A control method and related device of maglev train

Abstract

The present application discloses a control method for a maglev train, which relates to the field of train control technology, including: creating track calibration information; the track calibration information includes a track gap number, a position coordinate corresponding to the track gap number, and a gap value; locating the real-time coordinates of the maglev train; when the track calibration information contains the position coordinates that are consistent with the real-time coordinates of the maglev train, identifying the track gap number corresponding to the position coordinates; and adjusting the parameters using the gap value corresponding to the track gap number as the rated gap value. This method can effectively maintain the stable suspension of the maglev train and ensure the comfort and safety of the maglev train. The present application also discloses a control device, equipment, and computer-readable storage medium for a maglev train, all of which have the above-mentioned technical effects.

Description

Technical Field

[0001] The present application relates to the technical field of train control, and in particular to a control method for a maglev train; and also to a control device, equipment and computer-readable storage medium for a maglev train. Background Art

[0002] Maglev train is a non-contact ground rail transportation tool. Its biggest feature is that it eliminates the wheels that traditional vehicles rely on for transmission, uses electromagnetic force to achieve suspension and guidance, and is equipped with linear motors for driving. There is no mechanical contact between the maglev train and the track, so it has the advantages of low running noise, low vibration, fast starting and braking speed, small turning radius, strong climbing ability, safety and comfort, and low maintenance cost.

[0003] Since the single track of the maglev train running line is 12.5m long and 0.7m short, track gaps will inevitably appear at the track joints during the installation process. At present, in the suspension control algorithm, ΔS=S-S0 is used as an important factor affecting the control current, suspension force and vehicle stability of the maglev train. The existence of track gaps causes the gap value S measured by the gap sensor to fluctuate more. When the rated gap value S0 remains unchanged, ΔS increases accordingly, and the control current and suspension force in the maglev train suspension control system also fluctuate accordingly, causing the maglev train to be unstable during driving. In severe cases, it is easy to drop points, hit the rails, and become unstable.

[0004] In view of this, how to maintain the stable suspension of the maglev train and ensure the comfort and safety of the maglev train has become a technical problem that needs to be urgently solved by those skilled in the art. Summary of the invention

[0005] The purpose of the present application is to provide a control method for a maglev train, which can effectively maintain the stable suspension of the maglev train and ensure the comfort and safety of the maglev train. Another purpose of the present application is to provide a control device, equipment and computer-readable storage medium for a maglev train, all of which have the above technical effects.

[0006] In order to solve the above technical problems, the present application provides a control method for a maglev train, comprising:

[0007] Creating track calibration information; the track calibration information includes a track gap number, a position coordinate corresponding to the track gap number, and a gap value;

[0008] Locate the real-time coordinates of the maglev train;

[0009] When the track calibration information contains the position coordinates that are consistent with the real-time coordinates of the maglev train, identifying the track joint number corresponding to the position coordinates;

[0010] The gap value corresponding to the rail gap number is used as the rated gap value for parameter adjustment.

[0011] Optionally, the creating track calibration information includes:

[0012] Identifying rail gaps according to gap data of a maglev train running line and numbering the rail gaps;

[0013] Calculating the gap value corresponding to the rail gap number according to the gap data at the rail gap;

[0014] The position coordinates of the maglev train are located, and the position coordinates are matched with the track joint numbers.

[0015] Optionally, the identifying the track gap according to the gap data of the maglev train running line includes:

[0016] If the gap data measured by each probe of the suspension sensor exceeds a preset value within a preset time period, it is determined that the position where the suspension sensor is located is a rail gap.

[0017] Optionally, calculating the gap value corresponding to the rail gap number according to the gap data at the rail gap includes:

[0018] The gap data measured by each probe of the suspension sensor are comprehensively analyzed to obtain the gap value corresponding to the rail gap number.

[0019] Optionally, the comprehensive analysis of the gap data measured by each probe of the suspension sensor to obtain the gap value corresponding to the rail gap number includes:

[0020] Dividing the gap data measured by each of the probes into two groups, and selecting the minimum value in each group;

[0021] The average of the selected minimum values ​​is calculated to obtain the gap value corresponding to the rail gap number.

[0022] Optionally, also include:

[0023] A track calibration diagram is drawn according to the track gap number, the gap value and the position coordinates.

[0024] Optionally, also include:

[0025] When the position coordinates consistent with the real-time coordinates of the maglev train do not exist in the track calibration information, the real-time gap value collected by the suspension sensor is used as the rated gap value for parameter adjustment.

[0026] In order to solve the above technical problems, the present application also provides a control device for a maglev train, comprising:

[0027] A creation module, used to create track calibration information; the track calibration information includes a track gap number, a position coordinate corresponding to the track gap number, and a gap value;

[0028] Positioning module, used to locate the real-time coordinates of the maglev train;

[0029] an identification module, configured to identify the track joint number corresponding to the position coordinate when the track calibration information contains the position coordinate consistent with the real-time coordinate of the maglev train;

[0030] The parameter adjustment module is used to adjust the parameters by taking the gap value corresponding to the rail gap number as the rated gap value.

[0031] In order to solve the above technical problems, the present application also provides a control device for a maglev train, comprising:

[0032] Memory for storing computer programs;

[0033] A processor is used to implement the steps of the control method of a maglev train as described in any one of the above items when executing the computer program.

[0034] In order to solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of a maglev train as described in any one of the above items are implemented.

[0035] The control method of the maglev train provided in the present application includes: creating track calibration information; the track calibration information includes a track joint number, a position coordinate corresponding to the track joint number, and a gap value; locating the real-time coordinates of the maglev train; when the track calibration information contains the position coordinate consistent with the real-time coordinates of the maglev train, identifying the track joint number corresponding to the position coordinate; and adjusting the parameters using the gap value corresponding to the track joint number as the rated gap value.

[0036] It can be seen that the control method of the maglev train provided in the present application pre-creates the track calibration information of the maglev train operation line. During the actual operation of the maglev train, the real-time position of the maglev train is located, and the gap value is selected from the track calibration information as the rated gap value for parameter adjustment. This can effectively solve the problem of the maglev train falling off the track, hitting the rail, and suspension instability caused by the fluctuation of the gap value measured by the suspension sensor probe when the maglev train passes the track gap, maintain the stable suspension of the maglev train, and ensure the comfort and safety of the maglev train.

[0037] The control device, equipment and computer-readable storage medium of the maglev train provided in this application all have the above-mentioned technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the prior art and the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic flow chart of a control method for a maglev train provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of a rail gap identification provided in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of a suspension sensor probe detection provided in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of track calibration provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of a control device for a maglev train provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of a control device for a maglev train provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The core of this application is to provide a control method for a maglev train, which can effectively maintain the stable suspension of the maglev train and ensure the comfort and safety of the maglev train. Another core of this application is to provide a control device, equipment and computer-readable storage medium for a maglev train, all of which have the above technical effects.

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] Please refer to Figure 1 , Figure 1 A flow chart of a control method for a maglev train provided in an embodiment of the present application, with reference to Figure 1 As shown, the method includes:

[0048] S101: Creating track calibration information; the track calibration information includes a track gap number, a position coordinate corresponding to the track gap number, and a gap value;

[0049] This step is intended to create track calibration information for the maglev train running track, so that the gap value can be selected as the rated gap value for parameter adjustment during the actual operation of the maglev train. Since the track calibration information is created to select the gap value during the actual operation of the maglev train, the step of creating the track calibration information can be performed only once. After the creation is completed, the track calibration information is stored for subsequent use. The track calibration information can also be updated regularly. For example, the track calibration information is updated once a month.

[0050] In some embodiments, creating track calibration information includes:

[0051] Identifying rail gaps according to gap data of a maglev train running line and numbering the rail gaps;

[0052] Calculating the gap value corresponding to the rail gap number according to the gap data at the rail gap;

[0053] The position coordinates of the maglev train are located, and the position coordinates are matched with the track joint numbers.

[0054] Specifically, a suspension sensor at the front of the head car in the direction of travel of the maglev train can be selected, and a wireless acquisition device can be installed on the suspension sensor to collect gap data detected by the probe of the suspension sensor. The gap refers to the gap between the suspension sensor and the track. Based on the collected gap data, the track gap is identified, and the track gap is numbered, and the gap value corresponding to the track gap number is calculated based on the gap data. A satellite positioning module can be installed in the car of the maglev train, connected to the computer using a USB interface, the position coordinates of the maglev train are collected, and the gap data is matched with the position coordinates. On the basis of identifying the track gap based on the gap data and numbering it, the position coordinates are matched with the track gap number. The position of the maglev train can be used as a GPS coordinate.

[0055] The operation line of the maglev train includes an up line and a down line, so the maglev train is operated at a low speed on the up line and the down line, and the gap data and position coordinates are collected at a preset sampling frequency. For example, the maglev train is operated at a speed not higher than 5 km / h on the up line and the down line, and the gap data and position coordinates are collected at a sampling frequency of 1 kHz.

[0056] The rule for numbering the track joints on the up line can be: the first track joint at the starting point is recorded as track joint S_1, and the track joints are numbered S_2, S_3, ... S_N in sequence according to the running direction of the up line, where S_N corresponds to the last track joint at the end point.

[0057] The rule for numbering the track joints on the up line can be: the first track joint at the starting point is recorded as track joint No. X_1, and the track joints are numbered X_2, X_3, ..., X_M in sequence according to the running direction of the down line, where X_M corresponds to the last track joint at the end point.

[0058] In some embodiments, identifying the track gap according to the gap data of the maglev train running line includes:

[0059] If the gap data measured by each probe of the suspension sensor exceeds a preset value within a preset time period, it is determined that the position where the suspension sensor is located is a rail gap.

[0060] In this embodiment, the criterion for determining a rail gap is that the gap data collected by each probe of the suspension sensor exceeds the preset value within a preset time period. Figure 2 As shown, if the gap data S1, S2, S3 and S4 measured by the four probes of the suspension sensor within 2s all exceed 14mm, it is determined that there is a track gap. If the gap data S1, S2, S3 and S4 measured by the four probes of the suspension sensor within 2s do not all exceed 14mm, it is determined that there is a normal road condition.

[0061] It should be noted that this application does not make any unique restrictions on the specific numerical values ​​of the preset duration and the preset value, and different settings can be made according to actual application needs.

[0062] In some embodiments, calculating the gap value corresponding to the track gap number according to the gap data at the track gap includes:

[0063] The gap data measured by each probe of the suspension sensor are comprehensively analyzed to obtain the gap value corresponding to the rail gap number.

[0064] This embodiment integrates the gap data measured by each probe of the suspension sensor to obtain the gap value corresponding to the rail gap, which can ensure that a more reasonable and reliable gap value is obtained.

[0065] Wherein, comprehensively analyzing the gap data measured by each probe of the suspension sensor to obtain the gap value corresponding to the rail gap number may include:

[0066] Dividing the gap data measured by each of the probes into two groups, and selecting the minimum value in each group;

[0067] The average of the selected minimum values ​​is calculated to obtain the gap value corresponding to the rail gap number.

[0068] For example, refer to Figure 3 As shown, the suspension sensor includes 4 probes, namely probe 1, probe 2, probe 3 and probe 4. The gap data collected by probe 1 is S1, the gap data collected by probe 2 is S2, the gap data collected by probe 3 is S3, and the gap data collected by probe 4 is S4. S1 and S2 can be divided into 1 group, and S3 and S4 can be divided into 1 group. Take the minimum value of S1 and S2, take the minimum value of S3 and S4, and then calculate the average of the two minimum values.

[0069] Right now, S0 represents the gap value corresponding to the rail gap.

[0070] S102: locating the real-time coordinates of the maglev train;

[0071] S103: When the track calibration information contains the position coordinates that are consistent with the real-time coordinates of the maglev train, identifying the track joint number corresponding to the position coordinates;

[0072] S104: adjusting the parameters by taking the gap value corresponding to the rail gap number as the rated gap value.

[0073] During the actual operation of the maglev train, its real-time coordinates can be located by GPS, and then it can be determined whether there is a position coordinate consistent with the real-time coordinates of the maglev train in the track calibration information. If the track gap number corresponding to the position coordinate is identified, the corresponding gap value is determined according to the track gap number, and the gap value is used as the rated gap value for parameter adjustment.

[0074] In the case where the position coordinates consistent with the real-time coordinates of the maglev train do not exist in the track calibration information, in some embodiments, when the position coordinates consistent with the real-time coordinates of the maglev train do not exist in the track calibration information, the real-time gap value collected by the suspension sensor is used as the rated gap value for parameter adjustment. The rated gap value used for parameter adjustment can be obtained by integrating the real-time gap values ​​measured by each probe of the suspension sensor. The manner of integrating the real-time gap values ​​measured by each probe of the suspension sensor can refer to the description of the above embodiment and will not be repeated here.

[0075] Furthermore, in some embodiments, it also includes:

[0076] A track calibration diagram is drawn according to the track gap number, the gap value and the position coordinates.

[0077] refer to Figure 4The track calibration diagram shown in the figure can more intuitively display the track joints, position coordinates, etc. of the maglev train running track by drawing the track calibration diagram.

[0078] In summary, the control method of the maglev train provided in the present application includes: creating track calibration information; the track calibration information includes a track gap number, a position coordinate corresponding to the track gap number, and a gap value; locating the real-time coordinates of the maglev train; when the track calibration information contains the position coordinates that are consistent with the real-time coordinates of the maglev train, identifying the track gap number corresponding to the position coordinates; and adjusting the parameters using the gap value corresponding to the track gap number as the rated gap value. This control method pre-creates the track calibration information of the maglev train running line. During the actual operation of the maglev train, the real-time position of the maglev train is located, and the gap value is selected from the track calibration information as the rated gap value for parameter adjustment. In this way, the rated gap value used for parameter adjustment is no longer fixed, and can effectively maintain the stable suspension of the maglev train and ensure the comfort and safety of the maglev train.

[0079] The present application also provides a control device for a maglev train, and the device described below can be referred to in correspondence with the method described above. Figure 5 , Figure 5 A schematic diagram of a control device for a maglev train provided in an embodiment of the present application, combined with Figure 5 As shown, the device comprises:

[0080] A creation module 10 is used to create track calibration information; the track calibration information includes a track gap number, a position coordinate corresponding to the track gap number, and a gap value;

[0081] A positioning module 20, used to locate the real-time coordinates of the maglev train;

[0082] An identification module 30, configured to identify the track joint number corresponding to the position coordinate when the track calibration information contains the position coordinate that is consistent with the real-time coordinate of the maglev train;

[0083] The parameter adjustment module 40 is used to adjust the parameters by taking the gap value corresponding to the rail gap number as the rated gap value.

[0084] Based on the above embodiment, as a specific implementation, the creation module 10 includes:

[0085] An identification unit, used for identifying rail gaps according to gap data of the maglev train running line, and numbering the rail gaps;

[0086] A calculation unit, configured to calculate the gap value corresponding to the rail gap number according to the gap data at the rail gap;

[0087] A matching unit is used to locate the position coordinates of the maglev train and match the position coordinates with the track joint number.

[0088] Based on the above embodiment, as a specific implementation manner, the identification unit is specifically used for:

[0089] If the gap data measured by each probe of the suspension sensor exceeds a preset value within a preset time period, it is determined that the position where the suspension sensor is located is a rail gap.

[0090] Based on the above embodiment, as a specific implementation manner, the calculation unit is specifically used for:

[0091] The gap data measured by each probe of the suspension sensor are comprehensively analyzed to obtain the gap value corresponding to the rail gap number.

[0092] Based on the above embodiment, as a specific implementation, the calculation unit includes:

[0093] A minimum value selection subunit, used for dividing the gap data measured by each of the probes into two groups, and selecting the minimum value in each group;

[0094] The mean calculation subunit is used to calculate the mean of the selected minimum values ​​to obtain the gap value corresponding to the rail gap number.

[0095] Based on the above embodiment, as a specific implementation method, it also includes:

[0096] A drawing module is used to draw a track calibration map according to the track gap number, the gap value and the position coordinates.

[0097] Based on the above embodiment, as a specific implementation method, it also includes:

[0098] The second parameter adjustment module is used to adjust the parameters by using the real-time gap value collected by the suspension sensor as the rated gap value when the position coordinates consistent with the real-time coordinates of the maglev train do not exist in the track calibration information.

[0099] The control device of the maglev train provided in the present application pre-creates the track calibration information of the maglev train operation route. During the actual operation of the maglev train, the real-time position of the maglev train is located, and the gap value is selected from the track calibration information as the rated gap value for parameter adjustment. This can effectively solve the problem of the train falling off the track, hitting the rail, and suspension instability caused by the fluctuation of the gap value measured by the suspension sensor probe when the maglev train passes the track gap, maintain the stable suspension of the maglev train, and ensure the comfort and safety of the maglev train.

[0100] The present application also provides a control device for a maglev train, referring to Figure 6 As shown, the device includes a memory 1 and a processor 2 .

[0101] Memory 1, used for storing computer programs;

[0102] Processor 2 is used to execute the computer program to implement the following steps:

[0103] Create track calibration information; the track calibration information includes a track joint number, a position coordinate corresponding to the track joint number, and a gap value; locate the real-time coordinates of the maglev train; when the track calibration information contains the position coordinate consistent with the real-time coordinates of the maglev train, identify the track joint number corresponding to the position coordinate; and adjust the parameters using the gap value corresponding to the track joint number as the rated gap value.

[0104] For an introduction to the equipment provided in this application, please refer to the above method embodiments, and this application will not go into details here.

[0105] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps can be implemented:

[0106] Create track calibration information; the track calibration information includes a track joint number, a position coordinate corresponding to the track joint number, and a gap value; locate the real-time coordinates of the maglev train; when the track calibration information contains the position coordinate consistent with the real-time coordinates of the maglev train, identify the track joint number corresponding to the position coordinate; and adjust the parameters using the gap value corresponding to the track joint number as the rated gap value.

[0107] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0108] For an introduction to the computer-readable storage medium provided in this application, please refer to the above method embodiment, and this application will not go into details here.

[0109] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the devices, equipment, and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0110] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0111] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0112] The control method, device, equipment and computer-readable storage medium of the maglev train provided by the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A control method for a maglev train, characterized in that: include: Create track calibration information; The track calibration information includes a track gap number, a position coordinate corresponding to the track gap number, and a gap value; Locate the real-time coordinates of the maglev train; When the track calibration information contains the position coordinates that are consistent with the real-time coordinates of the maglev train, identifying the track joint number corresponding to the position coordinates; The gap value corresponding to the rail gap number is used as the rated gap value for parameter adjustment; The creation of track calibration information includes: Identifying rail gaps according to gap data of a maglev train running line and numbering the rail gaps; Calculating the gap value corresponding to the rail gap number according to the gap data at the rail gap; Locating the position coordinates of the maglev train and making the position coordinates correspond to the track joint numbers; The calculating, according to the gap data at the rail gap, the gap value corresponding to the rail gap number comprises: Comprehensively analyzing the gap data measured by each probe of the suspension sensor to obtain the gap value corresponding to the rail gap number; The comprehensive analysis of the gap data measured by each probe of the suspension sensor to obtain the gap value corresponding to the rail gap number includes: Dividing the gap data measured by each of the probes into two groups, and selecting the minimum value in each group; The average of the selected minimum values ​​is calculated to obtain the gap value corresponding to the rail gap number.

2. The control method of a maglev train according to claim 1, characterized in that: The method of identifying the rail gap according to the gap data of the maglev train running line includes: If the gap data measured by each probe of the suspension sensor exceeds a preset value within a preset time period, it is determined that the position where the suspension sensor is located is a rail gap.

3. The control method of a maglev train according to claim 1, characterized in that: Also includes: A track calibration map is drawn according to the track gap number, the gap value and the position coordinates.

4. The control method of a maglev train according to claim 1, characterized in that: Also includes: When the position coordinates consistent with the real-time coordinates of the maglev train do not exist in the track calibration information, the real-time gap value collected by the suspension sensor is used as the rated gap value for parameter adjustment.

5. A control device for a maglev train, characterized in that: include: Create a module for creating track calibration information; The track calibration information includes a track gap number, a position coordinate corresponding to the track gap number, and a gap value; Positioning module, used to locate the real-time coordinates of the maglev train; an identification module, configured to identify the track joint number corresponding to the position coordinate when the track calibration information contains the position coordinate consistent with the real-time coordinate of the maglev train; A parameter adjustment module, used for adjusting parameters by taking the gap value corresponding to the rail gap number as a rated gap value; The creation module includes: An identification unit, used for identifying rail gaps according to gap data of the maglev train running line, and numbering the rail gaps; A calculation unit, configured to calculate the gap value corresponding to the rail gap number according to the gap data at the rail gap; A matching unit, used for locating the position coordinates of the maglev train and matching the position coordinates with the track joint number; The computing unit is specifically used for: Comprehensively analyzing the gap data measured by each probe of the suspension sensor to obtain the gap value corresponding to the rail gap number; The computing unit comprises: A minimum value selection subunit, used for dividing the gap data measured by each of the probes into two groups, and selecting the minimum value in each group; The mean calculation subunit is used to calculate the mean of the selected minimum values ​​to obtain the gap value corresponding to the rail gap number.

6. A control device for a maglev train, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the control method of a maglev train as claimed in any one of claims 1 to 4 when executing the computer program.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for controlling a maglev train according to any one of claims 1 to 4 are implemented.

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