6A CN115729117A (zh) 2022-10-28 2022-11-16 一种磁浮车辆的车辆-桥梁系统的仿真方法及相关产品
CN202211434661.6 2022-11-16

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CN111332130A (zh) * 2020-02-26 2020-06-26 同济大学 一种基于数字孪生技术的磁浮列车悬浮系统调试方法
CN112987700A (zh) * 2021-04-27 2021-06-18 湖南中车时代通信信号有限公司 一种磁浮交通运行控制系统的集成测试系统
CN114326434A (zh) * 2021-12-29 2022-04-12 湖南凌翔磁浮科技有限责任公司 半实物磁浮车辆动力学仿真系统
CN114578726A (zh) * 2022-01-28 2022-06-03 中车唐山机车车辆有限公司 磁浮列车运行仿真系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170066460A1 (en) * 2014-11-25 2017-03-09 Crrc Qingdao Sifang Co., Ltd. Simulation and experiment platform for high-speed train braking system and experiment method
CN111332130A (zh) * 2020-02-26 2020-06-26 同济大学 一种基于数字孪生技术的磁浮列车悬浮系统调试方法
CN112987700A (zh) * 2021-04-27 2021-06-18 湖南中车时代通信信号有限公司 一种磁浮交通运行控制系统的集成测试系统
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