A suspension frame vibration simulation method, device and equipment

Abstract

The present invention discloses a suspension frame vibration simulation method, device and equipment, which relate to the field of magnetic levitation. The suspension frame vibration simulation method includes: obtaining the historical force information of the suspension frame of the magnetic levitation train; calculating the target force loading information of the actuator equivalent to the historical force information based on the preset equivalent relationship between the force information of the suspension frame and the force loading information of the actuator; and loading a force of corresponding magnitude to the actuator according to the target force loading information of the actuator, so that the actuator drives the suspension frame vibration tester to reproduce the historical motion posture of the suspension frame. It can be seen that the present application can reproduce the historical motion posture of the suspension frame through the suspension frame vibration tester equipped with an actuator, which is conducive to effectively promoting the innovation of high-speed magnetic levitation train technology.

Description

Technical Field

[0001] The present invention relates to the field of magnetic suspension, and in particular to a suspension frame vibration simulation method, device and equipment. Background Art

[0002] Maglev trains are vehicles propelled by magnetic levitation. Currently, studying the vibration of maglev trains' suspension frames has a significant impact on the innovation of high-speed maglev train technology. However, the dynamic characteristics of maglev train suspension frames are complex, and existing research methods for studying the vibration of maglev train suspension frames cannot accurately reproduce the frame's motion, hindering the effective promotion of high-speed maglev train technology innovation.

[0003] Therefore, how to provide a solution to the above technical problems is a problem that technicians in this field currently need to solve. Summary of the Invention

[0004] The purpose of the present invention is to provide a suspension frame vibration simulation method, device and equipment, which can reproduce the historical movement posture of the suspension frame through a suspension frame vibration tester equipped with an actuator, thereby effectively promoting the innovation of high-speed magnetic levitation train technology.

[0005] To solve the above technical problems, the present invention provides a suspension frame vibration simulation method, which is applied to a suspension frame vibration test body provided with an actuator, comprising:

[0006] Obtain historical force information of the suspension frame of the maglev train;

[0007] Calculating target force loading information of the actuator equivalent to the historical force information based on a preset equivalent relationship between the force information of the suspension frame and the force loading information of the actuator;

[0008] According to the target force loading information of the actuator, a force of corresponding magnitude is loaded onto the actuator, so that the actuator drives the suspension frame vibration tester to reproduce the historical motion posture of the suspension frame.

[0009] Optionally, the historical force information of the suspension frame includes the lateral force and / or lift and / or overturning moment and / or nodding moment and / or shaking moment of the suspension frame.

[0010] Optionally, the actuator includes a first actuator and a second actuator located on the same side of a target suspension frame vibration test body and respectively provided on two front and rear support beams of the target suspension frame vibration test body; wherein the target suspension frame vibration test body is any single suspension frame vibration test body on the suspension frame vibration test body;

[0011] The process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator includes:

[0012] According to the equivalent relationship between the lateral force of the target suspension frame and the lateral forces corresponding to the first actuator and the second actuator, a lateral force equivalent relationship Fy1+Fy2=Fy is set;

[0013] Wherein, Fy1 is the lateral force corresponding to the first actuator; Fy2 is the lateral force corresponding to the second actuator; Fy is the lateral force of the target suspension frame; and the target suspension frame is a single suspension frame on the suspension frame for simulating the target suspension frame vibration test body.

[0014] Optionally, the process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator further includes:

[0015] According to the equivalent relationship between the yaw moment of the target suspension frame and the lateral forces corresponding to the first actuator and the second actuator, an equivalent relationship formula for the yaw moment is set: Fy1*S1-Fy2*S1=Mz;

[0016] Wherein, S1=the distance between the first actuator and the second actuator÷2; Mz is the shaking moment of the target suspension frame.

[0017] Optionally, the actuators include a third actuator and a fourth actuator located on one side of the target suspension frame vibration test body and respectively provided on the front and rear support beams of the target suspension frame vibration test body, and a fifth actuator and a sixth actuator located on the other side of the target suspension frame vibration test body and respectively provided on the two support beams; wherein the target suspension frame vibration test body is any single suspension frame vibration test body on the suspension frame vibration test body;

[0018] The process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator includes:

[0019] According to the equivalent relationship between the lift of the target suspension frame and the lift corresponding to each of the third to sixth actuators, a lift equivalent relationship formula Fz1+Fz2+Fz3+Fz4=Fz is set;

[0020] Among them, Fz1 is the lift corresponding to the third actuator; Fz2 is the lift corresponding to the fourth actuator; Fz3 is the lift corresponding to the fifth actuator; Fz4 is the lift corresponding to the sixth actuator; Fz is the lift of the target suspension frame; the target suspension frame is a single suspension frame on the suspension frame for simulating the target suspension frame vibration test body.

[0021] Optionally, the process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator further includes:

[0022] According to the equivalent relationship between the overturning moment of the target suspension frame and the lift forces corresponding to the third to sixth actuators, an equivalent relationship formula for the overturning moment is set: (Fz1+Fz2)*L1-(Fz3+Fz4)*L2-Fy*H1=-Mx;

[0023] Among them, L1 is the vertical distance from the torque-taking point of the target suspension frame vibration test body to the straight line where the third actuator and the fourth actuator are located; L2 is the vertical distance from the torque-taking point to the straight line where the fifth actuator and the sixth actuator are located; Fy is the lateral force of the target suspension frame; H1 is the vertical distance from the torque-taking point to the straight line where the first actuator and the second actuator are located; Mx is the overturning moment of the target suspension frame.

[0024] Optionally, the process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator further includes:

[0025] According to the equivalent relationship between the nodding torque of the target suspension frame and the lift corresponding to each of the third to sixth actuators, a nodding torque equivalent relationship formula is set: (Fz2+Fz4)*S2-(Fz1+Fz3)*S2=My;

[0026] Wherein, S2=the distance between the third actuator and the fourth actuator÷2; My is the nodding torque of the target suspension frame.

[0027] Optionally, obtaining historical force information of the suspension frame of the maglev train includes:

[0028] Construct a data model of the maglev train and its suspension frame;

[0029] The data model is simulated based on the historical operation of the magnetic levitation train on the suspension frame to obtain historical force information of the suspension frame.

[0030] In order to solve the above technical problems, the present invention further provides a suspension frame vibration simulation device, which is applied to a suspension frame vibration test body provided with an actuator, comprising:

[0031] An acquisition module is used to obtain historical force information of the suspension frame of the maglev train;

[0032] a calculation module, configured to calculate target force loading information of the actuator equivalent to the historical force information based on a preset equivalent relationship between the force information of the suspension frame and the force loading information of the actuator;

[0033] The loading module is used to load a corresponding force to the actuator according to the target force loading information of the actuator, so that the actuator drives the suspension frame vibration tester to reproduce the historical motion posture of the suspension frame.

[0034] In order to solve the above technical problems, the present invention further provides a suspension frame vibration simulation device, comprising:

[0035] A suspended frame vibration test body equipped with an actuator;

[0036] The control device is used to implement the steps of any of the above-mentioned suspension frame vibration simulation methods when executing the computer program stored in the control device.

[0037] The present invention provides a suspension frame vibration simulation method, which is applied to a suspension frame vibration test body equipped with an actuator to obtain the historical force information of the suspension frame of a maglev train; based on the preset equivalent relationship between the force information of the suspension frame and the force loading information of the actuator, the target force loading information of the actuator equivalent to the historical force information is calculated; according to the target force loading information of the actuator, a force of corresponding magnitude is loaded to the actuator, so that the actuator drives the suspension frame vibration test body to reproduce the historical motion posture of the suspension frame. It can be seen that the present application can reproduce the historical motion posture of the suspension frame through the suspension frame vibration test body equipped with an actuator, which is conducive to effectively promoting the innovation of high-speed maglev train technology.

[0038] The present invention also provides a suspension frame vibration simulation device and equipment, which have the same beneficial effects as the above-mentioned vibration simulation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the prior art and the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A flow chart of a suspension frame vibration simulation method provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of a suspension frame provided in an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of an actuator arrangement for a single suspension frame vibration test body provided by an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of an equivalent shaking moment provided by an embodiment of the present invention;

[0044] Figure 5 A schematic diagram of an equivalent overturning moment provided by an embodiment of the present invention;

[0045] Figure 6 A schematic diagram of equivalent nodding torque provided by an embodiment of the present invention;

[0046] Figure 7 This is a structural schematic diagram of a suspension frame vibration simulation device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The core of the present invention is to provide a suspension frame vibration simulation method, device and equipment, which can reproduce the historical movement posture of the suspension frame through a suspension frame vibration tester equipped with an actuator, which is conducive to effectively promoting the innovation of high-speed magnetic levitation train technology.

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0049] Please refer to Figure 1 , Figure 1 The present invention provides a flow chart of a suspension frame vibration simulation method.

[0050] The suspension frame vibration simulation method is applied to a suspension frame vibration test body provided with an actuator, and includes:

[0051] Step S1: Obtain historical force information of the suspension frame of the maglev train.

[0052] Specifically, the present application obtains historical force information of the suspension frame of the maglev train, such as the lateral force, lift, overturning moment, nodding moment and shaking moment of the suspension frame of the maglev train, so as to subsequently reproduce the historical movement posture of the suspension frame of the maglev train.

[0053] Step S2: Calculating target force loading information of the actuator equivalent to the historical force information based on the preset equivalent relationship between the force information of the suspension frame and the force loading information of the actuator.

[0054] Specifically, the present application sets in advance the equivalent relationship between the force information of the suspension frame of the maglev train and the force loading information of the actuator on the suspension frame vibration test body, so as to calculate the force loading information of the actuator (called target force loading information) equivalent to the historical force information of the suspension frame of the maglev train according to the preset equivalent relationship.

[0055] Step S3: According to the target force loading information of the actuator, a corresponding force is loaded to the actuator, so that the actuator drives the suspension frame vibration test weight to reproduce the historical motion posture of the suspension frame.

[0056] Specifically, the present application loads a force of corresponding magnitude to the actuator on the suspension frame vibration test body according to the target force loading information of the actuator that is equivalent to the historical force information of the suspension frame of the magnetic levitation train, so that the actuator drives the suspension frame vibration test body to vibrate. The ultimate goal is to make the suspension frame vibration test body reproduce the historical movement posture of the suspension frame.

[0057] It can be seen that the present application can reproduce the historical motion posture of the suspension frame through the suspension frame vibration tester equipped with an actuator, which is beneficial to effectively promote the innovation of high-speed magnetic levitation train technology.

[0058] Based on the above embodiment:

[0059] As an optional embodiment, the historical force information of the suspension frame includes the lateral force and / or lift and / or overturning moment and / or nodding moment and / or shaking moment of the suspension frame.

[0060] Specifically, the historical force information of the suspension frame of the magnetic levitation train of the present application may include the lateral force of the suspension frame (the force perpendicular to the main axis applied at the point of action of the axial force), the lift of the suspension frame (upward force), the overturning moment of the suspension frame (the moment that causes the self-propelled machinery to overturn), the nodding moment of the suspension frame (the moment corresponding to the nodding dynamic behavior), the shaking moment of the suspension frame (the moment corresponding to the shaking dynamic behavior), and other historical force information, which is not specifically limited in the present application.

[0061] As an optional embodiment, the actuator includes a first actuator and a second actuator located on the same side of a target suspension frame vibration test body and respectively provided on the front and rear support beams of the target suspension frame vibration test body; wherein the target suspension frame vibration test body is any single suspension frame vibration test body on the suspension frame vibration test body;

[0062] The process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator includes:

[0063] According to the equivalent relationship between the lateral force of the target suspension frame and the lateral forces corresponding to the first actuator and the second actuator, a lateral force equivalent relationship Fy1+Fy2=Fy is set;

[0064] Wherein, Fy1 is the lateral force corresponding to the first actuator; Fy2 is the lateral force corresponding to the second actuator; Fy is the lateral force of the target suspension frame; and the target suspension frame is a single suspension frame on the suspension frame for simulating the target suspension frame vibration test body.

[0065] Specifically, if Figure 2 As shown, the entire suspension frame of the maglev train includes multiple suspension frames (suspension frame 1, suspension frame 2, suspension frame 3, suspension frame 4, etc.), each of which includes two mutually parallel guide electromagnets arranged along the train's travel direction and two support beams perpendicularly connected between the two guide electromagnets. It is understood that the entire suspension frame vibration test body of this application has the same structure as the entire suspension frame of the maglev train, so that the historical motion posture of the entire suspension frame of the maglev train can be reproduced through the suspension frame vibration test body.

[0066] Any single suspension frame vibration test body (referred to as the target suspension frame vibration test body) of the entire suspension frame vibration test body of the present application is equipped with a first actuator (such as Figure 3 The actuator Fy1 shown) and the second actuator (as shown Figure 3 As shown in the actuator Fy2), the first actuator and the second actuator are located on the same side of the target suspension frame vibration test body, and the first actuator and the second actuator are respectively arranged on the front and rear support beams of the target suspension frame vibration test body.

[0067] Based on this, the present application can set a lateral force equivalent relationship formula according to the equivalent relationship between the lateral force of a single suspension frame (called the target suspension frame) on the entire suspension frame of the magnetic levitation train for simulating the target suspension frame vibration test body and the lateral forces corresponding to the first actuator and the second actuator respectively: Fy1+Fy2=Fy (Fy1 is the lateral force corresponding to the first actuator; Fy2 is the lateral force corresponding to the second actuator; Fy is the lateral force of the target suspension frame).

[0068] As an optional embodiment, the process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator further includes:

[0069] According to the equivalent relationship between the sway moment of the target suspension frame and the lateral forces corresponding to the first actuator and the second actuator, the sway moment equivalent relationship Fy1*S1-Fy2*S1=Mz is set;

[0070] Wherein, S1 = the distance between the first actuator and the second actuator ÷ 2; Mz is the shaking moment of the target suspension frame.

[0071] Furthermore, if Figure 4As shown, the present application can also set an equivalent relationship formula for the shaking torque according to the equivalent relationship between the shaking torque of the target suspension frame and the lateral forces corresponding to the first actuator and the second actuator respectively: Fy1*S1-Fy2*S1=Mz (S1 is the first distance between the torque-taking point of the target suspension frame vibration test body and the first actuator on the X-axis, or the second distance between the torque-taking point of the target suspension frame vibration test body and the second actuator on the X-axis. Since the first distance and the second distance are equal, S1=the distance between the first actuator and the second actuator ÷ 2; Mz is the shaking torque of the target suspension frame).

[0072] As an optional embodiment, the actuators include a third actuator and a fourth actuator located on one side of the target suspension frame vibration test body and respectively provided on the front and rear support beams of the target suspension frame vibration test body, and a fifth actuator and a sixth actuator located on the other side of the target suspension frame vibration test body and respectively provided on the two support beams; wherein the target suspension frame vibration test body is any single suspension frame vibration test body on the suspension frame vibration test body;

[0073] The process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator includes:

[0074] According to the equivalent relationship between the lift of the target suspension frame and the lift corresponding to the third to sixth actuators, a lift equivalent relationship formula Fz1+Fz2+Fz3+Fz4=Fz is set;

[0075] Among them, Fz1 is the lift corresponding to the third actuator; Fz2 is the lift corresponding to the fourth actuator; Fz3 is the lift corresponding to the fifth actuator; Fz4 is the lift corresponding to the sixth actuator; Fz is the lift of the target suspension frame; the target suspension frame is a single suspension frame on the suspension frame for simulating the target suspension frame vibration test body.

[0076] Specifically, the target suspension frame vibration test body of the present application is equipped with a third actuator (such as Figure 3 Actuator Fz1 shown), the fourth actuator (such as Figure 3 Actuator Fz2 shown), the fifth actuator (such as Figure 3 The actuator Fz3 shown) and the sixth actuator (as shown Figure 3 The actuator Fz4 shown in the figure, the third actuator and the fourth actuator are located on one side of the target suspension frame vibration test body, and the third actuator and the fourth actuator are respectively arranged on the front and rear support beams of the target suspension frame vibration test body; the fifth actuator and the sixth actuator are located on the other side of the target suspension frame vibration test body, and the fifth actuator and the sixth actuator are respectively arranged on the front and rear support beams of the target suspension frame vibration test body.

[0077] Based on this, the present application can set a lift equivalent relationship according to the equivalent relationship between the lift of the target suspension frame and the lift corresponding to the third to sixth actuators: Fz1+Fz2+Fz3+Fz4=Fz (Fz1 is the lift corresponding to the third actuator; Fz2 is the lift corresponding to the fourth actuator; Fz3 is the lift corresponding to the fifth actuator; Fz4 is the lift corresponding to the sixth actuator; Fz is the lift of the target suspension frame).

[0078] As an optional embodiment, the process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator further includes:

[0079] According to the equivalent relationship between the overturning moment of the target suspension frame and the lift corresponding to the third to sixth actuators, the overturning moment equivalent relationship formula is set as (Fz1+Fz2)*L1-(Fz3+Fz4)*L2-Fy*H1=-Mx;

[0080] Wherein, L1 is the vertical distance from the moment-taking point of the target suspension frame vibration test body to the straight line where the third and fourth actuators are located; L2 is the vertical distance from the moment-taking point to the straight line where the fifth and sixth actuators are located; Fy is the lateral force of the target suspension frame; H1 is the vertical distance from the moment-taking point to the straight line where the first and second actuators are located; Mx is the overturning moment of the target suspension frame.

[0081] Furthermore, if Figure 5 As shown, the present application may also set an equivalent relationship formula for the overturning moment according to the equivalent relationship between the overturning moment of the target suspension frame and the lift forces corresponding to the third to sixth actuators:

[0082] (Fz1+Fz2)*L1-(Fz3+Fz4)*L2-Fy*H1=-Mx(L1 is the distance between the torque-taking point of the target suspension frame vibration test body and the third actuator or the fourth actuator (Fz(1,2)) on the Y axis, that is, the vertical distance from the torque-taking point of the target suspension frame vibration test body to the straight line where the third actuator and the fourth actuator are located; L2 is the distance between the torque-taking point of the target suspension frame vibration test body and the fifth actuator or the sixth actuator (Fz(3,4)) on the Y axis, that is, the vertical distance from the torque-taking point of the target suspension frame vibration test body to the straight line where the fifth actuator and the sixth actuator are located; H1 is the distance between the torque-taking point of the target suspension frame vibration test body and the first actuator or the second actuator (Fy(1,2)) on the Z axis, that is, the vertical distance from the torque-taking point of the target suspension frame vibration test body to the straight line where the first actuator and the second actuator are located; Mx is the overturning moment of the target suspension frame).

[0083] As an optional embodiment, the process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator further includes:

[0084] According to the equivalent relationship between the nodding torque of the target suspension frame and the lift corresponding to the third to sixth actuators, the nodding torque equivalent relationship formula is set as (Fz2+Fz4)*S2-(Fz1+Fz3)*S2=My;

[0085] Wherein, S2 = the distance between the third actuator and the fourth actuator ÷ 2; My is the nodding torque of the target suspension frame.

[0086] Furthermore, if Figure 6 As shown, the present application can also set a nodding torque equivalent relationship according to the equivalent relationship between the nodding torque of the target suspension frame and the lift corresponding to each of the third to sixth actuators:

[0087] (Fz2+Fz4)*S2-(Fz1+Fz3)*S2=My(S2 is the third distance between the torque-taking point of the target suspension frame vibration test body and the third actuator or the fifth actuator (Fz(1,3)) on the X-axis, or the fourth distance between the torque-taking point of the target suspension frame vibration test body and the fourth actuator or the sixth actuator (Fz(2,4)) on the X-axis. Since the third distance and the fourth distance are equal, S2=the distance between the third actuator and the fourth actuator ÷ 2 or S2=the distance between the fifth actuator and the sixth actuator ÷ 2 (S1=S2); My is the nodding torque of the target suspension frame).

[0088] As an optional embodiment, obtaining historical force information of the suspension frame of the maglev train includes:

[0089] Construct a data model of the maglev train and its suspension frame;

[0090] The data model is simulated based on the historical operation of the maglev train on the suspension frame to obtain the historical force information of the suspension frame.

[0091] Specifically, the process of obtaining the historical force information of the suspension frame of the maglev train in this application includes: 1) constructing a data model of the maglev train and the suspension frame of the maglev train; 2) simulating the data model of the maglev train and its suspension frame based on the historical operation of the maglev train on the suspension frame to obtain the historical force information of the suspension frame of the maglev train.

[0092] Please refer to Figure 7 , Figure 7 This is a structural schematic diagram of a suspension frame vibration simulation device provided by an embodiment of the present invention.

[0093] The suspension frame vibration simulation device is applied to a suspension frame vibration test body provided with an actuator, and includes:

[0094] An acquisition module 100 is used to acquire historical force information of the suspension frame of the maglev train;

[0095] The calculation module 200 is used to calculate the target force loading information of the actuator equivalent to the historical force information based on the preset equivalent relationship between the force information of the suspension frame and the force loading information of the actuator;

[0096] The loading module 300 is used to load a corresponding force to the actuator according to the target force loading information of the actuator, so that the actuator drives the suspension frame vibration tester to reproduce the historical motion posture of the suspension frame.

[0097] For an introduction to the vibration simulation device provided in this application, please refer to the embodiment of the above-mentioned vibration simulation method, and this application will not go into details here.

[0098] The present application also provides a suspension frame vibration simulation device, comprising:

[0099] A suspended frame vibration test body equipped with an actuator;

[0100] The control device is used to implement the steps of any of the above-mentioned suspension frame vibration simulation methods when executing the computer program stored in the control device.

[0101] For an introduction to the vibration simulation device provided in this application, please refer to the embodiment of the above-mentioned vibration simulation method, and this application will not go into details here.

[0102] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0103] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A suspension frame vibration simulation method, characterized in that: Applicable to suspended frame vibration test bodies equipped with actuators, including: Obtain historical force information of the suspension frame of the maglev train; Calculating target force loading information of the actuator equivalent to the historical force information based on a preset equivalent relationship between the force information of the suspension frame and the force loading information of the actuator; According to the target force loading information of the actuator, a force of corresponding magnitude is loaded onto the actuator, so that the actuator drives the suspension frame vibration tester to reproduce the historical motion posture of the suspension frame.

2. The suspension frame vibration simulation method according to claim 1, wherein: The historical force information of the suspension frame includes the lateral force and / or lift force and / or overturning moment and / or nodding moment and / or shaking moment of the suspension frame.

3. The suspension frame vibration simulation method according to claim 2, wherein: The actuator includes a first actuator and a second actuator located on the same side of a target suspension frame vibration test body and respectively provided on the front and rear support beams of the target suspension frame vibration test body; wherein the target suspension frame vibration test body is any single suspension frame vibration test body on the suspension frame vibration test body; The process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator includes: According to the equivalent relationship between the lateral force of the target suspension frame and the lateral forces corresponding to the first actuator and the second actuator, a lateral force equivalent relationship Fy1+Fy2=Fy is set; Wherein, Fy1 is the lateral force corresponding to the first actuator; Fy2 is the lateral force corresponding to the second actuator; Fy is the lateral force of the target suspension frame; and the target suspension frame is a single suspension frame on the suspension frame for simulating the target suspension frame vibration test body.

4. The suspension frame vibration simulation method according to claim 3, wherein: The process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator further includes: According to the equivalent relationship between the yaw moment of the target suspension frame and the lateral forces corresponding to the first actuator and the second actuator, an equivalent relationship formula for the yaw moment is set: Fy1*S1-Fy2*S1=Mz; Wherein, S1=the distance between the first actuator and the second actuator÷2; Mz is the shaking moment of the target suspension frame.

5. The suspension frame vibration simulation method according to claim 3 or 4, characterized in that: The actuators include a third actuator and a fourth actuator located on one side of a target suspension frame vibration test body and respectively provided on two front and rear support beams of the target suspension frame vibration test body, and a fifth actuator and a sixth actuator located on the other side of the target suspension frame vibration test body and respectively provided on the two support beams; wherein the target suspension frame vibration test body is any single suspension frame vibration test body on the suspension frame vibration test body; The process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator includes: According to the equivalent relationship between the lift of the target suspension frame and the lift corresponding to each of the third to sixth actuators, a lift equivalent relationship formula Fz1+Fz2+Fz3+Fz4=Fz is set; Among them, Fz1 is the lift corresponding to the third actuator; Fz2 is the lift corresponding to the fourth actuator; Fz3 is the lift corresponding to the fifth actuator; Fz4 is the lift corresponding to the sixth actuator; Fz is the lift of the target suspension frame; the target suspension frame is a single suspension frame on the suspension frame for simulating the target suspension frame vibration test body.

6. The suspension frame vibration simulation method according to claim 5, characterized in that: The process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator further includes: According to the equivalent relationship between the overturning moment of the target suspension frame and the lift forces corresponding to the third to sixth actuators, an equivalent relationship formula for the overturning moment is set: (Fz1+Fz2)*L1-(Fz3+Fz4)*L2-Fy*H1=-Mx; Among them, L1 is the vertical distance from the torque-taking point of the target suspension frame vibration test body to the straight line where the third actuator and the fourth actuator are located; L2 is the vertical distance from the torque-taking point to the straight line where the fifth actuator and the sixth actuator are located; Fy is the lateral force of the target suspension frame; H1 is the vertical distance from the torque-taking point to the straight line where the first actuator and the second actuator are located; Mx is the overturning moment of the target suspension frame.

7. The suspension frame vibration simulation method according to claim 5, wherein: The process of presetting the equivalent relationship between the force information of the suspension frame and the force loading information of the actuator further includes: According to the equivalent relationship between the nodding torque of the target suspension frame and the lift corresponding to each of the third to sixth actuators, a nodding torque equivalent relationship formula is set: (Fz2+Fz4)*S2-(Fz1+Fz3)*S2=My; Wherein, S2=the distance between the third actuator and the fourth actuator÷2; My is the nodding torque of the target suspension frame.

8. The suspension frame vibration simulation method according to claim 1, wherein: Obtain historical force information of the suspension frame of a maglev train, including: Construct a data model of the maglev train and its suspension frame; The data model is simulated based on the historical operation of the magnetic levitation train on the suspension frame to obtain historical force information of the suspension frame.

9. A suspension frame vibration simulation device, characterized in that: Applicable to suspended frame vibration test bodies equipped with actuators, including: An acquisition module is used to obtain historical force information of the suspension frame of the maglev train; a calculation module, configured to calculate target force loading information of the actuator equivalent to the historical force information based on a preset equivalent relationship between the force information of the suspension frame and the force loading information of the actuator; The loading module is used to load a corresponding force to the actuator according to the target force loading information of the actuator, so that the actuator drives the suspension frame vibration tester to reproduce the historical motion posture of the suspension frame.

10. A suspension frame vibration simulation device, characterized in that: include: A suspended frame vibration test body equipped with an actuator; A control device, configured to implement the steps of the suspension frame vibration simulation method according to any one of claims 1 to 8 when executing a computer program stored therein.

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