A method, device, equipment and readable storage medium for system stability analysis

Abstract

The present invention discloses a method, device, equipment and computer-readable storage medium for system stability analysis, belonging to the field of maglev trains, and is used to evaluate the stability of a maglev vehicle-bridge coupling experiment system. In the process of numerical simulation according to the to-be-tested maglev vehicle-bridge coupling experiment system, the present application can apply an external excitation force to the electromagnet in the to-be-tested maglev vehicle-bridge coupling experiment system and record the effective force acting on the bridge and the displacement of the electromagnet. Then, taking the effective force acting on the bridge as the system input and the displacement of the electromagnet as the system output, the frequency response function of the input-output data transmission can be obtained. Then, the stability of the maglev vehicle-bridge coupling experiment system can be evaluated according to the specified parameter characteristics of the frequency response function. The evaluation result can assist in the design of the maglev vehicle-bridge coupling experiment system so as to improve the stability of the maglev vehicle-bridge coupling experiment system, which is beneficial to improving the accuracy of the experimental results and eliminating potential safety hazards.

Description

Technical Field

[0001] The present invention relates to the field of maglev trains, and in particular to a system stability analysis method. The present invention also relates to a system stability analysis device, equipment and computer-readable storage medium. Background Art

[0002] In order to study various situations when a maglev train runs on a bridge, a maglev train-bridge coupling experimental system can be used to simulate the operation of a maglev train on a bridge and conduct various experiments. When constructing a maglev train-bridge coupling experimental system, staff are required to design each component of the system. If a reasonable design is not carried out, the stability of the maglev train-bridge coupling experimental system will be poor, affecting the accuracy of the experimental results, and there will also be safety hazards in the experimental process.

[0003] Therefore, how to provide a solution to the above technical problems is a problem that those skilled in the art need to solve at present. Summary of the Invention

[0004] The purpose of the present invention is to provide a system stability analysis method, and the stability evaluation results can assist in the design of a maglev vehicle-bridge coupling experimental system to improve the stability of the maglev vehicle-bridge coupling experimental system, which is beneficial to improving the accuracy of the experimental results and eliminating safety hazards; another purpose of the present invention is to provide a system stability analysis device, equipment and computer-readable storage medium, and the stability evaluation results can assist in the design of a maglev vehicle-bridge coupling experimental system to improve the stability of the maglev vehicle-bridge coupling experimental system, which is beneficial to improving the accuracy of the experimental results and eliminating safety hazards.

[0005] To solve the above technical problems, the present invention provides a system stability analysis method, comprising:

[0006] Obtain the kinematic equations of the magnetic levitation vehicle-bridge coupling experimental system to be tested;

[0007] During the numerical simulation process according to the magnetic levitation vehicle-bridge coupling experimental system to be tested and the kinematic equation, an external excitation force is applied to the electromagnet in the magnetic levitation vehicle-bridge coupling experimental system to be tested and the effective force acting on the bridge and the displacement of the electromagnet are recorded;

[0008] The effective force acting on the bridge is used as the system input, and the displacement of the electromagnet is used as the system output to obtain a frequency response function of input-output data transmission;

[0009] The stability of the magnetic levitation vehicle-bridge coupling experimental system to be tested is evaluated according to the specified parameter characteristics of the frequency response function.

[0010] Preferably, the evaluation of the stability of the maglev vehicle-bridge coupling experimental system to be measured according to the specified parameter characteristics of the frequency response function is specifically as follows:

[0011] Evaluate the stability of the maglev vehicle-bridge coupling experimental system to be measured according to the amplitude margin and phase margin of the frequency response function and their respective preset thresholds.

[0012] Preferably, after evaluating the stability of the maglev vehicle-bridge coupling experimental system to be measured according to the amplitude margin and phase margin of the frequency response function and their respective preset thresholds, the system stability analysis method further includes:

[0013] Calculate the critical time delay of the maglev vehicle-bridge coupling experimental system to be measured according to the calculated phase margin.

[0014] Preferably, during the numerical simulation according to the maglev vehicle-bridge coupling experimental system to be measured and the kinematic equation, applying an external excitation force to the electromagnet in the maglev vehicle-bridge coupling experimental system to be measured and recording the effective force acting on the bridge and the displacement of the electromagnet is specifically as follows:

[0015] During the numerical simulation according to the maglev vehicle-bridge coupling experimental system to be measured and the kinematic equation after Z-transform, applying an external excitation force to the electromagnet in the maglev vehicle-bridge coupling experimental system to be measured and recording the effective force acting on the bridge and the displacement of the electromagnet.

[0016] Preferably, during the numerical simulation according to the maglev vehicle-bridge coupling experimental system to be measured and the kinematic equation after Z-transform, applying an external excitation force to the electromagnet in the maglev vehicle-bridge coupling experimental system to be measured and recording the effective force acting on the bridge and the displacement of the electromagnet is specifically as follows:

[0017] Obtain the kinematic equation of the vehicle-bridge coupling experimental system after Z-transform according to the kinematic equation of the maglev vehicle-bridge coupling experimental system to be measured after discretization, the bridge speed and bridge acceleration represented by the central difference method after Z-transform, and the predefined effective force acting on the bridge.

[0018] Wherein, the predefined effective force acting on the bridge is the difference between the external excitation force acting on the bridge and the reaction force vector of the test substructure acting on the bridge.

[0019] Preferably, after evaluating the stability of the maglev vehicle-bridge coupling experimental system to be measured according to the specified parameter characteristics of the frequency response function, the system stability analysis method further includes:

[0020] Control the prompt to prompt the stability evaluation result of the maglev vehicle-bridge coupling experimental system to be measured.

[0021] Preferably, the prompter is a display.

[0022] To solve the above technical problems, the present invention also provides a system stability analysis device, including:

[0023] An acquisition module, configured to acquire the kinematic equation of the maglev vehicle-bridge coupling experimental system to be measured;

[0024] A simulation module, configured to apply an external excitation force to the electromagnet in the maglev vehicle-bridge coupling experimental system to be measured and record the effective force acting on the bridge and the displacement of the electromagnet during the numerical simulation according to the maglev vehicle-bridge coupling experimental system to be measured;

[0025] A calculation module, configured to obtain the frequency response function of the input-output data transfer with the effective force acting on the bridge as the system input and the displacement of the electromagnet as the system output;

[0026] An evaluation module, configured to evaluate the stability of the maglev vehicle-bridge coupling experimental system to be measured according to the specified parameter characteristics of the frequency response function.

[0027] To solve the above technical problems, the present invention also provides a system stability analysis device, including:

[0028] A memory, configured to store a computer program;

[0029] A processor, configured to implement the steps of the system stability analysis method as described above when executing the computer program.

[0030] To solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the system stability analysis method as described above are implemented.

[0031] The present invention provides a system stability analysis method. In order to evaluate the stability of the maglev vehicle-bridge coupling experimental system, the present application can apply an external excitation force to the electromagnet in the maglev vehicle-bridge coupling experimental system to be measured and record the effective force acting on the bridge and the displacement of the electromagnet during the numerical simulation according to the maglev vehicle-bridge coupling experimental system to be measured. Then, with the effective force acting on the bridge as the system input and the displacement of the electromagnet as the system output, the frequency response function of the input-output data transfer can be obtained. Then, the stability of the maglev vehicle-bridge coupling experimental system can be evaluated according to the specified parameter characteristics of the frequency response function. The evaluation result can assist in the design of the maglev vehicle-bridge coupling experimental system to improve the stability of the maglev vehicle-bridge coupling experimental system, which is beneficial to improving the accuracy of the experimental results and eliminating potential safety hazards.

[0032] The present invention also provides a system stability analysis device, equipment and computer-readable storage medium, which have the same beneficial effects as the above system stability analysis method. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the prior art and the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is a schematic flowchart of a system stability analysis method provided by the present invention;

[0035] Figure 2 It is a simplified model of a 4-degree-of-freedom vehicle-bridge coupling provided by the present invention;

[0036] Figure 3 It is a schematic structural diagram of a system stability analysis device provided by the present invention;

[0037] Figure 4 It is a schematic structural diagram of a system stability analysis equipment provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The core of the present invention is to provide a system stability analysis method. The stability evaluation result can assist in the design of the maglev vehicle-bridge coupling experimental system to improve the stability of the maglev vehicle-bridge coupling experimental system, which is beneficial to improving the accuracy of the experimental results and eliminating potential safety hazards. Another core of the present invention is to provide a system stability analysis device, equipment and computer-readable storage medium. The stability evaluation result can assist in the design of the maglev vehicle-bridge coupling experimental system to improve the stability of the maglev vehicle-bridge coupling experimental system, which is beneficial to improving the accuracy of the experimental results and eliminating potential safety hazards.

[0039] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0040] Please refer to Figure 1 , Figure 1 It is a schematic flowchart of a system stability analysis method provided by the present invention. The system stability analysis method includes:

[0041] S101: Obtain the kinematic equation of the maglev vehicle-bridge coupling experimental system to be measured;

[0042] Specifically, in the embodiments of the present invention, in order to calculate the frequency response function of the input-output data transfer with the effective force acting on the bridge as the system input and the displacement of the electromagnet as the system output, therefore, for the convenience of numerical simulation in subsequent steps, in this step, the kinematic equation of the maglev vehicle-bridge coupling experimental system to be measured can be obtained first and used as the data basis for subsequent steps.

[0043] For a better illustration of the embodiments of the present invention, please refer to Figure 2 , Figure 2 which is a simplified model of a 4-degree-of-freedom vehicle-bridge coupling provided by the present invention. The maglev vehicle running system mainly consists of a bridge, an electromagnet, a suspension frame and a vehicle body. The present invention uses a four-degree-of-freedom structural model to approximate the vehicle-bridge coupling vibration: the bridge takes the first-order frequency characteristic and is assumed to have 1 degree of freedom, and the vehicle body, the suspension frame and the electromagnet are respectively simplified to 1 degree of freedom to obtain a three-degree-of-freedom structure. In Figure 2 , m represents mass, k represents stiffness, c represents damping, and the subscript ① represents the bridge, ② represents the electromagnet, ③ represents the suspension frame, ④ represents the vehicle body, and X i+1 is the displacement caused by the bridge to the electromagnet in the (i + 1)-th iteration process.

[0044] S102: During the numerical simulation according to the maglev vehicle-bridge coupling experimental system to be measured and the kinematic equation, apply an external excitation force to the electromagnet in the maglev vehicle-bridge coupling experimental system to be measured and record the effective force acting on the bridge and the displacement of the electromagnet;

[0045] Specifically, after having the maglev vehicle-bridge coupling experimental system to be measured and the kinematic equation, numerical simulation can be carried out based on these two. During the numerical simulation, an external excitation force can be applied to the electromagnet in the maglev vehicle-bridge coupling experimental system to be measured and the effective force acting on the bridge and the displacement of the electromagnet can be recorded for use as the data basis for subsequent steps.

[0046] S103: Obtain the frequency response function of the input-output data transfer with the effective force acting on the bridge as the system input and the displacement of the electromagnet as the system output;

[0047] Specifically, based on the effective force acting on the bridge and the displacement of the electromagnet recorded in the previous steps, the frequency response function of the input-output data transfer can be obtained with the effective force acting on the bridge as the system input and the displacement of the electromagnet as the system output, that is, the corresponding relationship between the "effective force acting on the bridge" and the displacement of the electromagnet at different frequencies. Through this frequency response function, many characteristics of the maglev vehicle-bridge coupling experimental system to be measured can be reflected.

[0048] Among them, in this step, the frequency response function of the input-output data transfer can be estimated using the tfestimate function in Matlab software.

[0049] Of course, in addition to the tfestimate function in Matlab software, the frequency response function of the input-output data transfer can also be obtained by other means, which is not limited in the embodiments of the present invention.

[0050] S104: Evaluate the stability of the to-be-tested maglev vehicle-bridge coupling experimental system according to the specified parameter characteristics of the frequency response function.

[0051] Specifically, after obtaining the frequency response function, since the frequency response function can reflect many characteristics of the to-be-tested maglev vehicle-bridge coupling experimental system, the stability of the to-be-tested maglev vehicle-bridge coupling experimental system can be evaluated through the specified parameter characteristics therein.

[0052] Among them, the type of the specified parameter characteristics can be selected independently, which is not limited in the embodiments of the present invention.

[0053] The present invention provides a method for analyzing system stability. In order to evaluate the stability of the maglev vehicle-bridge coupling experimental system, in the process of numerical simulation according to the to-be-tested maglev vehicle-bridge coupling experimental system, an external excitation force can be applied to the electromagnet in the to-be-tested maglev vehicle-bridge coupling experimental system, and the effective force acting on the bridge and the displacement of the electromagnet can be recorded. Then, taking the effective force acting on the bridge as the system input and the displacement of the electromagnet as the system output, the frequency response function of the input-output data transfer can be obtained. Then, the stability of the maglev vehicle-bridge coupling experimental system can be evaluated according to the specified parameter characteristics of the frequency response function. The evaluation result can assist in the design of the maglev vehicle-bridge coupling experimental system to improve the stability of the maglev vehicle-bridge coupling experimental system, which is beneficial to improving the accuracy of the experimental results and eliminating potential safety hazards.

[0054] Based on the above embodiments:

[0055] As a preferred embodiment, evaluating the stability of the to-be-tested maglev vehicle-bridge coupling experimental system according to the specified parameter characteristics of the frequency response function is specifically:

[0056] Evaluate the stability of the to-be-tested maglev vehicle-bridge coupling experimental system according to the amplitude margin and phase margin of the frequency response function and their respective preset thresholds.

[0057] Specifically, the threshold determination of the amplitude margin and the phase margin is an efficient and accurate method for analyzing system stability.

[0058] Specifically, the amplitude margin and the phase margin can be obtained through the db and angle functions in Matlab software.

[0059] Among them, the condition for system stability can be that the amplitude margin Gm is greater than 1, and the phase margin Pm is greater than.

[0060] Among them, the preset threshold can be set independently, and the embodiments of the present invention do not limit this here.

[0061] Of course, in addition to this evaluation method, other types of specified parameter characteristics can also be used to evaluate the system stability, and the embodiments of the present invention do not limit this here.

[0062] As a preferred embodiment, after evaluating the stability of the to-be-tested maglev vehicle-bridge coupling experimental system according to the amplitude margin and phase margin of the frequency response function and their respective preset thresholds, this system stability analysis method further includes:

[0063] Calculating the critical time delay of the to-be-tested maglev vehicle-bridge coupling experimental system according to the calculated phase margin.

[0064] Specifically, considering that the critical time delay can also be used to evaluate the stability of the to-be-tested maglev vehicle-bridge coupling experimental system, therefore, in the embodiments of the present invention, the critical time delay of the to-be-tested maglev vehicle-bridge coupling experimental system can also be calculated according to the calculated phase margin, so as to more accurately evaluate the stability of the to-be-tested maglev vehicle-bridge coupling experimental system.

[0065] Among them, the calculation formula of the critical time delay can be:

[0066]

[0067] Among them, T delay is the critical time delay, and ω1 is the natural frequency of the bridge.

[0068] As a preferred embodiment, during the numerical simulation according to the to-be-tested maglev vehicle-bridge coupling experimental system and the kinematic equation, applying an external excitation force to the electromagnet in the to-be-tested maglev vehicle-bridge coupling experimental system and recording the effective force acting on the bridge and the displacement of the electromagnet specifically are:

[0069] During the numerical simulation according to the to-be-tested maglev vehicle-bridge coupling experimental system and the kinematic equation after Z-transform, applying an external excitation force to the electromagnet in the to-be-tested maglev vehicle-bridge coupling experimental system and recording the effective force acting on the bridge and the displacement of the electromagnet.

[0070] Specifically, in order to improve the speed of numerical simulation, in the embodiments of the present invention, the numerical simulation can be carried out based on the kinematic equation after Z-transform.

[0071] Of course, in addition to the kinematic equation after Z-transform, other forms of kinematic equations can also be used during the numerical simulation, and the embodiments of the present invention do not limit this here.

[0072] As a preferred embodiment, during the numerical simulation according to the to-be-tested maglev vehicle-bridge coupling experimental system and the kinematic equation after Z-transform, an external excitation force is applied to the electromagnet in the to-be-tested maglev vehicle-bridge coupling experimental system, and the effective force acting on the bridge and the displacement of the electromagnet are recorded specifically as follows:

[0073] According to the kinematic equation of the discretized to-be-tested maglev vehicle-bridge coupling experimental system, the bridge velocity and bridge acceleration expressed by the central difference method after Z-transform, and the predefined effective force acting on the bridge, the kinematic equation of the vehicle-bridge coupling experimental system after Z-transform is obtained;

[0074] Among them, the predefined effective force acting on the bridge is the difference between the external excitation force acting on the bridge and the reaction force vector of the test substructure acting on the bridge.

[0075] Specifically, the above method can quickly and accurately obtain the kinematic equation of the vehicle-bridge coupling experimental system after Z-transform.

[0076] Specifically, the to-be-tested maglev vehicle-bridge coupling experimental system may include a numerical substructure and a test substructure, and the motion equation for the numerical substructure is:

[0077] M n a + K n d + C n v + r e (a, v, d) = F;

[0078] Among them: a, v, and d are the acceleration, velocity, and displacement vectors respectively, M, K, and C are the mass, stiffness, and damping coefficient matrices of the structure respectively, F is the external excitation force, the subscript n represents the numerical substructure, the subscript e represents the test substructure, and r is the reaction force vector received from the test substructure.

[0079] The kinematics after discretization at the i-th integration step is:

[0080] M n a i + K n d i + C n v i + r e，i (a i , v i , d i ) = F i ;

[0081] The assumptions of the central difference method for velocity and acceleration are:

[0082]

[0083]

[0084] The discrete Z-transform of velocity and acceleration is as follows:

[0085]

[0086]

[0087] Where: d(z), v(z), and a(z) are the Z-transforms of d(s), v(s), and a(s) respectively, F(z) is the Z-transform of the external excitation force, and r e (z) is the Z-transform of the reaction force of the test substructure.

[0088] Define the difference between the external excitation force acting on each module and the reaction force vector of the test substructure received by each module as the effective force acting on each module:

[0089] F effi = F i - r e，i (a i , v i , d i );

[0090] Therefore, the kinematic equation of the maglev vehicle-bridge coupling experimental system to be measured after Z-transform is:

[0091]

[0092] Where, the mass matrix, stiffness matrix, and damping matrix are respectively:

[0093]

[0094]

[0095]

[0096] Of course, in addition to the above method, the kinematic equation of the vehicle-bridge coupling experimental system after Z-transform can also be obtained by other means, and the embodiments of the present invention do not limit this here.

[0097] As a preferred embodiment, after evaluating the stability of the maglev vehicle-bridge coupling experimental system to be measured according to the specified parameter characteristics of the frequency response function, this system stability analysis method further includes:

[0098] Controlling the prompt to prompt the stability evaluation result of the maglev vehicle-bridge coupling experimental system to be measured.

[0099] Specifically, in order to enable the staff to obtain the stability evaluation result in the first time, in the embodiment of the present invention, a prompter may also be controlled to prompt the stability evaluation result of the to-be-tested maglev vehicle-bridge coupling experiment system.

[0100] As a preferred embodiment, the prompter is a display.

[0101] Specifically, the display has the advantages of intuitive prompting effect and high stability.

[0102] Of course, in addition to the display, the prompter can also be of other types, which is not limited in the embodiment of the present invention.

[0103] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of a system stability analysis device provided by the present invention. The system stability analysis device includes:

[0104] An acquisition module 31, configured to acquire the kinematic equation of the to-be-tested maglev vehicle-bridge coupling experiment system;

[0105] A simulation module 32, configured to apply an external excitation force to the electromagnet in the to-be-tested maglev vehicle-bridge coupling experiment system and record the effective force acting on the bridge and the displacement of the electromagnet during the numerical simulation according to the to-be-tested maglev vehicle-bridge coupling experiment system;

[0106] A calculation module 33, configured to obtain the frequency response function of the input-output data transmission with the effective force acting on the bridge as the system input and the displacement of the electromagnet as the system output;

[0107] An evaluation module 34, configured to evaluate the stability of the to-be-tested maglev vehicle-bridge coupling experiment system according to the specified parameter characteristics of the frequency response function.

[0108] For the introduction of the system stability analysis device provided by the embodiment of the present invention, please refer to the embodiment of the foregoing system stability analysis method, which will not be elaborated herein.

[0109] Please refer to Figure 4 , Figure 4 which is a schematic structural diagram of a system stability analysis device provided by the present invention. The system stability analysis device includes:

[0110] A memory 41, configured to store a computer program;

[0111] A processor 42, configured to implement the steps of the system stability analysis method in the foregoing embodiment when executing the computer program.

[0112] For the introduction of the system stability analysis device provided by the embodiment of the present invention, please refer to the embodiment of the foregoing system stability analysis method, which will not be elaborated herein.

[0113] To solve the above technical problems, the present invention 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 system stability analysis method in the foregoing embodiments are implemented.

[0114] For the introduction of the computer-readable storage medium provided by the embodiments of the present invention, please refer to the embodiments of the system stability analysis method described above. The embodiments of the present invention will not be elaborated herein.

[0115] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, please refer to the description in the method part. It should also be noted that in this specification, the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or device including the element.

[0116] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for analyzing system stability, characterized in that, including: Obtain the kinematic equation of the maglev vehicle-bridge coupling experimental system to be measured; During the numerical simulation according to the maglev vehicle-bridge coupling experimental system to be measured and the kinematic equation, apply an external excitation force to the electromagnet in the maglev vehicle-bridge coupling experimental system to be measured, and record the effective force acting on the bridge and the displacement of the electromagnet; Use the effective force acting on the bridge as the system input and the displacement of the electromagnet as the system output to obtain the frequency response function of the input-output data transfer; Evaluate the stability of the maglev vehicle-bridge coupling experimental system to be measured according to the specified parameter characteristics of the frequency response function; The specific method for evaluating the stability of the maglev vehicle-bridge coupling experimental system to be measured according to the specified parameter characteristics of the frequency response function is: Evaluate the stability of the maglev vehicle-bridge coupling experimental system to be measured according to the amplitude margin and phase margin of the frequency response function and their respective preset thresholds; After evaluating the stability of the maglev vehicle-bridge coupling experimental system to be measured according to the amplitude margin and phase margin of the frequency response function and their respective preset thresholds, the system stability analysis method further includes: Calculate the critical time delay of the maglev vehicle-bridge coupling experimental system to be measured according to the calculated phase margin; 2. The system stability analysis method according to claim 1, wherein The specific operation of applying an external excitation force to the electromagnet in the maglev vehicle-bridge coupling experimental system to be measured and recording the effective force acting on the bridge and the displacement of the electromagnet during the numerical simulation according to the maglev vehicle-bridge coupling experimental system to be measured and the kinematic equation is: During the numerical simulation according to the maglev vehicle-bridge coupling experimental system to be measured and the kinematic equation after Z-transform, apply an external excitation force to the electromagnet in the maglev vehicle-bridge coupling experimental system to be measured, and record the effective force acting on the bridge and the displacement of the electromagnet; 3. The system stability analysis method according to claim 2, wherein The specific operation of applying an external excitation force to the electromagnet in the maglev vehicle-bridge coupling experimental system to be measured and recording the effective force acting on the bridge and the displacement of the electromagnet during the numerical simulation according to the maglev vehicle-bridge coupling experimental system to be measured and the kinematic equation after Z-transform is: Obtain the kinematic equation of the vehicle-bridge coupling experimental system after Z-transform according to the discretized kinematic equation of the maglev vehicle-bridge coupling experimental system to be measured, the bridge velocity and bridge acceleration represented by the central difference method after Z-transform, and the predefined effective force acting on the bridge; Wherein, the predefined effective force acting on the bridge is the difference between the external excitation force acting on the bridge and the reaction force vector of the test substructure acting on the bridge; 4. The system stability analysis method according to any one of claims 1 to 3, characterized in that After evaluating the stability of the maglev vehicle-bridge coupling experimental system to be measured according to the specified parameter characteristics of the frequency response function, the system stability analysis method further includes: Control the prompt to prompt the stability evaluation result of the maglev vehicle-bridge coupling experimental system to be measured; 5. The system stability analysis method according to claim 4, wherein The prompt is a display; 6. A system stability analysis device, characterized in that, including: An acquisition module for obtaining the kinematic equation of the maglev vehicle-bridge coupling experimental system to be measured; A simulation module, configured to apply an external excitation force to the electromagnet in the to-be-tested maglev vehicle-bridge coupling experimental system during numerical simulation according to the to-be-tested maglev vehicle-bridge coupling experimental system, and record the effective force acting on the bridge and the displacement of the electromagnet; A calculation module, configured to obtain a frequency response function of input-output data transmission by using the effective force acting on the bridge as a system input and the displacement of the electromagnet as a system output; An evaluation module, configured to evaluate the stability of the to-be-tested maglev vehicle-bridge coupling experimental system according to specified parameter characteristics of the frequency response function; Specifically, the evaluation module is configured to: Evaluate the stability of the to-be-tested maglev vehicle-bridge coupling experimental system according to the amplitude margin and phase margin of the frequency response function and their respective preset thresholds; The system stability analysis device is further configured to: Calculate the critical time delay of the to-be-tested maglev vehicle-bridge coupling experimental system according to the calculated phase margin.

7. A system stability analysis device, characterized in that, Including: A memory, configured to store a computer program; A processor, configured to implement the steps of the system stability analysis method according to any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the system stability analysis method according to any one of claims 1 to 5 are implemented.

Images