A method, device and device for suppressing vehicle-rail coupling vibration of a maglev train

Abstract

The present application relates to a method, device and device for suppressing the vehicle-track coupling vibration of a maglev train. The method obtains the frequency spectrum of the acceleration signal sequence of the maglev train in the suspension direction, extracts the acceleration signal whose amplitude exceeds the preset value from the frequency spectrum, and preliminarily judges whether there is the possibility of coupling vibration. When the frequency of the acceleration signal is outside the preset range, it can be determined that the maglev train has vehicle-track coupling vibration, and the vehicle-track coupling vibration can be accurately detected. Then, the suspension control amount for suppressing the vehicle-track coupling vibration is calculated according to the suspension gap and the functional relationship between the magnetic buoyancy force and the electromagnet current and the suspension gap. The vehicle-track coupling vibration of the maglev train is suppressed by the obtained suspension control amount. The method can accurately detect and suppress the vehicle-track coupling vibration.

Description

Technical Field

[0001] The present application relates to the field of suspension control technology, and in particular to a method, device and equipment for suppressing vehicle-rail coupled vibration of a maglev train. Background Art

[0002] During operation, maglev trains will pass through different track sections. Different track sections (main line, bridges, turnouts, depot tracks, etc.) have different track stiffness, damping, and natural frequencies, which causes changes in the train's suspension performance. In some track sections, vehicle-track coupling vibration may occur, affecting the ride comfort of the train, and in severe cases may cause instability in the train's suspension system. Measures can be taken to suppress the vehicle-track coupling vibration problem. First, the vehicle-track coupling vibration phenomenon must be actively detected; second, appropriate measures must be taken to suppress the vehicle-track coupling vibration. Summary of the invention

[0003] Based on this, it is necessary to provide a method, device and suppression equipment for suppressing the vehicle-track coupling vibration of a maglev train, which can accurately detect and suppress the vehicle-track coupling vibration, in order to solve the above technical problems.

[0004] A method for suppressing vehicle-rail coupling vibration of a maglev train, the method comprising:

[0005] Acquire the frequency spectrum of the acceleration signal sequence of the maglev train in the suspension direction, extract the first acceleration signal whose amplitude exceeds the preset value from the frequency spectrum, and determine that the maglev train has vehicle-track coupled vibration when the frequency of the first acceleration signal is outside the preset range;

[0006] The suspension gap and the electromagnet current of the maglev train are obtained, and a first suspension control amount for suppressing vehicle-rail coupling vibration is calculated according to the suspension gap and the functional relationship between the magnetic levitation force and the electromagnet current and the suspension gap; the functional relationship between the magnetic levitation force and the electromagnet current and the suspension gap can be obtained by looking up a table;

[0007] The vehicle-rail coupling vibration is suppressed according to the first suspension control amount, so that the maglev train is suspended at a set target suspension gap.

[0008] In one embodiment, obtaining a first suspension control variable for suppressing vehicle-rail coupling vibration according to the suspension gap and the functional relationship between the magnetic buoyancy force and the electromagnet current and the suspension gap includes:

[0009] According to the functional relationship between the suspension gap and the magnetic buoyancy force, the electromagnet current and the suspension gap, the first suspension control variable for suppressing the vehicle-rail coupling vibration is obtained as follows:

[0010] u1=k p (s-s0)+k dv+∫(s-s0)+k*f(i,s)

[0011] Among them, u1 is the first suspension control value, k p is the proportional control parameter of the suspension gap, s is the obtained suspension gap, s0 is the target suspension gap, k d is the differential control parameter, v is the differential of the suspension gap, k is the magnetic buoyancy force feedback parameter, i is the electromagnet current, and f(i,s) is the functional relationship between the magnetic buoyancy force, the electromagnet current and the suspension gap.

[0012] The functional relationship table of the magnetic buoyancy force, the electromagnet current and the suspension gap is formed in advance by summarizing the test results.

[0013] In one embodiment, the calculation formula of the magnetic buoyancy force feedback parameter is:

[0014] k=1-v1 / v0

[0015] Among them, v1 is the running speed of the maglev train, v0 is the preset speed threshold, and the value range of k is 0 to 1.

[0016] In one of the embodiments, the method further comprises: when a first acceleration signal having an amplitude exceeding a preset value is not extracted or a frequency of the first acceleration signal is outside a preset range, determining that the maglev train does not have vehicle-rail coupling vibration;

[0017] The second suspension control amount during the normal operation of the maglev train is calculated according to the suspension gap and the target suspension gap:

[0018] u2=k p (s-s0)+k d v+∫(s-s0);

[0019] Among them, u2 is the second suspension control quantity, k p is the proportional control parameter of the suspension gap, s is the obtained suspension gap, s0 is the target suspension gap, k d is the differential control parameter, and v is the differential of the suspension gap.

[0020] In one embodiment, when v1 ≥ v0, the maglev train switches to the suspension control algorithm during normal operation to maintain normal operation of the train;

[0021] The suspension control algorithm during normal operation is:

[0022] u=k p (s-s0)+k d v+∫(s-s0);

[0023] Among them, u is the suspension control amount during normal operation, kp is the proportional control parameter of the suspension gap, s is the obtained suspension gap, s0 is the target suspension gap, k d is the differential control parameter, and v is the differential of the suspension gap.

[0024] A device for suppressing vehicle-rail coupled vibration of a maglev train, characterized in that the device comprises:

[0025] A judgment module is used to obtain the frequency spectrum of the acceleration signal sequence of the maglev train in the suspension direction, extract a first acceleration signal whose amplitude exceeds a preset value from the frequency spectrum, and determine that the maglev train has a vehicle-track coupling vibration when the frequency of the first acceleration signal is outside a preset range;

[0026] A calculation module is used to obtain the suspension gap and the electromagnet current of the maglev train, and calculate a first suspension control amount for suppressing vehicle-rail coupling vibration according to the suspension gap and the functional relationship between the magnetic levitation force, the electromagnet current and the suspension gap; the functional relationship between the magnetic levitation force, the electromagnet current and the suspension gap can be obtained by looking up a table;

[0027] The suppression module is used to suppress the vehicle-rail coupling vibration according to the first suspension control amount, so that the maglev train is suspended at a set target suspension gap.

[0028] A device for suppressing vehicle-rail coupling vibration of a maglev train comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0029] Acquire the frequency spectrum of the acceleration signal sequence of the maglev train in the suspension direction, extract the first acceleration signal whose amplitude exceeds the preset value from the frequency spectrum, and determine that the maglev train has vehicle-track coupled vibration when the frequency of the first acceleration signal is outside the preset range;

[0030] The suspension gap and the electromagnet current of the maglev train are obtained, and a first suspension control amount for suppressing vehicle-rail coupling vibration is calculated according to the suspension gap and the functional relationship between the magnetic levitation force and the electromagnet current and the suspension gap; the functional relationship between the magnetic levitation force and the electromagnet current and the suspension gap can be obtained by looking up a table;

[0031] The vehicle-rail coupling vibration is suppressed according to the first suspension control amount, so that the maglev train is suspended at a set target suspension gap.

[0032] The above-mentioned method, device and device for suppressing the vehicle-track coupling vibration of a maglev train obtains the frequency spectrum of the acceleration signal sequence of the maglev train in the suspension direction, extracts the acceleration signal whose amplitude exceeds the preset value from the frequency spectrum, and preliminarily determines whether there is a possibility of coupling vibration. When the frequency of the acceleration signal is outside the preset range, it can be determined that the maglev train has vehicle-track coupling vibration, thereby realizing accurate detection of vehicle-track coupling vibration. Then, the suspension control amount for suppressing the vehicle-track coupling vibration is calculated based on the suspension gap and the functional relationship between the magnetic buoyancy force and the electromagnet current and the suspension gap, and the vehicle-track coupling vibration of the maglev train is suppressed by the obtained suspension control amount. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic flow chart of a method for suppressing vehicle-rail coupling vibration of a maglev train in one embodiment;

[0034] Figure 2 It is a structural block diagram of a device for suppressing vehicle-rail coupling vibration of a maglev train in one embodiment;

[0035] Figure 3 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] In one embodiment, Figure 1 As shown, a method for suppressing vehicle-rail coupling vibration of a maglev train is provided, comprising the following steps:

[0038] Step 102, obtaining the frequency spectrum of the acceleration signal sequence of the maglev train in the suspension direction, extracting the first acceleration signal whose amplitude exceeds a preset value from the frequency spectrum, and determining that the maglev train has vehicle-track coupled vibration when the frequency of the first acceleration signal is outside the preset range.

[0039] The spectrum of the acceleration signal sequence can be obtained by Fourier transforming the signal sequence. The spectrum contains the amplitude of the acceleration signal and the corresponding frequency. Assume that the acceleration is sampled first, and the N continuously collected acceleration signals are transformed by FFT to obtain the vibration amplitude sequence of the acceleration signal in the frequency domain, as well as the frequency corresponding to each amplitude. Assume that the preset amplitude value is 0.5g, that is, 5m / s 2, the frequency preset range is 20~40Hz, first check whether there is an acceleration signal exceeding 0.5g in the amplitude sequence, and then determine whether the frequency of the acceleration signal is between 20~40Hz. If both conditions are met, it can be determined that vehicle-track coupling vibration has occurred. It is worth noting that the amplitude preset value and the frequency preset range can be determined according to the actual engineering situation and are not specifically limited here.

[0040] Step 104, obtaining the suspension gap and electromagnet current of the maglev train, and calculating a first suspension control variable for suppressing vehicle-rail coupling vibration according to the suspension gap and the functional relationship between the magnetic levitation force, the electromagnet current and the suspension gap; the functional relationship between the magnetic levitation force, the electromagnet current and the suspension gap can be obtained by looking up a table;

[0041] The functional relationship between the magnetic levitation force, the electromagnet current and the suspension gap can be obtained by looking up a table. This function can be obtained by actual measurement. Different systems have different forms of this function. A table (the relationship between the magnetic force, the current and the suspension gap) can be formed through experimental detection. During operation, the real-time magnetic levitation force can be obtained by looking up the table.

[0042] Step 106: Suppress the vehicle-rail coupling vibration according to the first suspension control amount, so that the maglev train is suspended at a set target suspension gap.

[0043] The above-mentioned method for suppressing the vehicle-track coupling vibration of a maglev train obtains the frequency spectrum of the acceleration signal sequence of the maglev train in the suspension direction, extracts the acceleration signal whose amplitude exceeds the preset value from the frequency spectrum, and preliminarily judges whether there is the possibility of coupling vibration. When the frequency of the acceleration signal is outside the preset range, it can be determined that the maglev train has vehicle-track coupling vibration, thereby realizing accurate detection of vehicle-track coupling vibration. Then, the suspension control amount for suppressing the vehicle-track coupling vibration is calculated according to the suspension gap and the functional relationship between the magnetic buoyancy force and the electromagnet current and the suspension gap, and the vehicle-track coupling vibration of the maglev train is suppressed by the obtained suspension control amount.

[0044] In one embodiment, the first suspension control variable for suppressing vehicle-rail coupling vibration is obtained according to the suspension gap and the functional relationship between the magnetic buoyancy force, the electromagnet current and the suspension gap, including:

[0045] According to the functional relationship between the suspension gap and the magnetic buoyancy force, the electromagnet current and the suspension gap, the first suspension control quantity for suppressing the vehicle-rail coupling vibration is obtained as follows:

[0046] u1=k p (s-s0)+k d v+∫(s-s0)+k*f(i,s)

[0047] Among them, u1 is the first suspension control value, k pis the proportional control parameter of the suspension gap, s is the obtained suspension gap, s0 is the target suspension gap, k d is the differential control parameter, v is the differential of the suspension gap, k is the magnetic buoyancy force feedback parameter, i is the electromagnet current, and f(i,s) is the functional relationship between the magnetic buoyancy force, the electromagnet current and the suspension gap.

[0048] In one embodiment, the calculation formula of the magnetic levitation force feedback parameter is:

[0049] k=1-v1 / v0

[0050] Among them, v1 is the running speed of the maglev train, v0 is the preset speed threshold, and the value range of k is 0 to 1.

[0051] When v1≥v0, the maglev train switches to the suspension control algorithm during normal operation to maintain the normal operation of the train. In other words, when it is determined that there is coupled vibration, force feedback is used to suppress the vibration. The maglev force feedback parameter will decrease with the increase of the running speed. When the running speed reaches a preset speed threshold, k=0, there is no need to use the calculation formula of the first suspension control amount to suppress the coupled vibration. This is consistent with the actual situation. The algorithm for suppressing vehicle-track coupled vibration is mainly used in situations where the train movement speed is low. If the speed is high, the track does not have time to vibrate and the train has already left.

[0052] In one embodiment, when the first acceleration signal whose amplitude exceeds the preset value is not extracted or the frequency of the first acceleration signal is outside the preset range, it is determined that the maglev train does not have vehicle-track coupling vibration;

[0053] The second suspension control quantity of the maglev train during normal operation is calculated according to the suspension gap and the target suspension gap:

[0054] u2=k p (s-s0)+k d v+∫(s-s0);

[0055] Among them, u2 is the second suspension control quantity, k p is the proportional control parameter of the suspension gap, s is the obtained suspension gap, s0 is the target suspension gap, k d is the differential control parameter, and v is the differential of the suspension gap.

[0056] In summary, it can be seen that the acceleration signal is used to determine whether to switch the suspension control amount calculation method.

[0057] It should be understood that although Figure 1The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0058] In one embodiment, Figure 2 As shown, a device for suppressing the vehicle-rail coupling vibration of a maglev train is provided, comprising: a judgment module, a calculation module and a suppression module, wherein:

[0059] A judgment module is used to obtain the frequency spectrum of the acceleration signal sequence of the maglev train in the suspension direction, extract the first acceleration signal whose amplitude exceeds the preset value from the frequency spectrum, and judge that the maglev train has vehicle-rail coupling vibration when the frequency of the first acceleration signal is outside the preset range;

[0060] A calculation module is used to obtain the suspension gap and electromagnet current of the maglev train, and calculate the first suspension control quantity for suppressing the vehicle-rail coupling vibration according to the suspension gap and the functional relationship between the magnetic levitation force, the electromagnet current and the suspension gap; the functional relationship between the magnetic levitation force, the electromagnet current and the suspension gap can be obtained by looking up a table;

[0061] The suppression module is used to suppress the vehicle-rail coupling vibration according to the first suspension control amount, so that the maglev train is suspended under the set target suspension gap.

[0062] In one embodiment, the calculation module is further used to obtain the first suspension control quantity for suppressing the vehicle-rail coupling vibration according to the suspension gap and the functional relationship between the magnetic buoyancy force and the electromagnet current and the suspension gap:

[0063] u1=k p (s-s0)+k d v+∫(s-s0)+k*f(i,s)

[0064] Among them, u1 is the first suspension control value, k p is the proportional control parameter of the suspension gap, s is the obtained suspension gap, s0 is the target suspension gap, k d is the differential control parameter, v is the differential of the suspension gap, k is the magnetic buoyancy force feedback parameter, i is the electromagnet current, and f(i,s) is the functional relationship between the magnetic buoyancy force, the electromagnet current and the suspension gap.

[0065] The specific definition of the device for suppressing the vehicle-track coupling vibration of a maglev train can be found in the definition of the method for suppressing the vehicle-track coupling vibration of a maglev train mentioned above, which will not be repeated here. Each module in the above-mentioned device for suppressing the vehicle-track coupling vibration of a maglev train can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0066] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as the suspension gap and the electromagnet current. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for suppressing the vehicle-track coupling vibration of a maglev train is implemented.

[0067] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0068] In one embodiment, a suppression device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0069] Acquire the frequency spectrum of the acceleration signal sequence of the maglev train in the suspension direction, extract the first acceleration signal whose amplitude exceeds the preset value from the frequency spectrum, and determine that the maglev train has vehicle-track coupled vibration when the frequency of the first acceleration signal is outside the preset range;

[0070] The suspension gap and electromagnet current of the maglev train are obtained, and the first suspension control quantity for suppressing the vehicle-rail coupling vibration is calculated according to the suspension gap and the functional relationship between the magnetic levitation force and the electromagnet current and the suspension gap; the functional relationship between the magnetic levitation force and the electromagnet current and the suspension gap can be obtained by looking up a table;

[0071] The vehicle-rail coupling vibration is suppressed according to the first suspension control amount, so that the maglev train is suspended at a set target suspension gap.

[0072] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synch link) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0073] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for suppressing vehicle-track coupling vibration of a maglev train, characterized in that: The method comprises: Acquire the frequency spectrum of the acceleration signal sequence of the maglev train in the suspension direction, extract the first acceleration signal whose amplitude exceeds the preset value from the frequency spectrum, and determine that the maglev train has vehicle-track coupled vibration when the frequency of the first acceleration signal is outside the preset range; The suspension gap and the electromagnet current of the maglev train are obtained, and a first suspension control amount for suppressing vehicle-rail coupling vibration is calculated according to the suspension gap and the functional relationship between the magnetic levitation force and the electromagnet current and the suspension gap; the functional relationship between the magnetic levitation force and the electromagnet current and the suspension gap can be obtained by looking up a table; Suppressing the vehicle-rail coupling vibration according to the first suspension control amount so that the maglev train is suspended at a set target suspension gap; The first suspension control amount for suppressing vehicle-rail coupling vibration is obtained according to the functional relationship between the suspension gap and the magnetic buoyancy force, the electromagnet current and the suspension gap, including: According to the functional relationship between the suspension gap and the magnetic buoyancy force, the electromagnet current and the suspension gap, the first suspension control variable for suppressing the vehicle-rail coupling vibration is obtained as follows: in, is the first suspension control amount, is the proportional control parameter of the suspension gap, To obtain the suspension gap, is the target suspension gap, is the differential control parameter, is the differential of the suspension gap, is the magnetic buoyancy force feedback parameter, is the electromagnet current, is the functional relationship between the magnetic buoyancy force and the electromagnet current and the suspension gap; The calculation formula of the magnetic buoyancy force feedback parameter is: in, is the running speed of the maglev train, is the preset speed threshold, The value range is 0~1; when When the maglev train switches to the suspension control algorithm during normal operation to maintain the normal operation of the train; The suspension control algorithm during normal operation is: ； in, is the suspension control amount during normal operation, is the proportional control parameter of the suspension gap, To obtain the suspension gap, is the target suspension gap, is the differential control parameter, is the differential of the suspension gap.

2. The method according to claim 1, characterized in that The method further comprises: when a first acceleration signal whose amplitude exceeds a preset value is not extracted or the frequency of the first acceleration signal is outside a preset range, determining that the maglev train does not have vehicle-rail coupling vibration; The second suspension control amount during the normal operation of the maglev train is calculated according to the suspension gap and the target suspension gap: ； in, is the second suspension control amount, is the proportional control parameter of the suspension gap, To obtain the suspension gap, is the target suspension gap, is the differential control parameter, is the differential of the suspension gap.

3. According to the method of claim 1, the functional relationship table of the magnetic levitation force, the electromagnet current and the suspension gap is pre-formed by summarizing the test results.

4. A device for suppressing the vehicle-rail coupling vibration of a maglev train, used for executing the method for suppressing the vehicle-rail coupling vibration of a maglev train according to any one of claims 1 to 3, characterized in that: The device comprises: A judgment module is used to obtain the frequency spectrum of the acceleration signal sequence of the maglev train in the suspension direction, extract a first acceleration signal whose amplitude exceeds a preset value from the frequency spectrum, and determine that the maglev train has a vehicle-track coupling vibration when the frequency of the first acceleration signal is outside a preset range; A calculation module is used to obtain the suspension gap and the electromagnet current of the maglev train, and calculate a first suspension control amount for suppressing vehicle-rail coupling vibration according to the suspension gap and the functional relationship between the magnetic levitation force, the electromagnet current and the suspension gap; the functional relationship between the magnetic levitation force, the electromagnet current and the suspension gap can be obtained by looking up a table; The suppression module is used to suppress the vehicle-rail coupling vibration according to the first suspension control amount, so that the maglev train is suspended at a set target suspension gap.

5. A device for suppressing the vehicle-track coupling vibration of a maglev train, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in any one of claims 1 to 3 when executing the computer program.

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