Test system and test method for constant-conductance high-speed suspension controller

Abstract

The application relates to a test system and a test method of a constant-conductance high-speed suspension controller, and is a suspension controller test system based on a semi-physical simulation, which comprises an upper computer, a simulation model, a dynamic model and a suspension interface model, and a suspension interface box. The whole semi-physical simulation suspension controller test system does not need to deploy the suspension controller on a real vehicle entity, greatly reduces the test cost, improves the test convenience, reduces the test period, and has the basic performance of the real vehicle entity due to the introduction of the simulation model, can replace the real entity without affecting the test effect, and is higher in test safety and stronger in stability; the test content is adjustable and controllable, more types of simulated faults and running states are provided, the dynamic performance of the real suspension controller can be effectively tested, whether a fault exists or not can be determined, and the fault type and the fault position can be determined when the fault exists.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of simulation test technology, in particular to a simulation control technology of a normal-conductor high-speed suspension controller. BACKGROUND

[0002] The suspension controller is a core control component of the normal-conductor high-speed maglev train, and its safe and stable operation without failure is the key to guarantee the safety and reliability of the suspension vehicle system. Therefore, complete fault hidden danger detection, dynamic performance test, etc. are needed before the suspension controller is assembled to the suspension vehicle or after it is used for a period of time; especially when the suspension controller fails, fault positioning and maintenance need to be completed with the assistance of the ground test platform.

[0003] The fault hidden danger detection, dynamic performance test, fault positioning and maintenance of the prior art rely on special equipment such as the ground test platform, often requiring real vehicle suspension frame, track, sensor, electromagnet, etc. equipment, which not only has high manufacturing cost, but also has limited test function.

[0004] Therefore, how to develop a set of dynamic model to replace real vehicle suspension frame, track, sensor, electromagnet, etc. equipment is a technical problem to be solved in the detection and test of the suspension controller. SUMMARY

[0005] To solve the above technical problems, the present application provides a test system for a normal-conductor high-speed suspension controller, comprising: an upper computer, a simulation model and a suspension interface box connected in sequence;

[0006] The upper computer is used for simulation process management.

[0007] The simulation model comprises a dynamic model and a suspension interface model; the dynamic model is connected with the upper computer and the suspension interface model, and is used for simulating the dynamic state of the suspension train according to the control instruction of the upper computer and the analysis data of the suspension interface model, obtaining the suspension state value, and sending it to the suspension interface model; the suspension interface model is connected with the dynamic model, the upper computer and the suspension interface box, and is used for receiving the suspension state value of the dynamic model and the control instruction of the upper computer, packing and sending them to the suspension interface box, and receiving the control data of the suspension controller transmitted by the suspension interface box, and analyzing and sending them to the dynamic model.

[0008] The suspension interface box is used for connecting the suspension controller externally, so as to build the connection between the simulation model and the suspension controller.

[0009] Further, the dynamic model is represented by formulas (1)-(4).

[0010] Acc_I = (Force - (10 * Mass)) / Mass (1);

[0011] Speed_I = Speed_I0 + (Acc_I * T) (2)

[0012] Gap_I = Gap_I0 + (Speed_I * T) (3)

[0013] ForceGap = S0 - Gap_I (4)

[0014] wherein, Acc_I is the current simulation step of the suspension acceleration; Force is the current simulation step of the electromagnetic force; Mass is the weight of the suspension controller; Speed_I0 is the last simulation step of the suspension speed; T is the simulation step length; Speed_I is the current simulation step of the suspension speed; Gap_I0 is the last simulation step of the total change of the suspension gap; Gap_I is the current simulation step of the total change of the suspension gap; S0 is the initial suspension gap; ForceGap is the current simulation step of the suspension gap.

[0015] Further, the current simulation step of the suspension acceleration Acc_I is corrected to Acc_I' according to formula (5):

[0016]

[0017] wherein, Acc_I' is the current simulation step of the suspension acceleration after correction.

[0018] Further, the current simulation step of the electromagnetic force is calculated according to formula (6):

[0019] Force = ((X_e.^MagAm)*X_k).*(5.5*((u0*(N.^2)*Ap)*MagAm.^2) / (4*ForceGap*ForceGap)) (6)

[0020] wherein, X_e, X_k are correction parameters; MagAm is the electromagnetic current; u0 is the vacuum permeability; N is the number of turns; Ap is the pole surface area.

[0021] Further, the suspension interface model comprises a data packaging unit, a data issuing unit, a data receiving unit and a data analysis unit.

[0022] Further, the suspension interface box comprises a power board, an interface board and a sensor signal board.

[0023] The power board is connected with the power module, the suspension controller and the interface board, and is used for providing power for the suspension controller and the interface board.

[0024] Interface board, including IO drive circuit, communication circuit, core processor, suspension controller interface, simulation model interface, switching interface between suspension controllers and CAN network interface;

[0025] Sensor signal board, including FPGA, sensor interface and DA conversion circuit.

[0026] In another aspect, the application also provides a test method of the constant-conductance high-speed suspension controller, for any of the test systems, comprising:

[0027] Short-circuit the adjacent point communication lines of the suspension interface box;

[0028] Connect the host computer and the suspension interface box through the CAN bus;

[0029] Configure the board card number, port, baud rate and frame type of the CAN interface in the suspension interface model;

[0030] Power on the suspension interface box;

[0031] Deploy the simulation model to the host computer to start simulation, and observe the controller state of the real device diagnostic software and the host computer interface;

[0032] If the suspension state signal issued by the simulation system is consistent with the suspension state signal obtained by the real device diagnostic software, the communication is normal, otherwise the communication is not normal.

[0033] Further, it also comprises: power-on self-test function test:

[0034] Short-circuit the adjacent point communication lines of the suspension interface box;

[0035] Connect the host computer and the suspension interface box through the CAN bus;

[0036] Configure the board card number, port, baud rate and frame type of the CAN interface in the suspension interface model;

[0037] Power on the suspension interface box;

[0038] Deploy the simulation model to the host computer to start simulation, and observe the controller state of the real device diagnostic software and the host computer interface;

[0039] If the real device diagnostic software shows no error of the controller, and the controller state received by the host computer is normal, the power-on self-test function is normal, otherwise the power-on self-test function is not normal.

[0040] Further, it also comprises: fault safety function test:

[0041] Short-circuit the adjacent point communication lines of the suspension interface box;

[0042] Connect the host computer with the levitation interface box through CAN bus;

[0043] Configure the board card number, port, baud rate and frame type of the CAN interface in the levitation interface model;

[0044] Power on the levitation interface box and ensure the normal state of the controller;

[0045] Deploy the simulation model to the host computer to start simulation and observe the controller state of the real device debugging software and the host computer interface;

[0046] After determining that the controller state is normal and entering the initialization completion state, issue the levitation instruction to control the stable levitation, inject the electromagnetic short circuit fault for 10s, and observe the controller state of the real device debugging software and the host computer interface of the simulation system; or inject the electromagnetic short circuit fault test and observe the controller state of the real device debugging software and the host computer interface of the simulation system.

[0047] Further, it further includes a levitation function test:

[0048] Connect the host computer with the levitation interface box through CAN bus;

[0049] Configure the board card number, port, baud rate and frame type of the CAN interface in the levitation interface model;

[0050] Short the adjacent communication interfaces of the levitation interface box;

[0051] Power on the levitation interface box;

[0052] Deploy the simulation model to the host computer to start simulation;

[0053] After the model and the levitation interface box are both initialized, issue the levitation instruction to control the levitation;

[0054] After the levitation is completed, maintain for 30s or more, and observe the model levitation state data of the debugging software and the host computer interface;

[0055] Issue the landing command to control the train to land;

[0056] If the controller can accurately respond to the control instruction to complete the levitation and landing, and the gap fluctuation in the levitation process is within a reasonable range, it is normal, otherwise the levitation function is abnormal

[0057] The application provides a test system and a test method of a constant-conductance high-speed suspension controller, which is a suspension controller test system based on a semi-physical simulation, and comprises a host computer, a simulation model, a dynamic model and a suspension interface model, and a suspension interface box. The whole semi-physical simulation suspension controller test system does not need to deploy the suspension controller on a real vehicle entity, greatly reduces the test cost, improves the test convenience and reduces the test period, the simulation model has the basic performance of the real vehicle entity and can replace the real vehicle entity without affecting the test effect, the test safety is higher and the stability is stronger, the test content is adjustable and controllable, the simulated faults and operation states are more, the dynamic performance of the real suspension controller can be effectively tested, whether the real suspension controller has faults, and the fault type and the fault position can be determined when the real suspension controller has faults. BRIEF DESCRIPTION OF DRAWINGS

[0058] Figure 1 It is a structure block diagram of an embodiment of the test system of the constant-conductance high-speed suspension controller.

[0059] Figure 2 It is a simulation diagram of an embodiment of the test system of the constant-conductance high-speed suspension controller.

[0060] Figure 3 It is a suspension schematic diagram of a single mass.

[0061] Figure 4 It is a structure block diagram of the dynamic model of the test system of the constant-conductance high-speed suspension controller.

[0062] Figure 5 It is a simulation diagram of the dynamic model of the test system of the constant-conductance high-speed suspension controller.

[0063] Figure 6 It is a structure block diagram of the suspension interface model of the test system of the constant-conductance high-speed suspension controller.

[0064] Figure 7 It is a simulation diagram of the suspension interface model of the test system of the constant-conductance high-speed suspension controller.

[0065] Figure 8 It is a structure block diagram of the suspension interface box of the test system of the constant-conductance high-speed suspension controller. DETAILED DESCRIPTION

[0066] As shown in Figure 1 , the application provides a test system of a constant-conductance high-speed suspension controller, which comprises a host computer, a simulation model and a suspension interface box connected in sequence.

[0067] (I), as Figure 1As shown, the host computer is used for simulation process management, and can include, but is not limited to, simulation model establishment (such as building a simulation model using MATLAB), simulation process control (such as issuing suspension control commands, executing simulation steps, changing fault injection signals, etc.), simulation status monitoring (such as monitoring suspension gaps, monitoring control voltage feedback from the suspension controller, etc.), hardware device management (such as power control, power-on control, etc.), and controller diagnosis (such as determining whether the suspension controller has a fault based on the simulation status monitoring results, locating the fault location, etc.).

[0068] (II) As Figure 1 As shown, the simulation model includes a dynamic model A and a suspension interface model B. The dynamic model, connected to the host computer and the suspension interface model, simulates the dynamic state of the levitated train based on control commands from the host computer (such as suspension control commands, train speed, electromagnet fault injection signals, initial suspension gap, etc.) and analytical data from the suspension interface model (such as control voltage, signals and data from the suspension controller fed back from the suspension interface model via the suspension interface box), obtaining suspension state values ​​(such as suspension gap, suspension acceleration, electromagnet current, etc.). The suspension interface model, connected to the dynamic model, the host computer, and the suspension interface box, receives the suspension state values ​​from the dynamic model and control commands from the host computer, packages them, and sends them to the suspension interface box (signal data transmission); and receives control data from the suspension controller (optionally, but not limited to, the actual suspension controller or the core computer board of the suspension controller) transmitted from the suspension interface box, parses it, and sends it to the dynamic model (signal data transmission). Preferably, as... Figure 2 As shown, within a simulation step, the dynamic model uses control data calculated from the previous simulation step of the suspension controller (such as the control voltage Chop_Elect_Rev, the control voltage fed back by the suspension controller) and control commands issued by the host computer (such as Susp_Cmd, which controls the suspension controller to rise and fall, and can be adjusted at any time during the simulation test; Init_Gap is the initial suspension gap, which can be selected but not limited to...) Figure 2The 0.02 shown; Mag_Fault electromagnet injection information, as shown in Table 1, can simulate electromagnet short circuit and open circuit fault during simulation test), simulate single point dynamics state, get suspension state values such as suspension gap, suspension speed, suspension acceleration, electromagnetic force and electromagnetic current MagAm (induced current generated by the control voltage fed back by the suspension controller acting on the electromagnet, and there will be electromagnetic force when there is induced current) and other current simulation step suspension state values, and the suspension interface model is used to issue suspension instructions, the above state values and the like to the suspension interface box, and then the suspension interface box protocol is forwarded to the suspension controller (external suspension controller / core control board) for calculation (data packaging and issuing process), and control data (such as control voltage) of the next simulation step is issued; at the same time, the suspension interface box obtains the control data (such as control voltage) of the next simulation step calculated by the suspension controller, suspension control instructions and the like, and forwards them to the suspension interface model through the protocol, and the suspension interface model receives and analyzes the above data and sends them to the dynamics model as input data of the next simulation step (data receiving and analyzing process), thereby completing a closed loop control. As can be seen, the dynamics model is used to simulate a single point suspension system to generate suspension state values of the current simulation step, and the suspension interface model and the suspension interface box are used to establish a connection with the suspension controller to complete closed loop control.

[0069] Preferably, the entire simulation model (dynamics model and suspension interface model) is developed using Matlab / Simulink, and after development, it is compiled and run on a real-time simulator. The single calculation speed of the simulation model after compilation is better than 1ms. More specifically, the communication mode of the two models can be selected but is not limited to using CAN bus transmission, which can ensure that the time for single simulation model to perform simulation data issuing, suspension interface data conversion, suspension controller calculation, suspension interface data acquisition and forwarding to simulation model interface data analysis is controlled within 1ms, and the data calculation period of the entire system is less than or equal to 1ms, meeting the real-time simulation requirements.

[0070] Table 1: Mag_Fault injection type and simulation method table

[0071] Mag_Fault Injection Type Simulation Method 0 Normal Output normal electromagnetic force 1 Short circuit Output current greater than 140 A, and electromagnetic force at that current 2 Open circuit Output 0 A current, and electromagnetic force at that current

[0072] More preferably, for the dynamics model A, in order to test a single suspension controller, the single point dynamics model of the entire vehicle needs to be extracted, and the mass of the electromagnet and the train and its suspension frame is set to the mass that should be borne by the single suspension controller (such as Figure 3The diagram shown illustrates the levitation of a single mass block. Examples, but not limited to conventional high-speed maglev trains, are used. The single mass block is approximately 1 / 32 the weight of a single car section of a high-speed maglev train, and the levitation gap is within 0-20mm (adjustable according to actual conditions). This simulates the vertical motion of an electromagnet under the combined effects of electromagnetic force generated by the track and its own gravity, establishing a... Figure 4 The single-point dynamic model shown in (structural schematic diagram) and 5 (simulation schematic diagram, dynamic model A1 + electromagnetic force calculation A2) is expressed as formula (1)-(4).

[0073] Acc_I=(Force-(10*Mass)) / Mass (1)

[0074] Speed_I=Speed_I0+(Acc_I*T) (2)

[0075] Gap_I=Gap_I0+(Speed_I*T) (3)

[0076] ForceGap = S0 - Gap_I (4)

[0077] Where Acc_I is the levitation acceleration of the current simulation step, which is the output of the levitation acceleration; Force is the electromagnetic force (levitation force) of the current simulation step; Mass is the weight that a single levitation controller in a single car of a high-speed maglev train should bear (1875 in the example figure, but not limited to this); Speed_I0 is the levitation speed of the previous simulation step; T is the simulation step size (0.005 in the example figure, but not limited to this); Speed_I is the levitation speed of the current simulation step; Gap_I0 is the total change in levitation gap in the previous simulation step; Gap_I is the total change in levitation gap in the current simulation step; S0 is the initial levitation gap (Init_Gap is 0.02 as shown in the figure, but not limited to this); ForceGap is the levitation gap, i.e., the output of the dynamic model.

[0078] Preferably, since the aforementioned Acc_I is actually measured by the accelerometer, when this acceleration is output to the suspension controller, the suspension acceleration Acc_I of the current simulation step is corrected to Acc_I' according to formula (5):

[0079]

[0080] More preferably, in formula (1), the electromagnetic force Force in the current simulation step can be selected from, but is not limited to, using... Figure 5 The electromagnet model (electromagnetic force calculation model) shown in box A2 is used for calculation. The specific transfer function model of the electromagnet's inductance effect is as follows:

[0081] H(s) = 1 / (Lm*s + R)

[0082] wherein H(s) is a transfer function of inductance effect of the electromagnet coil, Lm is inductance of the electromagnet coil; s is a complex frequency; R is resistance of the electromagnet coil.

[0083] Preferably, the electromagnetic force Force calculation method is modified to be calculated by formula (6):

[0084] Force = ((X_e.^MagAm)*X_k).*(5.5*((u0*(N.^2)*Ap)*MagAm.^2) / (4*ForceGap*ForceGap)); (6)

[0085] wherein X_e and X_k are correction parameters; MagAm is the electromagnet current, which is the induced current of the voltage output by the controller on the electromagnet; u0 is vacuum permeability; N is the number of turns; Ap is the pole surface area; ForceGap is the suspension gap, which is the output of the dynamic model (the output of the current simulation step);

[0086] More preferably, for the suspension interface model B, as shown in Figure 6 (structure diagram), 7 (simulation diagram), it comprises four units: B1: data packaging unit; B2: data issuing unit; B3: data receiving unit; B4: data analysis unit. Through B1-B4, the four units can complete the task of packaging and issuing the data of the dynamic model and the host computer to the suspension interface box, and receiving the data from the suspension interface box and sending it to the dynamic model.

[0087] (Three), as shown in Figure 1 , the suspension interface box is used for connecting the suspension controller to build the contact between the simulation model and the suspension controller. Specifically, the suspension interface box, as the medium for information transmission between the suspension controller and the simulation model, needs to convert the instructions issued by the simulation model into electrical signals required by the suspension controller interface in a very short time, and read the information of the suspension controller and send it to the simulation model in real time. Specifically, for testing convenience, the suspension controller can be directly connected with the suspension interface box, at this time, a voltage of 440V is needed. Preferably, for testing convenience, the core control board card (core control computer) in the suspension controller can be selected but not limited to be extracted and inserted into the suspension interface box for simulation test in the simulation test process, so as to reduce the requirement for voltage. Specifically, the information transmission of the suspension interface box in the simulation loop is as shown in Figure 8 , mainly according to the suspension interface box protocol to simulate data packaging and analysis.

[0088] Preferably, as shown in Figure 8As shown, the suspension interface box comprises: 1, a power board connected with the power module, the core control computer and each board card, for providing power for the suspension controller and each board card (powering all board cards in the suspension interface box). Specifically, in the design of the semi-physical simulation platform, the power board can be selected but not limited to be connected with the UPS of the stabilized voltage line type power module, and the output voltage is AC220V, so as to prevent the influence of power outage in the laboratory on the simulation results. More preferably, a switching power supply can be selected but not limited to be arranged between the power board and the power module, for converting 220VAC into 24VDC, and the power of the power supply connected to the board card is not less than 180W, so as to prevent the safety hazard caused by directly connecting 220V high voltage to the board card. More preferably, since the power required by the core control computer has four voltage levels of 24V, 5V, 15V and ±15V, the power board can be selected but not limited to isolate and convert the 24V power voltage output by the switching power supply into different voltage levels of power required by the controller core control computer and other board cards in the interface box. 2, the interface board is the most important part in the design of the simulation interface box, can connect the upper simulation system and the suspension controller, is the intermediate pivot for data interaction and command control between the two, and has the function of connecting the upper and lower. Specifically, the interface board comprises an IO drive circuit, a communication circuit, a core processor-ARM chip, a suspension controller interface, a simulation model interface (Ethernet interface), a switching interface between the suspension controller and a CAN network interface. 3, the sensor signal board, which mainly converts the sensor signals sent by the simulation system into 10-way RS485 signals and sends them to the suspension controller; converts 2-way voltage signals and 2-way current signals into analog output for the suspension controller.

[0089] In this embodiment, the specific embodiment and preferred embodiment of the test system of the constant-conductance high-speed suspension controller of the present application are given, which is a suspension controller test system based on semi-physical simulation: 1. The host computer can complete simulation process management (simulation process control, such as lift-off and landing control instructions, fault injection, etc.; simulation state monitoring, such as suspension state value monitoring, suspension controller feedback control data monitoring, etc.); 2. The virtual simulation model - the dynamic model can replace the real vehicle suspension frame, track, sensor, electromagnet and other equipment, effectively simulate the whole vehicle lift-off process, the working condition of the lift-off process, the working condition under fault injection, etc. The suspension interface model can realize data transmission and build the connection between the simulation model and the suspension interface box; 3. The suspension interface box is a hardware structure for the suspension controller to access, which can build the connection between the test system and the suspension controller to test the suspension performance of the suspension controller, fault injection test, etc. It is an interface model and interface equipment device that can realize high-speed simulation, high-speed data communication and data conversion. In general, the whole semi-physical simulation suspension controller test system does not need to deploy the suspension controller on the real vehicle entity, which greatly reduces the test cost, improves the test convenience, reduces the test period, and introduces the simulation model with the basic performance of the real vehicle entity, which can replace the real entity without affecting the test effect. It has higher test safety and stronger stability, the test content is adjustable and controllable, the simulated faults and operating states are more, and it can effectively test the dynamic performance of the suspension controller (real or kernel computer board), whether there is a fault, and determine the fault type and location when there is a fault. More preferably, under the intervention of the simulation interface box, the suspension controller can be a suspension controller real entity, or only the kernel computer board of the suspension controller is inserted into the simulation interface box, without providing 400V voltage guarantee for the suspension controller real entity, providing convenience and safety for the test of the suspension controller.

[0090] Preferably, the present application also provides a test method for a suspension controller, which is used in the above test system and can be selected but not limited to including:

[0091] (1) Communication function test

[0092] The test method includes: 1) short-circuiting the adjacent point communication lines of the suspension interface box; 2) connecting the host computer and the suspension interface box through the CAN bus; 3) configuring the board card number, port, baud rate and frame type of the CAN interface in the suspension interface model; 4) powering on the suspension interface box; 5) deploying the simulation model to the host computer to start the simulation, and observing the real entity diagnostic software and the host computer interface; 6) if the suspension state signal issued by the simulation system is consistent with the suspension state signal obtained by the real entity diagnostic software, the communication is normal, otherwise the communication is not normal.

[0093] (2) Power-on self-test function test

[0094] Test method: 1) Short-circuit the adjacent point communication line of the suspension interface box; 2) Connect the host computer with the suspension interface box through the CAN bus; 3) Configure the board card number, port, baud rate and frame type of the CAN interface in the suspension interface model; 4) Power on the suspension interface box; 5) Deploy the simulation model to the host computer to start simulation, and observe the controller state of the real device diagnostic software and the host computer interface; 6) If the real device diagnostic software shows no error of the controller, and the controller state received by the host computer is normal, the power-on self-test function is normal, otherwise the power-on self-test function is not normal.

[0095] (3) Fault safety function test

[0096] Test method: 1) Short-circuit the adjacent point communication line of the suspension interface box; 2) Connect the host computer with the suspension interface box through the CAN bus; 3) Configure the board card number, port, baud rate and frame type of the CAN interface in the suspension interface model; 4) Power on the suspension interface box, and ensure that the controller state is normal; 5) Deploy the simulation model to the host computer to start simulation, and observe the controller state of the real device diagnostic software and the host computer interface; 6) After determining that the controller state is normal and entering the initialization completion state, issue the suspension instruction to control stable suspension, and inject the electromagnet short-circuit fault for 10s, and observe the controller state of the real device debugging software and the host computer interface of the simulation system; 7) Repeat the above steps to inject the electromagnet short-circuit fault test, and observe the controller state of the real device debugging software and the host computer interface of the simulation system. Specifically, as shown in Table 2, the specific implementation of the fault safety function test is given.

[0097] Table 2: Fault safety function test table

[0098]

[0099] (4) Suspension function test

[0100] Test method: 1) Connect the host computer with the suspension interface box through the CAN bus; 2) Configure the board card number, port, baud rate and frame type of the CAN interface in the suspension interface model; 3) Short-circuit the adjacent point communication interface of the suspension interface box; 4) Power on the suspension interface box; 5) Deploy the simulation model to the host computer to start simulation; 6) After the model and the suspension interface box are both initialized, issue the suspension instruction to control lifting; 7) After lifting is completed, maintain for 30s or more, and observe the model suspension state data of the debugging software and the host computer interface; 8) Issue the landing command to control the train to land; 9) If the controller can accurately respond to the control instruction to complete lifting and landing, and the suspension process gap fluctuation is within a reasonable range, it is normal (the lifting and landing process is smooth, and the suspension function of the controller is normal), otherwise the suspension function is not normal.

[0101] In the embodiment, a test method of the levitation controller of the application is given, which is created based on the test system of the levitation controller described above, is an instruction for use of the test system, and first ensures that the communication function and the power-on self-test function are tested normally, and then develops other functional tests. Different control instructions can be output by the upper computer to simulate different working conditions, the levitation state values (levitation gap, levitation speed, levitation acceleration, etc.) output by the dynamic model and the control data (control voltage, etc.) fed back by the levitation controller are monitored, the running performance of the levitation controller to be tested is evaluated, whether there is a fault, and the fault type and position are determined when there is a fault. The technical effects and advantages will not be described here. The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the description.

[0102] The above-described embodiments only express several embodiments of the application, which are described in detail and in detail, but should not be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the application, a number of modifications and improvements can be made, which are within the scope of the application. Therefore, the protection scope of the patent of the application should be subject to the appended claims.

Claims

1. A test system for a constant-conductance high-speed suspended controller, characterized by, The system comprises: a host computer, a simulation model and a suspension interface box connected in sequence; the host computer is used for simulation process management, including simulation model establishment, simulation process control, simulation state monitoring, hardware device management and controller diagnosis; the simulation model comprises a dynamics model and a suspension interface model; the dynamics model is connected with the host computer and the suspension interface model, and is used for simulating the dynamics state of the levitation train according to the control instruction of the host computer and the analysis data of the suspension interface model to obtain the levitation state value and send the levitation state value to the suspension interface model; the suspension interface model is connected with the dynamics model, the host computer and the suspension interface box, and is used for receiving the levitation state value of the dynamics model and the control instruction of the host computer, packing and sending the levitation state value and the control instruction to the suspension interface box, receiving the control data of the suspension controller transmitted by the suspension interface box and analyzing and sending the control data to the dynamics model; the dynamics model is used for simulating a single-point suspension system to generate the levitation state value of the current simulation step, establishing the connection with the suspension controller through the suspension interface model and the suspension interface box and completing the closed-loop control; the whole simulation model is developed by using Matlab / Simulink, and is compiled and run on a real-time simulation machine; the single calculation speed of the simulation model after being compiled is superior to 1ms; the suspension interface box is used for connecting the suspension controller to build the connection between the simulation model and the suspension controller; the CAN bus transmission can ensure that the time for the single simulation model to perform simulation data issuing, suspension interface data conversion, suspension controller calculation, suspension interface data acquisition and forwarding to the simulation model interface data analysis is controlled within 1ms, the data calculation period of the whole system is less than or equal to 1ms, and the real-time simulation requirement is met; the dynamics model is expressed as formulas (1)-(4); Acc_I=(Force-(10*Mass)) / Mass (1); Speed_I = Speed_I0 + (Acc_I * T) (2); Gap_I = Gap_I0 +(Speed_I * T) (3); ForceGap=S0-Gap_I (4); wherein, Acc_I is the levitation acceleration of the current simulation step; Force is the electromagnetic force of the current simulation step; Mass is the weight borne by the suspension controller; Speed_I0 is the levitation speed of the previous simulation step; T is the simulation step length; Speed_I is the levitation speed of the current simulation step; Gap_I0 is the total change amount of the levitation gap of the previous simulation step; Gap_I is the total change amount of the levitation gap of the current simulation step; S0 is the initial levitation gap; and ForceGap is the levitation gap of the current simulation step.

2. The test system of a suspension controller according to claim 1, characterized in that, The electromagnetic force of the current simulation step is calculated according to formula (6) as follows: wherein, Acc_I' is the corrected levitation acceleration of the current simulation step.

3. The test system of claim 2, wherein, ​ Force = ((X_e.^MagAm)*X_k).*(5.5*((u0*(N.^2)*Ap)*MagAm.^2) / (4*ForceGap*ForceGap))(6); Wherein, X_e, X_k are correction parameters; MagAm is the electromagnetic current; u0 is the vacuum permeability; N is the number of turns; Ap is the pole surface area.

4. The test system of a suspended controller according to any one of claims 1-3, characterized in that, The suspension interface model comprises a data packaging unit, a data issuing unit, a data receiving unit and a data analysis unit.

5. The test system of a suspended controller according to any one of claims 1-4, characterized in that, The suspension interface box comprises a power board, an interface board and a sensor signal board. The power board is connected with the power module, the suspension controller and the interface board, and is configured to provide power supply for the suspension controller and the interface board; the power board is connected with the UPS (Uninterruptible Power Supply), and the output voltage is AC220V, so as to prevent the influence of power failure in the laboratory on the simulation result; the switching power supply is configured to convert 220VAC into 24VDC, and the power is not less than 180W, so as to prevent the safety hazard caused by directly connecting 220V high voltage to the board card; the 24V power supply voltage output by the switching power supply is isolated and converted into different voltage grades required by the controller core control computer and other board cards in the interface box, including 24V, 5V, 15V and ±15V, a total of four voltage grades. The interface board comprises an IO drive circuit, a communication circuit, a core processor, a suspension controller interface, a simulation model interface, a switching interface between the suspension controllers and a CAN network interface. The sensor signal board comprises an FPGA, a sensor interface and a DA conversion circuit.

6. A method for testing a constant-conductance high-speed suspended controller, for use in the testing system of any one of claims 1-5, characterized in that, The communication function test comprises the following steps: Short-circuit the adjacent point communication lines of the suspension interface box; Connect the host computer with the suspension interface box through the CAN bus; Configure the board card number, port, baud rate and frame type of the CAN interface in the suspension interface model; Power on the suspension interface box; Deploy the simulation model to the host computer to start simulation, and observe the real part diagnostic software and the host computer interface; If the suspension state signal issued by the simulation system is consistent with the suspension state signal obtained by the real part diagnostic software, the communication is normal, otherwise the communication is not normal. The power-on self-test function test comprises the following steps:

7. The method of testing a suspension controller of claim 6, wherein, Short-circuit the adjacent point communication lines of the suspension interface box; Connect the host computer with the suspension interface box through the CAN bus; Configure the board card number, port, baud rate and frame type of the CAN interface in the suspension interface model; Power on the suspension interface box; Deploy the simulation model to the host computer to start simulation, and observe the controller state of the real part diagnostic software and the host computer interface; If the controller state of the real part diagnostic software is normal, and the controller state received by the host computer is normal, the power-on self-test function is normal, otherwise the power-on self-test function is not normal. The fault safety function test comprises the following steps: Short-circuit the adjacent point communication lines of the suspension interface box; 8. The method of claim 6, wherein, Connect the host computer with the suspension interface box through the CAN bus; Configure the board card number, port, baud rate and frame type of the CAN interface in the suspension interface model; Power on the suspension interface box to ensure that the controller state is normal; Deploy the simulation model to the host computer to start simulation, and observe the controller state of the real part diagnostic software and the host computer interface; ​ ​ ​ Determine the controller state is normal, enter the initialization complete state after the floating instruction control stable static floating, inject the electromagnetic iron short circuit fault for 10s, observe the controller state of the real debugging software and the simulation system host computer interface; or inject the electromagnetic iron short circuit fault test, observe the controller state of the real debugging software and the simulation system host computer interface.

9. The method of claim 8, wherein, Also includes: suspension function test: Connect the host computer with the suspension interface box through CAN bus; Configure the board card number, port, baud rate and frame type of the CAN interface in the suspension interface model; Short the adjacent point communication interfaces of the suspension interface box; Power on the suspension interface box; Deploy the simulation model to the host computer to start simulation; After the model and the suspension interface box are initialized, issue the suspension instruction to control the lifting; After the lifting is completed, maintain for 30s or more, and observe the model suspension state data of the debugging software and the host computer interface; Issue the landing command to control the train to land; If the controller can accurately respond to the control instruction to complete the lifting and landing, and the suspension process gap fluctuation is within a reasonable range, it is normal, otherwise the suspension function is not normal.

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