Magnetic Levitation Train Suspension Control Method, Device and Computer Equipment for Crossing Track Joints

Abstract

The present application relates to a suspension control method, device, and computer equipment for a maglev train to cross a track joint. The suspension gaps collected by multiple probes on each current gap sensor are obtained. The multiple probes are arranged at a certain interval along the running direction of the train on the corresponding gap sensor, and the interval is greater than the length of the track joint. The current suspension gap is obtained according to the two closest suspension gaps collected by each suspension gap sensor, and the current probe selection state of each gap sensor is recorded, that is, the probes corresponding to the two closest suspension gaps collected by each suspension gap sensor. If the current probe selection state is different from the previous moment, the current target suspension gap is updated according to the suspension gap corresponding to the current probe selection state, and the updated current target suspension gap is reduced to the final target suspension gap at a preset speed. The suspension control amount calculated according to the current suspension gap and the current target suspension gap is used to control the train crossing the track joint to ensure the stability of the train when crossing the joint.

Description

Technical Field

[0001] This application relates to the technical field of maglev train suspension control, and particularly to a suspension control method, device and computer equipment for a maglev train passing through a track joint. Background Art

[0002] The suspension track of a medium and low speed maglev train consists of sections of rail. There are gaps between adjacent sections of rail, and there is usually a height difference (referred to as a step) between adjacent rails. Generally, when the train passes through a joint, the step between the two rails will cause a sudden change in the suspension control amount, resulting in suspension jitter of the maglev train and affecting the suspension stability of the train. When the step is large, it may even cause the train to hit the rail.

[0003] In existing methods, a medium and low speed maglev train uses a 3-probe suspension sensor, and the suspension gap always takes the average value of the two smallest outputs among the 3 probes as the actual gap and participates in the calculation of the control amount. When passing through a joint step, when switching the probe selection, this method will cause a sudden change in the control amount, and obvious jitter of the train will occur. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a suspension control method, device and computer equipment for a maglev train passing through a track joint, so as to improve the stability of the maglev train when passing through a track joint.

[0005] A suspension control method for a maglev train passing through a track joint, the method includes:

[0006] Obtain multiple suspension gaps collected by multiple probes on each gap sensor at the current moment; the multiple probes are arranged at a certain interval along the running direction of the maglev train on the corresponding gap sensor; the interval is greater than the length of the track joint of the maglev train;

[0007] Calculate the suspension gap at the current moment according to the 2 closest suspension gaps collected by each suspension gap sensor, and record the probe selection state of each gap sensor at the current moment; the probe selection state is the 2 probes corresponding to the 2 closest suspension gaps collected by each suspension gap sensor;

[0008] If the probe selection state at the current moment is different from the probe selection state at the previous moment, update the target suspension gap at the current moment according to the 2 suspension gaps corresponding to the probe selection state at the current moment; wherein the updated target suspension gap at the current moment decreases to a preset final target suspension gap at a preset change speed;

[0009] Calculate the suspension control amount based on the suspension gap at the current moment and the target suspension gap at the current moment, and use the suspension control amount to perform suspension control on the maglev train when passing through the track joint.

[0010] In one embodiment, calculating the suspension gap at the current moment according to the two closest suspension gaps collected by each suspension gap sensor includes:

[0011] Calculate the average value of the two closest suspension gaps collected by each gap sensor to obtain the suspension gap at the current moment at the corresponding position of each gap sensor.

[0012] In one embodiment, if the probe selection state at the current moment is different from the probe selection state at the previous moment, updating the target suspension gap at the current moment according to the two suspension gaps corresponding to the probe selection state at the current moment includes:

[0013] If the probe selection state at the current moment is different from the probe selection state at the previous moment, update and obtain the target suspension gap at the current moment according to the average value of the two suspension gaps corresponding to the probe selection state at the current moment.

[0014] In one embodiment, calculating the suspension control amount based on the suspension gap at the current moment and the target suspension gap at the current moment includes:

[0015] Calculating the suspension control amount based on the suspension gap at the current moment and the target suspension gap at the current moment is:

[0016] u = k p (s - s0) + k d v + ∫(s - s0)

[0017] Where u is the suspension control amount, k p is the proportional control parameter of the suspension gap, s is the suspension gap at the current moment, s0 is the target suspension gap at the current moment, k d is the differential control parameter of the suspension gap, and v is the differential of the suspension gap.

[0018] A suspension control device for a maglev train passing through a track joint, the device includes:

[0019] A data acquisition module, configured to acquire a plurality of suspension gaps collected by a plurality of probes on each gap sensor at the current moment; the plurality of probes are arranged at a certain interval along the running direction of the maglev train on the corresponding gap sensor; the interval is greater than the track joint length of the maglev train;

[0020] A calculation and recording module, configured to calculate the suspension gap at the current moment based on the two closest suspension gaps collected by each suspension gap sensor, and record the probe selection status of each gap sensor at the current moment; the probe selection status is the two probes corresponding to the two closest suspension gaps collected by each suspension gap sensor.

[0021] A judgment and update module, configured to, if the probe selection status at the current moment is different from the probe selection status at the previous moment, update the target suspension gap at the current moment according to the two suspension gaps corresponding to the probe selection status at the current moment; wherein the updated target suspension gap at the current moment decreases to a preset final target suspension gap at a preset change speed.

[0022] A suspension control quantity calculation module, configured to calculate a suspension control quantity based on the suspension gap at the current moment and the target suspension gap at the current moment, and use the suspension control quantity to perform suspension control on the maglev train when passing through the track joint.

[0023] In one embodiment, the calculation and recording module is further configured to obtain the suspension gap at the current moment at the corresponding position of each gap sensor by calculating the average value of the two closest suspension gaps collected by each gap sensor.

[0024] In one embodiment, the judgment and update module is further configured to, if the probe selection status at the current moment is different from the probe selection status at the previous moment, update and obtain the target suspension gap at the current moment according to the average value of the two suspension gaps corresponding to the probe selection status at the current moment.

[0025] In one embodiment, the suspension control quantity calculation module is further configured to calculate the suspension control quantity based on the suspension gap at the current moment and the target suspension gap at the current moment as follows:

[0026] u = k p (s - s0) + k d v + ∫(s - s0)

[0027] wherein, u is the suspension control quantity, k p is the proportional control parameter of the suspension gap, s is the suspension gap at the current moment, s0 is the target suspension gap at the current moment, k d is the differential control parameter of the suspension gap, and v is the differential of the suspension gap.

[0028] A computer device, comprising 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:

[0029] Obtain multiple suspension gaps collected by multiple probes on each gap sensor at the current moment; the multiple probes are arranged on the corresponding gap sensor at a certain interval along the running direction of the maglev train; the interval is greater than the length of the track joint of the maglev train;

[0030] Calculate the suspension gap at the current moment according to the 2 closest suspension gaps collected by each suspension gap sensor, and record the probe selection status of each gap sensor at the current moment; the probe selection status is the 2 probes corresponding to the 2 closest suspension gaps collected by each suspension gap sensor;

[0031] If the probe selection status at the current moment is different from that at the previous moment, update the target suspension gap at the current moment according to the 2 suspension gaps corresponding to the probe selection status at the current moment; wherein the updated target suspension gap at the current moment decreases to the preset final target suspension gap at a preset change speed;

[0032] Calculate the suspension control amount according to the suspension gap at the current moment and the target suspension gap at the current moment, and use the suspension control amount to perform suspension control on the maglev train when passing through the track joint.

[0033] The above-mentioned suspension control method, device and computer equipment for a maglev train passing through a track joint first obtain multiple suspension gaps collected by multiple probes on each gap sensor at the current moment. The multiple probes are arranged at a certain interval along the running direction of the maglev train on the corresponding gap sensor, and this interval is greater than the length of the track joint of the maglev train. Such an arrangement ensures that at most 1 probe of each gap sensor is located above the track joint at each moment, so as to ensure that there is always a probe outputting a normal suspension gap at any moment; calculate the suspension gap at the current moment according to the 2 closest suspension gaps collected by each suspension gap sensor, and at the same time record the probe selection state of each gap sensor at the current moment, where the probe selection state is the 2 probes corresponding to the 2 closest suspension gaps collected by each suspension gap sensor. If the probe selection state at the current moment is different from the probe selection state at the previous moment, calculate and update the target suspension gap at the current moment according to the 2 suspension gaps corresponding to the probe selection state at the current moment, where the updated current target suspension gap decreases to a preset final target suspension gap at a preset change speed. According to the position arrangement of the probes, it can be known that the 2 closest suspension gaps collected by each gap sensor must be normal suspension gap data. If the probe selection state changes between the previous and current moments, it means that the probe of a certain gap sensor located above the track joint may have changed. The present invention selects to calculate the suspension gap at the current moment of the suspension point of the corresponding gap sensor by selecting 2 normal gap data to ensure the accuracy and stability of the suspension gap data. Then calculate the suspension control amount according to the suspension gap at the current moment and the target suspension gap at the current moment, and use the suspension control amount to perform suspension control on the maglev train when passing through the track joint. The present invention judges whether the probe selection state of each suspension gap sensor changes between the previous and current moments, and then determines whether to update the target suspension gap at the current moment. In this way, when passing through the joint, the suspension control amount will not mutate. Correspondingly, the suspension current will not mutate, and the suspension electromagnet will not vibrate violently, thereby reducing the vibration of the maglev train when passing through the track joint and ensuring the stability of the maglev train when passing through the track joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic flowchart of a suspension control method for a maglev train passing through a track joint in an embodiment;

[0035] Figure 2 It is a schematic diagram of the change of the probe selection state in an embodiment: (a) is the probe position state at time t a moment, (b) is the probe position state at time t b moment, (c) is the probe position state at time t c moment;

[0036] Figure 3It is a structural block diagram of a suspension control device for a maglev train passing through a track joint in an embodiment;

[0037] Figure 4 It is an internal structure diagram of a computer device in an embodiment. Specific implementation manners

[0038] In order to make the purpose, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to 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.

[0039] In an embodiment, as Figure 1 shown, a suspension control method for a maglev train passing through a track joint is provided, including the following steps:

[0040] Step 102, obtain multiple suspension gaps collected by multiple probes on each gap sensor at the current moment.

[0041] For a medium and low speed maglev train system, 1 gap sensor is installed at each suspension point, 1 gap sensor includes multiple probes, and the multiple probes are arranged at a certain interval along the running direction of the maglev train on the corresponding gap sensor. This interval is greater than the length of the track joint of the maglev train. Such an arrangement ensures that at most 1 probe of each gap sensor is located above the track joint at each moment, so as to ensure that 2 probes output normal suspension gaps at any moment.

[0042] Step 104, calculate the suspension gap at the current moment according to the 2 closest suspension gaps collected by each suspension gap sensor, and record the probe selection state of each gap sensor at the current moment.

[0043] The probe selection state is the 2 probes corresponding to the 2 closest suspension gaps collected by each suspension gap sensor.

[0044] For example, for three probes on a gap sensor: probe 1, probe 2, and probe 3, the suspension gaps detected are s1, s2, and s3 respectively. When calculating the suspension control amount each time, select the average value of the 2 closest suspension gap measurement values as the real-time suspension gap s when calculating the suspension control amount. Taking the selection of probe 1 and probe 2 as an example, at the current moment s = (s1 + s2) / 2, and record the probe selection state Z 12 , indicating that the selected probes are No. 1 and No. 2. It should be noted that the calculation formula of the suspension gap at the current moment can be designed according to needs and is not limited to taking the average value.

[0045] Step 106: If the probe selection state at the current moment is different from that at the previous moment, update the target suspension gap at the current moment according to the two suspension gaps corresponding to the probe selection state at the current moment.

[0046] Among them, the updated target suspension gap at the current moment decreases to the preset final target suspension gap at the preset change speed. For the convenience of description, the final target suspension gap is defined as 10 millimeters. Then this target suspension gap will automatically approach and converge to the final target suspension gap of 10 millimeters slowly, that is, the slow floating function is realized, and the violent jitter of the maglev train is avoided.

[0047] Judge whether the probe selection state at the current moment is the same as that at the previous moment. If it is different from the probe selection state at the previous moment, the value of the target suspension gap s0 at the current moment needs to be changed. Here, taking the probe selection state changing from Z 12 to Z 23 as an example, in this case, the target suspension gap at the current moment is changed to: s0 = (s2 + s3) / 2; if the probe selection state at the current moment is the same as that at the previous moment, the target suspension gap at the current moment remains unchanged except that it decreases to the preset final target suspension gap at the preset change speed. It should be noted that the calculation formula of the target suspension gap at the current moment can be designed according to needs and is not limited to calculating the average value.

[0048] Step 108: Calculate the suspension control amount according to the suspension gap and the target suspension gap at the current moment, and use the suspension control amount to perform suspension control on the maglev train when passing through the track joint.

[0049] As Figure 2 shown, taking a suspension point with 3 probes on a certain gap sensor as an example, the possible situations of the change in the probe selection state are described as follows:

[0050] As Figure 2 (a) shows, for a certain suspension point A of the maglev train, the gap sensor starts to pass through the track joint. At time t a , probe 1 is above the joint. The probe selection state at the current time t a is Z 23 , then the corresponding suspension gap at the current time t a is: s0 = (s2 + s3) / 2, and s0 changes slowly to the preset final target suspension gap at the set change speed.

[0051] After a period of time, as Figure 2 (b) shows, at time t b , probe 2 of the gap sensor at suspension point A is above the joint, then the corresponding current time tb The suspension gap is: s0 = (s1 + s3) / 2. Correspondingly, at the current moment t b The probe selection state is Z 13 , the target suspension gap also needs to be updated: s0 = (s1 + s3) / 2. The updated s0 changes slowly to the pre-set final target suspension gap at the set change speed. As the suspension control quantity controls the maglev train during the track joint, the real-time obtained suspension gap also slowly decreases;

[0052] After a period of time, as shown in Figure 2 (c), at moment t c , the gap sensor probe 3 at the suspension point A is above the joint. Then, at the corresponding current moment t c The suspension gap is: s0 = (s1 + s2) / 2. Correspondingly, at the current moment t c The probe selection state is Z 12 , the target suspension gap also needs to be updated: s0 = (s1 + s2) / 2. The updated s0 changes slowly to the pre-set final target suspension gap at the set change speed. As the suspension control quantity controls the maglev train when passing the track joint, the real-time obtained suspension gap also slowly decreases and approaches the final target suspension gap.

[0053] The above-mentioned suspension control method for a maglev train passing through a track joint first obtains multiple suspension gaps collected by multiple probes on each gap sensor at the current moment. The multiple probes are arranged at a certain interval along the running direction of the maglev train on the corresponding gap sensor, and this interval is greater than the length of the track joint of the maglev train. Such an arrangement ensures that at most 1 probe of each gap sensor is located above the track joint at each moment, thus ensuring that there is always a probe outputting a normal suspension gap at any moment. Calculate the suspension gap at the current moment based on the 2 closest suspension gaps collected by each suspension gap sensor, and record the probe selection status of each gap sensor at the current moment. The probe selection status is the 2 probes corresponding to the 2 closest suspension gaps collected by each suspension gap sensor. If the probe selection status at the current moment is different from that at the previous moment, calculate and update the target suspension gap at the current moment based on the 2 suspension gaps corresponding to the probe selection status at the current moment. The updated current target suspension gap decreases to the preset final target suspension gap at a preset change speed. According to the position arrangement of the probes, it can be known that the 2 closest suspension gaps collected by each gap sensor must be normal suspension gap data. If the probe selection status changes between the previous and current moments, it indicates that the probe of a certain gap sensor located above the track joint may have changed. The present invention selects to calculate the suspension gap at the current moment of the suspension point of the corresponding gap sensor by selecting 2 normal gap data to ensure the accuracy and stability of the suspension gap data. Then, calculate the suspension control amount based on the current suspension gap and the current target suspension gap, and use the suspension control amount to perform suspension control on the maglev train when passing through the track joint. The present invention determines whether to update the target suspension gap at the current moment by judging whether the probe selection status of each suspension gap sensor changes between the previous and current moments. In this way, when passing through the joint, the suspension control amount will not mutate, correspondingly, the suspension current will not mutate, and the suspension electromagnet will not vibrate violently, thereby reducing the vibration of the maglev train when passing through the track joint and ensuring the stability of the maglev train when passing through the track joint.

[0054] In one embodiment, calculate the average value of the 2 closest suspension gaps collected by each gap sensor to obtain the suspension gap at the current moment at the corresponding position of each gap sensor.

[0055] If the probe selection status at the current moment is different from that at the previous moment, update the target suspension gap at the current moment based on the average value of the 2 suspension gaps corresponding to the probe selection status at the current moment.

[0056] In one embodiment, calculate the suspension control amount based on the suspension gap at the current moment and the target suspension gap at the current moment as follows:

[0057] u = k p (s - s0) + kd v + ∫(s - s0)

[0058] where u is the suspension control quantity, and k p is the proportional control parameter of the suspension gap, s is the suspension gap at the current moment, s0 is the target suspension gap at the current moment, and k d is the differential control parameter of the suspension gap, and v is the differential of the suspension gap.

[0059] It should be understood that although Figure 1 the steps in the flowchart of Figure 1 are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, there is no strict order limit for the execution of these steps, and these steps can be executed in other orders. Moreover,

[0060] In one embodiment, as Figure 3 shown, a suspension control device for a maglev train passing through a track joint is provided, including: a data acquisition module, a calculation and recording module, a judgment and update module, and a suspension control quantity calculation module, where:

[0061] The data acquisition module is configured to acquire multiple suspension gaps collected by multiple probes on each gap sensor at the current moment; the multiple probes are arranged at a certain interval along the running direction of the maglev train on the corresponding gap sensor; the interval is greater than the track joint length of the maglev train;

[0062] The calculation and recording module is configured to calculate the suspension gap at the current moment according to the two closest suspension gaps collected by each suspension gap sensor, and record the probe selection state of each gap sensor at the current moment; the probe selection state is the two probes corresponding to the two closest suspension gaps collected by each suspension gap sensor;

[0063] The judgment and update module is configured to, if the probe selection state at the current moment is different from the probe selection state at the previous moment, update the target suspension gap at the current moment according to the two suspension gaps corresponding to the probe selection state at the current moment; wherein the updated target suspension gap at the current moment decreases to the preset final target suspension gap at a preset change speed;

[0064] The suspension control quantity calculation module is used to calculate the suspension control quantity according to the suspension gap at the current moment and the target suspension gap at the current moment, and the suspension control quantity is used to perform suspension control on the maglev train when passing through the track joint.

[0065] In one embodiment, the calculation and recording module is further used to calculate the average value of the two closest suspension gaps collected by each gap sensor, so as to obtain the suspension gap at the current moment at the corresponding position of each gap sensor.

[0066] In one embodiment, the judgment and update module is further used to update the target suspension gap at the current moment according to the average value of the two suspension gaps corresponding to the probe selection state at the current moment if the probe selection state at the current moment is different from that at the previous moment.

[0067] In one embodiment, the suspension control quantity calculation module is further used to calculate the suspension control quantity according to the suspension gap at the current moment and the target suspension gap at the current moment:

[0068] u = k p (s - s0) + k d v + ∫(s - s0)

[0069] where u is the suspension control quantity, k p is the proportional control parameter of the suspension gap, s is the suspension gap at the current moment, s0 is the target suspension gap at the current moment, k d is the differential control parameter of the suspension gap, and v is the differential of the suspension gap.

[0070] For the specific limitations of the suspension control device for the maglev train passing through the track joint, reference can be made to the limitations of the suspension control method for the maglev train passing through the track joint in the above text, which will not be elaborated here. Each module in the above suspension control device for the maglev train passing through the track joint can be implemented in whole or in part through software, hardware, and their combination. The above modules can be embedded in the processor in the computer device in the form of hardware or be independent of it, or be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0071] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 4As shown. The computer device includes a processor, a memory, a network interface, and a database connected by 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 the suspension gap data collected by the probe of each gap sensor. 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, it realizes a suspension control method for a maglev train passing through a track joint.

[0072] Those skilled in the art can understand that Figure 4 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0073] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the method in the above embodiment.

[0074] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, it implements the steps of the method in the above embodiment.

[0075] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. 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. By way of 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 (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct rambus dynamic RAM (DRDRAM), and rambus dynamic RAM (RDRAM), etc.

[0076] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0077] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A suspension control method for a maglev train passing through a track joint, characterized in that, The method includes: Obtaining a plurality of suspension gaps collected by a plurality of probes on each gap sensor at the current moment; the plurality of probes are arranged at a certain interval along the running direction of the maglev train on the corresponding gap sensor; the interval is greater than the track joint length of the maglev train; Calculating the suspension gap at the current moment according to the two closest suspension gaps collected by each of the gap sensors, and recording the probe selection state of each gap sensor at the current moment; the probe selection state is the two probes corresponding to the two closest suspension gaps collected by each of the gap sensors; If the probe selection state at the current moment is different from the probe selection state at the previous moment, updating the target suspension gap at the current moment according to the two suspension gaps corresponding to the probe selection state at the current moment; wherein the updated target suspension gap at the current moment decreases to the preset final target suspension gap at a preset change speed; Calculating a suspension control amount according to the suspension gap at the current moment and the target suspension gap at the current moment, and performing suspension control on the maglev train when passing through the track joint by using the suspension control amount; The calculating the suspension gap at the current moment according to the two closest suspension gaps collected by each of the gap sensors includes: Calculating the average value of the two closest suspension gaps collected by each of the gap sensors to obtain the suspension gap at the current moment at the corresponding position of each of the gap sensors; The calculating the suspension control amount according to the suspension gap at the current moment and the target suspension gap at the current moment includes: Calculating the suspension control amount according to the suspension gap at the current moment and the target suspension gap at the current moment as: u = k p (s - s0)+k d v + ∫(s - s0) Among them, u is the suspension control quantity, and k p is the proportional control parameter of the suspension gap, s is the suspension gap at the current moment, s0 is the target suspension gap at the current moment, and k d is the differential control parameter of the suspension gap, and v is the differential of the suspension gap.

2. The method according to claim 1, wherein The updating the target suspension gap at the current moment according to the two suspension gaps corresponding to the probe selection state at the current moment if the probe selection state at the current moment is different from the probe selection state at the previous moment includes: if the probe selection state at the current moment is different from the probe selection state at the previous moment, updating and obtaining the target suspension gap at the current moment according to the average value of the two suspension gaps corresponding to the probe selection state at the current moment.

3. A suspension control device for a maglev train to cross a track joint, characterized in that The device includes: A data acquisition module, configured to obtain a plurality of suspension gaps collected by a plurality of probes on each gap sensor at the current moment; the plurality of probes are arranged at a certain interval along the running direction of the maglev train on the corresponding gap sensor; the interval is greater than the track joint length of the maglev train; A calculation and recording module, configured to calculate the suspension gap at the current moment according to the two closest suspension gaps collected by each of the gap sensors, and record the probe selection state of each gap sensor at the current moment; the probe selection state is the two probes corresponding to the two closest suspension gaps collected by each of the gap sensors; A judgment and update module, configured to update the target suspension gap at the current moment according to the two suspension gaps corresponding to the probe selection state at the current moment if the probe selection state at the current moment is different from the probe selection state at the previous moment; wherein the updated target suspension gap at the current moment decreases to the preset final target suspension gap at a preset change speed; A suspension control quantity calculation module, which is used to calculate a suspension control quantity according to the suspension gap at the current moment and the target suspension gap at the current moment, and uses the suspension control quantity to perform suspension control on the maglev train when passing through the track joint; The calculation and recording module is further used for: Calculating the average value of the two closest suspension gaps collected by each of the gap sensors to obtain the suspension gap at the current moment at the corresponding position of each of the gap sensors; The suspension control quantity calculation module is further used for: Calculating the suspension control quantity according to the suspension gap at the current moment and the target suspension gap at the current moment as: u = k p (s - s0)+k d v + ∫(s - s0) where u is the suspension control amount, and k p is the proportional control parameter of the suspension gap, s is the suspension gap at the current moment, s0 is the target suspension gap at the current moment, and k d is the differential control parameter of the suspension gap, and v is the differential of the suspension gap.

4. The device according to claim 3, characterized in that, The judgment and update module is further used for: If the probe selection state at the current moment is different from the probe selection state at the previous moment, updating the target suspension gap at the current moment according to the average value of the two suspension gaps corresponding to the probe selection state at the current moment.

5. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 2.

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