Suspension control method, device and computer equipment for maglev train passing ramp

Abstract

The present application relates to a suspension control method, device and computer equipment for a maglev train passing a ramp. First, the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment is obtained, and whether the suspension control point is suspended stably is determined according to the suspension gap, wherein each suspension control point is provided with a sensor, and the sensor is used to detect the suspension gap and the vertical acceleration. When the suspension control point is suspended stably, the slope angle of the ramp that the maglev train is passing at the current moment is calculated according to the vertical acceleration corresponding to the obtained suspension control point, and then the suspension control parameters are adjusted according to the change trend of the slope angle, and the maglev train is suspended according to the adjusted suspension control parameters. The present invention makes full use of the train operation data, and the calculation process is relatively simple, which can meet the real-time optimization of the suspension control parameters and ensure the stability of the maglev train running over the ramp.

Description

Technical Field

[0001] The present application relates to the field of rail transit technology, and in particular to a suspension control method, device and computer equipment for a maglev train passing a ramp. Background Art

[0002] During the operation of a maglev train, the suspension state is different in the ramp section and the horizontal section, which is mainly manifested in the change of the required suspension force. In particular, when the maglev train passes through a track with a large slope, the vehicle's suspension control system will face a large impact and even hit the track. Therefore, in different track sections, especially ramp sections, in order to maintain the optimal suspension performance of the train, the suspension control parameters need to be adjusted accordingly to ensure the stability of the train operation. The existing suspension control algorithm does not take targeted measures for slope changes, so the suspension performance is reduced on the slope. Summary of the invention

[0003] Based on this, it is necessary to provide a suspension control method, device and computer equipment for a maglev train passing over a ramp to address the above technical problems, so as to ensure the stability of the operation of the maglev train when passing over a ramp.

[0004] A suspension control method for a maglev train passing a track joint, the method comprising:

[0005] Obtain the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and determine whether the suspension control point is suspended stably according to the suspension gap; wherein each suspension control point is provided with a sensor; the sensor is used to detect the suspension gap and vertical acceleration;

[0006] When the suspension control point is in stable suspension, the slope angle of the ramp that the maglev train is currently passing is calculated according to the acquired vertical acceleration corresponding to the suspension control point;

[0007] The suspension control parameters are adjusted according to the variation trend of the slope angle, and the maglev train is suspended and controlled according to the adjusted suspension control parameters.

[0008] In one embodiment, the method further includes: obtaining a suspension gap corresponding to a suspension control point of each suspension electromagnet at the current moment; wherein each suspension electromagnet includes two suspension control points; and the suspension gap includes a first suspension gap and a second suspension gap;

[0009] Whether the corresponding two suspension control points are suspended stably is determined according to whether an average value of the first suspension gap and the second suspension gap is within a target suspension gap range.

[0010] In one of the embodiments, the vertical acceleration includes a first vertical acceleration and a second vertical acceleration;

[0011] When the suspension control point is suspended stably, the slope angle of the slope that the maglev train is passing at the current moment is calculated according to the acquired vertical acceleration corresponding to the suspension control point, including:

[0012] When the suspension control point is stable, the slope angle of the ramp that the maglev train is currently passing is calculated according to the first vertical acceleration and the second vertical acceleration corresponding to the obtained suspension control point:

[0013] θ=arc cos[(a1+a2) / 2g]

[0014] Wherein, θ represents the slope angle, a1 represents the first vertical acceleration, a2 represents the second vertical acceleration, and g represents the gravitational acceleration.

[0015] In one of the embodiments, the suspension control parameter includes a proportional control parameter of the suspension gap and a differential control parameter of the suspension gap;

[0016] According to the change trend of the slope angle, the proportional control parameters of the suspension gap are adjusted:

[0017]

[0018] Among them, k p represents the adjusted proportional control parameter, represents the proportional control parameter when the slope angle is 0, and k1 represents the slope angle variation coefficient of the proportional control parameter;

[0019] The differential control parameters of the suspension gap are adjusted according to the change trend of the slope angle:

[0020]

[0021] Among them, k d represents the adjusted differential control parameter, It represents the differential control parameter when the slope angle is 0, and k2 represents the slope angle variation coefficient of the differential control parameter.

[0022] A suspension control device for a maglev train passing a ramp, the device comprising:

[0023] A suspension judgment module is used to obtain the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and judge whether the suspension control point is suspended stably according to the suspension gap; each suspension control point is provided with a sensor; the sensor is used to detect the suspension gap and vertical acceleration;

[0024] A slope angle calculation module, used for calculating the slope angle of the ramp that the maglev train is currently passing through according to the acquired vertical acceleration corresponding to the suspension control point when the suspension control point is stable;

[0025] The suspension control module is used to adjust the suspension control parameters according to the change trend of the slope angle, and to perform suspension control on the maglev train according to the adjusted suspension control parameters.

[0026] A computer device comprises 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:

[0027] Obtain the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and determine whether the suspension control point is suspended stably according to the suspension gap; wherein each suspension control point is provided with a sensor; the sensor is used to detect the suspension gap and vertical acceleration;

[0028] When the suspension control point is in stable suspension, the slope angle of the ramp that the maglev train is currently passing is calculated according to the acquired vertical acceleration corresponding to the suspension control point;

[0029] The suspension control parameters are adjusted according to the variation trend of the slope angle, and the maglev train is suspended and controlled according to the adjusted suspension control parameters.

[0030] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0031] Obtain the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and determine whether the suspension control point is suspended stably according to the suspension gap; wherein each suspension control point is provided with a sensor; the sensor is used to detect the suspension gap and vertical acceleration;

[0032] When the suspension control point is in stable suspension, the slope angle of the ramp that the maglev train is currently passing is calculated according to the acquired vertical acceleration corresponding to the suspension control point;

[0033] The suspension control parameters are adjusted according to the variation trend of the slope angle, and the maglev train is suspended and controlled according to the adjusted suspension control parameters.

[0034] The suspension control method, device and computer equipment for the maglev train passing the ramp first obtain the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and judge whether the suspension control point is suspended stably according to the suspension gap, wherein each suspension control point is provided with a sensor, and the sensor is used to detect the suspension gap and the vertical acceleration. When the suspension control point is suspended stably, the slope angle of the ramp passed by the maglev train at the current moment is calculated according to the vertical acceleration corresponding to the obtained suspension control point, and then the suspension control parameters are adjusted according to the change trend of the slope angle, and the maglev train is suspended according to the adjusted suspension control parameters. The present invention judges whether the suspension is stable according to the suspension gap at the current moment. If the suspension is stable, further optimization is required, so the slope angle of the ramp is calculated according to the vertical acceleration, and the suspension control parameters are adjusted accordingly according to the calculated slope angle, and finally the suspension control can be performed according to the adjusted suspension control parameters. The present invention makes full use of the train operation data, and the calculation process is relatively simple, which can meet the real-time optimization of the suspension control parameters and ensure the stability of the maglev train running over the ramp. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic flow chart of a suspension control method for a maglev train passing a ramp in one embodiment;

[0036] Figure 2 It is a structural block diagram of a suspension control device for a maglev train passing a ramp in one embodiment;

[0037] Figure 3 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0038] 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.

[0039] In one embodiment, Figure 1 As shown, a suspension control method for a maglev train passing a ramp is provided, comprising the following steps:

[0040] Step 102, obtaining the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and judging whether the suspension control point is suspended stably according to the suspension gap.

[0041] Each suspension control point is equipped with a sensor, which is used to detect the suspension gap and vertical acceleration.

[0042] Step 104: When the suspension control point is stable, the slope angle of the slope that the maglev train is currently passing is calculated according to the vertical acceleration corresponding to the obtained suspension control point.

[0043] The vertical acceleration can be acquired by an accelerometer perpendicular to the track surface. Usually, the accelerometer detects the movement acceleration of the suspension electromagnet perpendicular to the track surface.

[0044] Step 106, adjusting the suspension control parameters according to the variation trend of the slope angle, and performing suspension control on the maglev train according to the adjusted suspension control parameters.

[0045] The adjustment principle is: the suspension control parameters decrease as the slope angle increases.

[0046] The suspension control method for the maglev train passing the ramp first obtains the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and judges whether the suspension control point is suspended stably according to the suspension gap, wherein each suspension control point is provided with a sensor, and the sensor is used to detect the suspension gap and the vertical acceleration. When the suspension control point is suspended stably, the slope angle of the ramp passed by the maglev train at the current moment is calculated according to the vertical acceleration corresponding to the obtained suspension control point, and then the suspension control parameters are adjusted according to the slope angle, and the maglev train is suspended and controlled according to the adjusted suspension control parameters. The present invention judges whether the suspension is stable according to the suspension gap at the current moment. If the suspension is stable, further optimization is required, so the slope angle of the ramp is calculated according to the vertical acceleration, and the suspension control parameters are adjusted accordingly according to the calculated slope angle, and finally the suspension control can be performed according to the adjusted suspension control parameters. The present invention makes full use of the train operation data, and the calculation process is relatively simple, which can meet the real-time optimization of the suspension control parameters and ensure the stability of the maglev train running over the ramp.

[0047] In one embodiment, obtaining the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and judging whether the suspension control point is suspended stably according to the suspension gap, includes:

[0048] Obtain the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, wherein each suspension electromagnet includes two suspension control points, and the suspension gap includes a first suspension gap and a second suspension gap, that is, the suspension gaps S1 and S2 at both ends detected by sensors installed at both ends of the suspension electromagnet;

[0049] Whether the corresponding two suspension control points are suspended stably is determined based on whether the average of the first suspension gap and the second suspension gap is within the target suspension gap range. If the suspension is stable, the subsequent suspension control parameter optimization adjustment is performed, because the suspension is stable, but the dynamic performance is not necessarily optimal. If the suspension has not yet reached a stable state, the maglev train needs to be suspended and controlled according to the current suspension control parameters so that the suspension gap is first stabilized within the set suspension gap range.

[0050] In one embodiment, the vertical acceleration includes a first vertical acceleration and a second vertical acceleration, that is, two vertical accelerations collected by sensors at both ends of each suspension electromagnet. When the suspension control point is suspended stably, the slope angle of the slope that the maglev train is passing at the current moment is calculated according to the first vertical acceleration and the second vertical acceleration corresponding to the obtained suspension control point:

[0051] θ=arc cos[(a1+a2) / 2g]

[0052] Wherein, θ represents the slope angle, a1 represents the first vertical acceleration, a2 represents the second vertical acceleration, and g represents the gravitational acceleration.

[0053] The direction of the vertical acceleration is vertical to the track, pointing to the maglev train. The vertical acceleration of the corresponding suspension electromagnet can be calculated based on the average of the two vertical accelerations. When the suspension is stable, the value of the vertical acceleration of the suspension electromagnet is equal to the component value of the gravity acceleration in the direction vertical to the track. Therefore, the slope angle of the slope that the maglev train is passing at the current moment can be calculated based on the vertical acceleration and gravity acceleration.

[0054] In one embodiment, the suspension control parameter includes a proportional control parameter of the suspension gap and a differential control parameter of the suspension gap.

[0055] Adjust the suspension control parameters according to the changing trend of the slope angle, including:

[0056] Adjust the proportional control parameters of the suspension gap according to the changing trend of the slope angle:

[0057]

[0058] Among them, k p represents the adjusted proportional control parameter, i.e. the proportional control parameter on the ramp, It represents the proportional control parameter before adjustment, that is, the proportional control parameter on a straight road (slope angle is 0). k1 represents the slope angle variation coefficient of the proportional control parameter, which reflects the influence of the slope angle change on the proportional control parameter, and is usually 0.01 to 0.02.

[0059] Adjust the differential control parameters of the suspension gap according to the changing trend of the slope angle:

[0060]

[0061] Among them, k d represents the adjusted differential control parameter, that is, the differential control parameter on the ramp, It represents the differential control parameter before adjustment, that is, the differential control parameter on a straight road (slope angle of 0). k2 represents the slope angle variation coefficient of the differential control parameter, which reflects the influence of the slope angle change on the differential control parameter, and is usually taken as 0.01~0.02.

[0062] The values ​​of k1 and k2 can be the same or different, and can be set according to actual conditions.

[0063] This method adaptively adjusts the suspension control parameters on different slopes, which can ensure the consistency of suspension performance.

[0064] It should be understood that although Figure 1 The 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.

[0065] In one embodiment, Figure 2 As shown, a suspension control device for a maglev train passing a ramp is provided, comprising: a suspension judgment module, a slope angle calculation module and a suspension control module, wherein:

[0066] The suspension judgment module 202 is used to obtain the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and judge whether the suspension control point is suspended stably according to the suspension gap; each suspension control point is provided with a sensor; the sensor is used to detect the suspension gap and vertical acceleration;

[0067] The slope angle calculation module 204 is used to calculate the slope angle of the slope that the maglev train is currently passing through according to the vertical acceleration corresponding to the obtained suspension control point when the suspension control point is stable;

[0068] The suspension control module 206 is used to adjust the suspension control parameters according to the change trend of the slope angle, and perform suspension control on the maglev train according to the adjusted suspension control parameters.

[0069] In one embodiment, the suspension judgment module 202 is further used to obtain the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment; wherein each suspension electromagnet includes two suspension control points; and the suspension gap includes a first suspension gap and a second suspension gap;

[0070] Whether the corresponding two suspension control points are suspended stably is determined according to whether the average of the first suspension gap and the second suspension gap is within the target suspension gap range.

[0071] In one embodiment, the slope angle calculation module 204 is further used to calculate the slope angle of the slope that the maglev train is currently passing through according to the first vertical acceleration and the second vertical acceleration corresponding to the obtained suspension control point when the suspension control point is stable:

[0072] θ=arc cos[(a1+a2) / 2g]

[0073] Wherein, θ represents the slope angle, a1 represents the first vertical acceleration, a2 represents the second vertical acceleration, and g represents the gravitational acceleration.

[0074] In one embodiment, the suspension control module 206 is further configured to adjust the proportional control parameter of the suspension gap according to the change trend of the slope angle:

[0075]

[0076] Among them, k p represents the adjusted proportional control parameter, represents the proportional control parameter when the slope angle is 0, and k1 represents the slope angle variation coefficient of the proportional control parameter;

[0077] Adjust the differential control parameters of the suspension gap according to the changing trend of the slope angle:

[0078]

[0079] Among them, k d represents the adjusted differential control parameter, It represents the differential control parameter when the slope angle is 0, and k2 represents the slope angle variation coefficient of the differential control parameter.

[0080] The specific definition of the suspension control device for a maglev train passing a ramp can be found in the definition of the suspension control method for a maglev train passing a ramp in the above text, which will not be repeated here. Each module in the suspension control device for a maglev train passing a ramp can be implemented in whole or in part by software, hardware, and a combination thereof. Each of the above modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0081] 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 3As 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 sensor data. 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 suspension control method for a maglev train passing a ramp is implemented.

[0082] 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.

[0083] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in the above embodiment when executing the computer program.

[0084] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in the above embodiment are implemented.

[0085] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods 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 this 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).

[0086] The technical features of the above embodiments may be combined arbitrarily. 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.

[0087] The above-mentioned 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 suspension control method for a maglev train passing a ramp, characterized in that: The method comprises: Obtaining the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and judging whether the suspension control point is suspended stably according to the suspension gap; wherein each suspension control point is provided with a sensor; the sensor is used to detect the suspension gap and the vertical acceleration; When the suspension control point is in stable suspension, the slope angle of the ramp that the maglev train is currently passing is calculated according to the acquired vertical acceleration corresponding to the suspension control point; adjusting the suspension control parameters according to the variation trend of the slope angle, and performing suspension control on the maglev train according to the adjusted suspension control parameters; Obtaining the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and judging whether the suspension control point is suspended stably according to the suspension gap, including: Obtaining the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment; wherein each suspension electromagnet includes two suspension control points; and the suspension gap includes a first suspension gap and a second suspension gap; determining whether the corresponding two suspension control points are suspended stably according to whether the average of the first suspension gap and the second suspension gap is within a target suspension gap range; The vertical acceleration includes a first vertical acceleration and a second vertical acceleration; When the suspension control point is suspended stably, the slope angle of the slope that the maglev train is passing at the current moment is calculated according to the acquired vertical acceleration corresponding to the suspension control point, including: When the suspension control point is stable, the slope angle of the ramp that the maglev train is currently passing is calculated according to the first vertical acceleration and the second vertical acceleration corresponding to the obtained suspension control point: in, represents the slope angle, represents the first vertical acceleration, represents the second vertical acceleration, represents the acceleration due to gravity; The suspension control parameters include a proportional control parameter of the suspension gap and a differential control parameter of the suspension gap; The suspension control parameters are adjusted according to the change trend of the slope angle, including: According to the change trend of the slope angle, the proportional control parameters of the suspension gap are adjusted: in, represents the adjusted proportional control parameter, Indicates the proportional control parameter when the slope angle is 0. Indicates the slope angle variation coefficient of the proportional control parameter; The differential control parameters of the suspension gap are adjusted according to the change trend of the slope angle: in, represents the adjusted differential control parameter, It represents the differential control parameter when the slope angle is 0. Indicates the slope angle variation coefficient of the derivative control parameter.

2. A suspension control device for a maglev train passing a ramp, used to implement the suspension control method for a maglev train passing a ramp as claimed in claim 1, characterized in that: The device comprises: A suspension judgment module is used to obtain the suspension gap corresponding to the suspension control point of each suspension electromagnet at the current moment, and judge whether the suspension control point is suspended stably according to the suspension gap; each suspension control point is provided with a sensor; the sensor is used to detect the suspension gap and vertical acceleration; A slope angle calculation module, used for calculating the slope angle of the ramp that the maglev train is currently passing through according to the acquired vertical acceleration corresponding to the suspension control point when the suspension control point is stable; The suspension control module is used to adjust the suspension control parameters according to the change trend of the slope angle, and to perform suspension control on the maglev train according to the adjusted suspension control parameters.

3. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to claim 1 are implemented.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 1 are implemented.

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