A simulation device and simulation method for superconducting electric suspension system damper

Abstract

The present invention provides a simulation model and simulation method for a superconducting electric suspension system damper, wherein the simulation model includes: a simulation circuit and a damping coil equivalent load; the simulation circuit includes: a damping coil module, a control module and an inverter circuit; wherein the damping coil module is used to provide a vertical speed to the control module; the vertical speed represents the speed of the damper in the vertical direction; the control module is used to generate a first switching signal according to the vertical speed to control the inverter circuit; the inverter circuit is used to output a corresponding input current to the damping coil module and the damping coil equivalent load according to the first switching signal; the damping coil module is used to generate a damping force according to the input current; the damping coil equivalent load is used to simulate the electrical characteristics of the damper according to the input current. The above-mentioned simulation model can control the current flowing through the damping coil module in combination with relevant control strategies, and provide support for the design of active dampers.

Description

Technical Field

[0001] The present invention relates to the field of maglev trains, and particularly to a simulation model and a simulation method for a damper of a superconducting electric suspension system. Background Art

[0002] The high-speed flying train adopts a superconducting electric suspension system, which is essentially a passive suspension system. The on-vehicle superconducting magnet passes over the ground suspension coil, and the suspension coil generates an induced magnetic field due to the induced current. The interaction between this magnetic field and the magnetic field of the superconducting magnet provides the levitation force and the guiding force for the train. When the speed is >150 km / h, the wheel-rail is disengaged, thus being able to break through the constraint of the traditional wheel-rail adhesion effect and meet the application requirements of the high-speed flying train at 1000 km / h.

[0003] During the actual operation of the high-speed flying train, it faces the following external excitation disturbances: 1) Aerodynamic disturbances, especially the aerodynamic disturbances under the condition of meeting trains; 2) The fluctuation of the levitation force caused by the inherent discontinuity of the suspension coil; 3) The track irregularity problems caused by the unqualified installation accuracy of the coil, track settlement, joints, etc. However, the superconducting electric suspension is also a negative damping or critical damping system. Under the external excitation disturbance, the system is prone to divergence and suspension instability, and the influence of the above disturbances will be amplified at the train speed of 1000 km / h, resulting in severe vibration of the car body and even phenomena such as hitting the track. Therefore, in order to analyze the influence of external damping on the stable operation of the train, it is necessary to introduce an external damping model to simulate and accurately analyze the damping effect of the damper in the full speed range of the high-speed flying train. Summary of the Invention

[0004] In view of the problem that there is no model for analyzing the stable operation of the high-speed flying train in the prior art, the present invention is proposed to provide a simulation model and a simulation method for an active damper of a superconducting electric suspension system that overcome the above problems or at least partially solve the above problems.

[0005] According to one aspect of the present invention, there is provided a simulation model for a damper of a superconducting electric suspension system, including:

[0006] A simulation circuit and a damping coil equivalent load;

[0007] The simulation circuit includes: a damping coil module, a control module and an inverter circuit; wherein,

[0008] The damping coil module is used to provide a vertical speed to the control module; the vertical speed represents the speed of the damper in the vertical direction;

[0009] The control module is used to generate a first switching signal according to the vertical speed to control the inverter circuit;

[0010] The inverter circuit is configured to output a corresponding input current to the damping coil module and the damping coil equivalent load according to the first switching signal;

[0011] The damping coil module is configured to generate a damping force according to the input current;

[0012] The damping coil equivalent load is configured to simulate the electrical characteristics of a damper according to the input current.

[0013] Preferably, the damping coil module is further configured to provide a longitudinal speed and / or a guiding speed to the control module;

[0014] The control module is further configured to receive the longitudinal speed and / or the guiding speed and generate a second switching signal according to the longitudinal speed and / or the guiding speed;

[0015] The inverter circuit is further configured to output a corresponding input current to the damping coil equivalent load and the damping coil module according to the first switching signal and the second switching signal.

[0016] Preferably, the inverter circuit is a single-phase full-bridge inverter circuit, and the first switching signal output by the control module controls the conduction and cutoff of two pairs of bridge arms in the single-phase full-bridge inverter circuit to control the inverter circuit.

[0017] Preferably, the control module includes: a command current module, a PI control module, and a high-frequency modulation module;

[0018] The command current module receives the vertical speed, generates a reference current, and outputs it to the PI control module;

[0019] The PI control module receives the input current fed back by the inverter circuit, compares the input current with the reference current, and outputs command information;

[0020] The high-frequency modulation module receives the command information, modulates the command information to generate a first switching signal, and the first switching signal is a square wave signal.

[0021] Preferably, the damping coil module is established by the finite element method to simulate the magnetic field change and / or load change of the damper during movement.

[0022] Preferably, the simulation circuit has a first step size step1, the simulation model has a second step size step2, and the second step size step2 is greater than the first step size step1;

[0023] Obtain a third step length step3 based on the first step length step1 and the second step length step2, and use the third step length step3 as the step length of the simulation model. The third step length step3 = N - 1, where

[0024] According to another aspect of the present invention, there is provided a simulation method for a damper of a superconducting electromagnetic suspension system. The method includes:

[0025] The damping coil module provides a vertical velocity to the control module; the vertical velocity characterizes the velocity of the damper in the vertical direction;

[0026] The control module generates a first switching signal according to the vertical velocity to control the inverter circuit;

[0027] The inverter circuit outputs a corresponding input current to the damping coil module and the damping coil equivalent load according to the first switching signal;

[0028] The damping coil module is used to generate a damping force according to the input current;

[0029] The damping coil equivalent load simulates the electrical characteristics of the damper according to the input current.

[0030] Preferably, the damping coil module providing a vertical velocity to the control module includes:

[0031] Analyze the vertical force of the damping coil module; the vertical force is the force on the damper in the vertical direction;

[0032] Obtain the vertical acceleration according to the vertical force;

[0033] Obtain the vertical velocity of the damping coil according to the vertical acceleration and provide it to the control module.

[0034] Preferably, the method further includes:

[0035] The inverter circuit feeds back the input current at time T - 1 to the damping coil module;

[0036] The damping coil module obtains the vertical velocity at time T according to the input current and the vertical velocity at time T - 1;

[0037] The damping coil module inputs the vertical velocity at time T to the control module.

[0038] Preferably, the method further includes:

[0039] Obtain the vertical displacement at time T according to the input current and the vertical displacement at time T - 1;

[0040] Simulate the motion state of the damper according to the vertical displacement and vertical velocity at time T.

[0041] A simulation model for a damper of a superconducting electric suspension system disclosed by the present invention can control the current flowing through the damper coil module in combination with relevant control strategies, effectively and accurately analyze the damping effect of the damper within the full speed range of a high-speed flight train, and simultaneously simulate the electrical characteristics of the damper through the damper coil equivalent load. This model is flexibly established and has a fast solution speed, providing support for the design of active dampers.

[0042] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following specifically illustrates the specific embodiments of the present invention. Brief Description of the Drawings

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0044] Figure 1 It is a simulation model for a damper of a superconducting electric suspension system in an embodiment of the present invention;

[0045] Figure 2 It is a simulation model for a damper of a superconducting electric suspension system in another embodiment of the present invention;

[0046] Figure 3 It is the structural diagram of the inverter circuit in an embodiment of the present invention;

[0047] Figure 4 It is the structural diagram of the control module in an embodiment of the present invention;

[0048] Figure 5 It is the flowchart of a simulation method for a damper of a superconducting electric suspension system in an embodiment of the present invention.

[0049]

Reference Numerals

[0050] 10. Simulation circuit; 20. Damper coil equivalent load;

[0051] 101. Damper coil module; 102. Control module; 103. Inverter circuit;

[0052] 1021. Command current module; 1022. PI control module; 1023. High-frequency modulation module. Detailed implementation manners

[0053] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0054] An embodiment of the present invention provides a simulation model for a damper of a superconducting electromagnetic suspension system, as Figure 1 shown, including:

[0055] A simulation circuit 10 and a damping coil equivalent load 20; wherein, both the simulation circuit 10 and the damping coil equivalent load 20 are built in MATLAB / Simulink, and finally form a simulation model for a damper of a superconducting electromagnetic suspension system.

[0056] The simulation circuit 10 includes: a damping coil module 101, a control module 102 and an inverter circuit 103; wherein,

[0057] The damping coil module 101 is used to provide a vertical velocity V x to the control module 102; the vertical velocity V x represents the velocity of the damper in the vertical direction. Specifically, in the model, it is not considered that the damping coil rotates with the vehicle body, and since the vibration in the vertical direction has a greater impact on the train, therefore, in this embodiment, the analysis and model building are mainly carried out for the vertical direction. Among them, the vertical velocity V x can be provided by the simulation model, can also be calculated according to the given conditions, and can also be provided by kinematic simulation software such as ADDAMS. By providing the vertical velocity V x to simulate the vertical vibration of the damping coil module 101 and provide basic input information for subsequent simulation.

[0058] The control module 102 is used to generate a first switching signal according to the vertical velocity to control the inverter circuit 103. Specifically, the control module 102 generates a first switching signal according to the received vertical velocity V x in combination with the control strategy, that is, the control module 102 translates the vertical velocity V x into a first switching signal according to different control strategies, and controls the inverter circuit 103 to output a corresponding input current I and feedback it to the damping coil module 101 to control the damping coil module 101.

[0059] The inverter circuit 103 is configured to output a corresponding input current I to the damper coil module 101 and the damper coil equivalent load 20 according to the first switching signal. Specifically, the function of the first switching signal is to control the output of the inverter circuit 103. The inverter circuit 103 outputs different magnitudes of the input current I according to different first switching signals, and different magnitudes of the input current I can control the damper coil module 101 to generate different magnitudes of damping forces.

[0060] The damper coil equivalent load 20 is configured to simulate the electrical characteristics of a damper according to the input current I. In the embodiment of the present invention, the damper coil equivalent load 20 is the load of the inverter circuit 103, so the electrical characteristics of the damper coil module can be simulated in the simulation model.

[0061] A simulation model for a damper of a superconducting electromagnetic suspension system provided by an embodiment of the present invention can control the current flowing through the damper coil module in combination with relevant control strategies, effectively and accurately analyze the damping effect of the damper within the full speed range of a high-speed train, and simultaneously simulate the electrical characteristics of the damper through the damper coil equivalent load. This model is flexibly established and has a fast solution speed, providing support for the design of an active damper.

[0062] In a preferred embodiment, the simulation model can be further applied to fields such as a maglev rocket sled, electromagnetic catapult, and maglev space booster launch. On the one hand, it simulates the problems in the actual operation of a maglev rocket sled, electromagnetic catapult, maglev space booster launch, etc. On the other hand, it provides a reasonable active damping model according to the phenomena occurring in the actual operation process for effectively and accurately analyzing the damping effect of the damper.

[0063] A simulation model for a damper of a superconducting electromagnetic suspension system according to a specific embodiment of the present invention, preferably, as Figure 2 shown, the damper coil module 101 is further configured to provide a longitudinal speed V y and / or a guiding speed V z to the control module 102. Specifically, without considering the rotation of the damper coil with the vehicle body, the movement state of the damper coil module in the model can be completely described by displacements in three directions and velocities in three directions. Among them, the three directions are: vertical, longitudinal, and guiding. Then, the movement of the damper coil module can be described by velocities in three directions. Therefore, through the vertical speed V x , longitudinal speed V y and guiding speed V z , or vertical speed V x and longitudinal speed V y , or vertical speed V x and guiding speed V zIt can simulate the motion states of the damping coil module under different working conditions in most cases, facilitating subsequent processing of different operating conditions and complex load problems. Specifically, the vertical velocity V x , the longitudinal velocity V y , and the guiding velocity V z are all provided by the simulation model.

[0064] The control module is further configured to receive the longitudinal velocity and / or the guiding velocity and generate a second switching signal according to the longitudinal velocity and / or the guiding velocity; wherein, the second switching signal is obtained according to the longitudinal velocity, the guiding velocity, or the sum velocity of the longitudinal velocity and the guiding velocity, so as to describe the motion states of the train in different directions.

[0065] The inverter circuit is further configured to output corresponding input current to the damping coil equivalent load and the damping coil module according to the first switching signal and the second switching signal. By combining the first switching signal and the second switching signal, different control strategies can be simulated, thereby ensuring that the simulation model can handle different control strategies, different operating conditions, and complex load problems.

[0066] In a preferred embodiment, it further includes obtaining displacements in three directions, that is, the change in the spatial position of the damping coil module. As Figure 2 shown, by obtaining the vertical displacement XX, the longitudinal displacement YY, and the guiding displacement ZZ of the damping coil module at the previous moment and the current moment, and further analyzing the simulation model more comprehensively through the displacement changes in three directions.

[0067] In a preferred embodiment, the ports of the vertical displacement XX, the longitudinal displacement YY, and the guiding displacement ZZ, as well as the vertical velocity V x , the longitudinal velocity V y , and the guiding velocity V z and other parameters can also be used to add external disturbances. For example, the line irregularity of the vehicle running track is added through the displacements in three directions, and the aerodynamic disturbance received when the vehicle is running is modeled through the forces in three directions. Among them, the above parameters are all provided by the simulation model.

[0068] For a simulation model of a damper for a superconducting electromagnetic suspension system according to a specific embodiment of the present invention, preferably, the inverter circuit is a single-phase full-bridge inverter circuit, and the first switching signal output by the control module is divided into two paths, and each path respectively controls the conduction and cutoff of two pairs of bridge arms in the single-phase full-bridge inverter circuit to realize the control of the inverter circuit. Specifically, since the single-phase full-bridge inverter circuit can be regarded as composed of two half-bridge circuits, with a total of four bridge arms, and two pairs of bridge arms form a pair, and the paired bridge arms can be conducted simultaneously.

[0069] In a preferred embodiment, asFigure 3 The structure diagram of the inverter circuit in the embodiment of the present invention is shown. The bridge arm is the bridge arm IGBT, and the first switching signal is two IGBT switching signals, which are represented by solid lines and dotted lines respectively in Figure 3 . Each IGBT switching signal controls a pair of bridge arms. Specifically, the two IGBT switching signals control the gates of the two pairs of bridge arm IGBTs in the single-phase full-bridge inverter circuit to control the conduction of the bridge arm IGBT. According to the conduction and cut-off of the two IGBT switching signals, different current commands are provided to the full-bridge inverter circuit, so that the full-bridge inverter circuit generates different input currents according to different current commands to achieve the purpose of flexibly controlling the damping coil module.

[0070] A simulation model for a damper of a superconducting maglev system according to a specific embodiment of the present invention. Preferably, as Figure 4 shown, the control module 102 includes: an instruction current module 1021, a PI control module 1022, and a high-frequency modulation module 1023;

[0071] The instruction current module 1021 receives the vertical speed, generates a reference current, and outputs it to the PI control module 1022. Among them, according to different control strategies, the instruction current module 1021 generates a reference current from the received vertical speed signal.

[0072] The PI control module 1022 receives the actual current fed back by the inverter circuit, compares the actual current with the reference current, and outputs an instruction message. Specifically, since there may be a deviation when the current is output from the inverter circuit, the PI control module 1022 compares the reference current with the actual current output from the inverter circuit, and finally outputs an instruction message by adjusting the PI parameters. Specifically, the PI control module is a PI regulator, which is a linear controller. It forms a control deviation according to the given value and the actual output value, and forms a control quantity by linearly combining the proportion and integral of the deviation to control the controlled object.

[0073] The high-frequency modulation module 1023 receives the instruction message and modulates the instruction message to generate a first switching signal, and the first switching signal is a square wave signal. In a specific embodiment, the high-frequency modulation module 1023 receives the instruction message and modulates the instruction message to generate a first switching signal, and the first switching signal is a square wave signal. Using a high-frequency carrier for modulation, a control signal for the gate of the bridge arm IGBT is obtained. Under the control of the control signal, the inverter circuit outputs an input current I consistent with the reference current to the damping coil module.

[0074] A damper for a superconducting electromagnetic suspension system according to an embodiment of the present invention. Preferably, the inverter circuit is further configured to output a corresponding input voltage according to the first switching signal. The damper coil module is further configured to generate a damping force according to the input voltage. Specifically, in the embodiment of the present invention, in combination with different control strategies, in addition to controlling the input current flowing through the damper coil, the voltage across the damper coil can also be controlled to provide a variety of control means.

[0075] A damper for a superconducting electromagnetic suspension system according to an embodiment of the present invention. Preferably, the high-frequency modulation module modulates the command information by a high-frequency triangular wave to generate a square wave signal with a varying duty cycle. Specifically, the high-frequency modulation module receives the high-frequency triangular wave and the command information, modulates the command information, and finally generates a square wave signal with a varying duty cycle, that is, the first switching signal. The first switching signal includes two IGBT switching signals to respectively control a pair of bridge arms.

[0076] A simulation model of a damper for a superconducting electromagnetic suspension system according to a specific embodiment of the present invention. Preferably, the damper coil module is established by the finite element method to simulate the magnetic field change and / or load change during the movement of the damper. The finite element method is a very common method used in the calculation of electromagnetic fields, so it will not be specifically described in this embodiment.

[0077] A simulation model of a damper for a superconducting electromagnetic suspension system according to a specific embodiment of the present invention. Preferably, the simulation circuit has a first step size step1, and the simulation model has a second step size step2, and the second step size step2 is greater than the first step size step1;

[0078] A third step size step3 is obtained according to the first step size step1 and the second step size step2, and the third step size step3 is used as the step size of the simulation model. The third step size step3 = N - 1, where Specifically, when performing field-circuit coupling simulation, due to the problem of inconsistent step sizes between the simulation model and the simulation circuit, the first step size step1 is usually small, taking 10 -5 ~10 -6 s. The second step size step2 is made by encapsulating a self-written program. The basis for selecting the second step size step2 is to divide a movement cycle into 20 - 30 equal parts, which can meet the accuracy requirements. The second step size is between 10 -3 ~10 -4 s. Therefore, step2 > step1. In order to reduce the overall number of simulation steps, shorten the simulation time, and ensure the correctness of the simulation results, it is necessary to re-determine the step size step3 of the simulation model.

[0079] Specifically in the embodiments of the present invention, according to the difference between the first step length step1 of the simulation circuit and the second step length step2 of the simulation model, it is selected to take the result of 1 step length every N - 1 step lengths of the result output by the simulation circuit to replace the results of these N step lengths, and input them to the simulation model. The output results may include input current, displacements in three directions, and velocities in three directions. Wherein the integer N has

[0080]

[0081] Compared with the traditional average filtering method, the above method has a smaller amplitude-frequency difference.

[0082] The above calculation method of the step length solves the problem of asynchronous step lengths in field-circuit simulation and has a smaller amplitude-frequency difference.

[0083] A specific embodiment of the present invention also provides a simulation method for a damper of a superconducting electromagnetic suspension system, as Figure 5 shown, the method includes:

[0084] Step 501, the damping coil module provides a vertical velocity to the control module; the vertical velocity characterizes the velocity of the damper in the vertical direction;

[0085] Step 502, the control module generates a first switching signal according to the vertical velocity to control the inverter circuit;

[0086] Step 503, the inverter circuit outputs a corresponding input current to the damping coil module and the damping coil equivalent load according to the first switching signal;

[0087] Step 504, the damping coil module is used to generate a damping force according to the input current;

[0088] Step 505, the damping coil equivalent load simulates the electrical characteristics of the damper according to the input current.

[0089] In a preferred embodiment of the present invention, before providing the vertical velocity to the control module, the method further includes: filtering the vertical velocity signal, and then sending it to the control module to achieve precise control.

[0090] For a simulation method for a damper of a superconducting electromagnetic suspension system described in a specific embodiment of the present invention, preferably, the damping coil module providing a vertical velocity to the control module includes:

[0091] Analyze the vertical force of the damping coil module; the vertical force is the force on the damper in the vertical direction;

[0092] Obtain the vertical acceleration according to the vertical force;

[0093] Obtain the vertical velocity of the damping coil according to the vertical acceleration and provide it to the control module.

[0094] In a specific embodiment, the simulation model calculates and outputs the vertical force Fx of the damping coil module, establishes the kinematic equation of the damping coil, and then can obtain the vertical acceleration according to the vertical force, and further integrate the vertical acceleration to obtain the vertical velocity and provide it to the control module for analyzing the control strategy to output the first switching signal.

[0095] A simulation method for a damper of a superconducting electromagnetic suspension system according to a specific embodiment of the present invention. Preferably, the method further includes:

[0096] The inverter circuit feeds back the input current at time T-1 to the damping coil module;

[0097] The damping coil module obtains the vertical velocity at time T according to the input current and the vertical velocity at time T-1;

[0098] The damping coil module inputs the vertical velocity at time T into the control module.

[0099] In the above specific embodiment, the vertical velocity at the next moment can be calculated according to the vertical velocity at the previous moment for cyclic calculation, so that the damping force provided by the damping coil module is always in a balanced state, maintaining the stable operation of the train.

[0100] A simulation method for a damper of a superconducting electromagnetic suspension system according to a specific embodiment of the present invention. Preferably, the method further includes:

[0101] Obtain the vertical displacement at time T according to the input current and the vertical displacement at time T-1;

[0102] Simulate the motion state of the damper according to the vertical displacement and the vertical velocity at time T.

[0103] The solution described in the above embodiment of the present invention has the following beneficial effects:

[0104] 1. Establish the controller and the main circuit part of the active damper in the actual work into the Simulink simulation circuit of the damper and form a simulation model and a simulation method for the damper of the superconducting electromagnetic suspension system. The simulation model fully considers the actual working conditions of the damper, realizes field-circuit coupling, can ensure the accuracy of the calculation results, and is more in line with the actual situation.

[0105] 2. The simulation model is flexibly built and can handle different control strategies, different operating conditions, and complex load problems.

[0106] 3. Use a brand-new sampling method to solve the asynchronous long problem during field-circuit simulation, with smaller amplitude-frequency differences.

[0107] It should be understood that in various embodiments of the present invention, the magnitudes of the sequence numbers of the above processes do not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0108] It should also be understood that in the embodiments of the present invention, the term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0109] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0110] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0111] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the shown or discussed couplings or direct couplings or communication connections to each other can be indirect couplings or communication connections through some interfaces, devices, or units, and can also be electrical, mechanical, or other forms of connection.

[0112] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.

[0113] In addition, each functional unit in various embodiments of the present invention may be integrated into a processing unit, may exist separately as individual physical units, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0114] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0115] Specific embodiments of the present invention are used to elaborate the principles and implementation manners of the present invention. The descriptions of the above embodiments are only used to help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A simulation device for a superconducting electric suspension system damper, characterized in that: include: Simulate circuit and equivalent load of damping coil; The simulation circuit includes: a damping coil module, a control module and an inverter circuit; wherein, The damping coil module is used to provide a vertical velocity to the control module; the vertical velocity represents the velocity of the damper in the vertical direction; The control module is used to generate a first switch signal according to the vertical speed to control the inverter circuit; The inverter circuit is used to output a corresponding input current to the damping coil module and the damping coil equivalent load according to the first switch signal; The damping coil module is used to generate a damping force according to the input current; The damping coil equivalent load is used to simulate the electrical characteristics of the damper according to the input current.

2. A simulation device for a superconducting electric suspension system damper according to claim 1, characterized in that: The damping coil module is also used to provide the longitudinal speed and / or the guide speed to the control module; The control module is further configured to receive the longitudinal speed and / or the guide speed and generate a second switch signal according to the longitudinal speed and / or the guide speed; The inverter circuit is further configured to output a corresponding input current to the damping coil equivalent load and the damping coil module according to the first switching signal and the second switching signal.

3. The simulation device for a superconducting electric suspension system damper according to claim 1, characterized in that: The inverter circuit is a single-phase full-bridge inverter circuit, and the first switch signal output by the control module controls the on and off of two pairs of bridge arms in the single-phase full-bridge inverter circuit to control the inverter circuit.

4. The simulation device for a superconducting electric suspension system damper according to claim 1, characterized in that: The control module includes: a command current module, a PI control module and a high-frequency modulation module; The command current module receives the vertical speed and generates a reference current and then outputs it to the PI control module; The PI control module receives the input current fed back by the inverter circuit, compares the input current with the reference current, and then outputs instruction information; The high-frequency modulation module receives the instruction information and modulates the instruction information to generate a first switching signal, where the first switching signal is a square wave signal.

5. The simulation device for a superconducting electric suspension system damper according to claim 1, characterized in that: The damping coil module is established by the finite element method to simulate the magnetic field change and / or load change of the damper during movement.

6. The simulation device for a superconducting electric suspension system damper according to claim 1, characterized in that: The simulation circuit has a first step length step1, and the simulation device has a second step length step2, wherein the second step length step2 is greater than the first step length step1; The third step length step3 is obtained according to the first step length step1 and the second step length step2, and the third step length step3 is used as the step length of the simulation device.

7. A simulation method for a superconducting electric suspension system damper, characterized in that: The method comprises: The damping coil module provides a vertical velocity to the control module; the vertical velocity represents the velocity of the damper in the vertical direction; The control module generates a first switch signal according to the vertical speed to control the inverter circuit; The inverter circuit outputs a corresponding input current to the damping coil module and the damping coil equivalent load according to the first switch signal; The damping coil module is used to generate a damping force according to the input current; The damping coil equivalent load simulates the electrical characteristics of the damper according to the input current.

8. The simulation method for a superconducting electric suspension system damper according to claim 7, characterized in that: The damping coil module provides vertical velocity to the control module including: Analyze the vertical force of the damping coil module; the vertical force is the force on the damper in the vertical direction; obtaining a vertical acceleration according to the vertical force; A vertical velocity of the damping coil is acquired according to the vertical acceleration and provided to the control module.

9. The simulation method for a superconducting electric suspension system damper according to claim 7, characterized in that: The method further comprises: The inverter circuit feeds back the input current at time T-1 to the damping coil module; The damping coil module obtains the vertical velocity at time T according to the input current and the vertical velocity at time T-1; The damping coil module inputs the vertical velocity at time T to the control module.

10. A simulation method for a superconducting electric suspension system damper according to claim 9, characterized in that: The method further comprises: Obtain the vertical displacement at time T based on the input current and vertical displacement at time T-1; The motion state of the damper is simulated according to the vertical displacement and vertical velocity at time T.

Images