A suspension control method and system suitable for medium and low speed magnetic levitation vehicles

Abstract

The present invention provides a suspension control method and system suitable for medium- and low-speed magnetic levitation vehicles, relating to the field of rail transit technology. The method comprises confirming suspension control parameters in a preset suspension control model; analyzing the operating conditions of the confirmed suspension control parameters under different combinations to obtain suspension guidance results; establishing a four-dimensional suspension force database and a guidance force database for the magnetic levitation vehicle, wherein the four dimensions include data on suspension gap, suspension speed, electromagnet lateral displacement, and suspension load-bearing mass; establishing a medium- and low-speed magnetic levitation vehicle dynamics model; and processing and calculating the medium- and low-speed magnetic levitation vehicle dynamics model to obtain suspension control results. The present invention has the beneficial effect of simplifying the suspension control program and improving the efficiency of vehicle dynamics analysis while ensuring calculation accuracy. The four main influencing variables related to suspension and guidance forces are derived through electromagnetic force calculation formulas and related control theories.

Description

Technical Field

[0001] The present invention relates to the field of rail transportation technology, and in particular to a suspension control method and system suitable for medium and low speed magnetic levitation vehicles. Background Art

[0002] In the dynamic analysis of medium and low-speed maglev vehicles, in order to obtain a more realistic vehicle dynamic response, it is necessary to consider the adjustment response of the maglev vehicle suspension control, that is, to carry out the dynamic analysis of medium and low-speed maglev vehicles by jointly simulating the suspension control model and the vehicle dynamics model.

[0003] However, the suspension control model is usually more complex, and the joint simulation with vehicle dynamics requires numerous interfaces, many iterations, and a large amount of calculation. The control program is prone to errors, which makes the dynamic analysis calculation inefficient and unsuitable for the study of more complex engineering problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a suspension control method and system suitable for medium and low speed magnetic levitation vehicles to improve the above problems. To achieve the above objectives, the technical solutions adopted by the present invention are as follows:

[0005] In a first aspect, the present application provides a suspension control method applicable to medium and low speed magnetic levitation vehicles, comprising:

[0006] Confirming the suspension control parameters in a preset suspension control model, wherein the suspension control model is established based on visual simulation technology;

[0007] Analyzing the working conditions of the confirmed suspension control parameters under different combinations to obtain suspension guidance results, wherein the suspension guidance results include the suspension force of the magnetic levitation vehicle and the guidance force of the magnetic levitation vehicle obtained by electromagnetic force calculation;

[0008] Based on the suspension and guidance results, a four-dimensional suspension force database and guidance force database for the maglev vehicle were established. The four dimensions include data on suspension gap, suspension speed, electromagnet lateral displacement, and suspension load.

[0009] Establish a medium- and low-speed maglev vehicle dynamics model, and connect the medium- and low-speed maglev vehicle dynamics model, suspension force database, and guidance force database based on four dimensions to form a closed-loop system;

[0010] The dynamic analysis method is used to process and calculate the dynamic model of medium and low speed maglev vehicles, and the suspension control results are obtained.

[0011] Preferably, the confirming of the suspension control parameters in the preset suspension control model includes:

[0012] Selecting at least one suspension electromagnet module suitable for use in medium and low speed maglev vehicles;

[0013] Input the suspension electromagnet module into the preset suspension control model for calculation verification to obtain the model output result;

[0014] Determine the reliability of the model output results, including continuing to the subsequent steps if the model output results are reliable; if the model output results are unreliable, return to the previous step to continue calculation verification and debug the suspension control model.

[0015] Preferably, the analysis of the working conditions of the confirmed suspension control parameters under different combinations to obtain suspension guidance results includes:

[0016] Obtaining the load-bearing mass of all electromagnets applicable to medium- and low-speed maglev vehicles, and selecting one of the electromagnets, where the range of the load-bearing mass of the selected electromagnet includes the load-bearing mass of all electromagnets, dividing the electromagnets into equal intervals, and obtaining the levitation load-bearing mass of the first electromagnet;

[0017] Analyzing different parameter combinations of the first electromagnet's levitation bearing mass to obtain analysis results, wherein the variables of the different parameters include the electromagnet's bearing mass, the electromagnet's lateral displacement, the electromagnet's levitation gap, and the electromagnet's vertical movement speed;

[0018] The electromagnetic force algorithm is used to calculate the analysis results and obtain the corresponding suspension guidance results. The calculation formula is as follows:

[0019]

[0020] Where W m is the pole width, l m is the pole length, N is the number of turns of the electromagnet coil, δ is the suspension gap, ν is the suspension speed, u is the electromagnet voltage, which is determined by the total suspension mass, R l is the resistance of the electromagnet, K p is the gap feedback coefficient, K d is the suspension velocity feedback coefficient, μ0 is the vacuum permeability.

[0021] Preferably, the medium- and low-speed maglev vehicle dynamics model is established by connecting the medium- and low-speed maglev vehicle dynamics model, the suspension force database, and the guiding force database based on four dimensions to form a closed-loop system, which includes:

[0022] A dynamic model for a medium- and low-speed maglev vehicle is constructed, and interfaces are provided at the levitation force and guide force locations between each magnetic pole of an electromagnet suitable for the medium- and low-speed maglev vehicle and a track matching the medium- and low-speed maglev vehicle. The interfaces are reserved for load input forms that input and / or extract data from the levitation force database and the guide force database.

[0023] Obtaining the pole suspension bearing mass of a single electromagnet suitable for medium and low speed maglev vehicles;

[0024] The magnetic pole suspension bearing mass and four dimensions are connected to the suspension force database and the guiding force database respectively, so that the medium and low speed magnetic levitation vehicle dynamics model, the suspension force database and the guiding force database are connected to form a closed-loop system.

[0025] Preferably, the dynamic analysis method is used to process and calculate the dynamic model of the medium and low speed magnetic levitation vehicle to obtain the suspension control result, which includes:

[0026] Based on the dynamic analysis method, the four dimensions of each electromagnet suitable for medium and low-speed maglev vehicles are input into the suspension force database and the guidance force database respectively using the interpolation method;

[0027] Searching for the suspension force and the guiding force corresponding to the suspension force database and the guiding force database respectively;

[0028] The found suspension force and guiding force are input into the medium and low speed magnetic levitation vehicle dynamics model for iterative cycle calculation to obtain the suspension control result.

[0029] In a second aspect, the present application further provides a suspension control system suitable for medium and low speed maglev vehicles, comprising a confirmation module, an analysis module, a construction module, an establishment module and a processing module, wherein:

[0030] Confirmation module: used to confirm the suspension control parameters in the preset suspension control model, wherein the suspension control model is established based on visual simulation technology;

[0031] Analysis module: used to analyze the working conditions of the confirmed suspension control parameters under different combinations to obtain suspension guidance results, which include the suspension force and guidance force of the maglev vehicle obtained by electromagnetic force calculation;

[0032] Construction module: used to build a four-dimensional suspension force database and guidance force database for the maglev vehicle based on the suspension guidance results. The four dimensions include suspension gap, suspension speed, electromagnet lateral displacement, and suspension load-bearing mass data.

[0033] Establishment module: used to establish the dynamic model of medium- and low-speed maglev vehicles. Based on four dimensions, the medium- and low-speed maglev vehicle dynamic model, the suspension force database, and the guidance force database are connected to form a closed-loop system.

[0034] Processing module: used to process and calculate the dynamic model of medium and low speed magnetic levitation vehicles using dynamic analysis method to obtain suspension control results.

[0035] In a third aspect, embodiments of the present application provide a suspension control device for medium- and low-speed maglev vehicles, comprising a memory and a processor. The memory is configured to store a computer program, and the processor is configured to execute the computer program to implement the steps of the suspension control method for medium- and low-speed maglev vehicles.

[0036] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned suspension control method applicable to medium and low speed maglev vehicles are implemented.

[0037] The beneficial effects of the present invention are:

[0038] Based on the basic principles of suspension control, this paper proposes an equivalent and simplified suspension control method to replace the more complex suspension controller. It establishes a multi-dimensional suspension guiding force database to simulate the actual suspension control operation. It uses dynamic quantities related to dynamic output and adopts interpolation to extract the current suspension force and guiding force for vehicle dynamics analysis.

[0039] The present invention can simplify the suspension control program and improve the efficiency of vehicle dynamics analysis while ensuring calculation accuracy. It derives the four main influencing variables related to suspension and guiding forces through electromagnetic force calculation formulas and control-related theories. It also proposes the concept of a guiding force and suspension force database, which can also be applied to the dynamics joint simulation of other types of maglev vehicles.

[0040] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the embodiments of the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 Schematic diagram of a suspension control method for medium and low speed magnetic levitation vehicles according to an embodiment of the present invention;

[0043] Figure 2 Schematic diagram of the structure of a suspension control system applicable to medium and low speed magnetic levitation vehicles according to an embodiment of the present invention;

[0044] Figure 3 Schematic diagram of a suspension control device suitable for medium and low speed maglev vehicles according to an embodiment of the present invention.

[0045] In the figure: 701, confirmation module; 7011, selection unit; 7012, first input unit; 7013, judgment unit; 702, analysis module; 7021, first acquisition unit; 7022, analysis unit; 7023, calculation unit; 703, construction module; 704, establishment module; 7041, setting unit; 7042, second acquisition unit; 7043, connection unit; 705, processing module; 7051, second input unit; 7052, search unit; 7053, iterative calculation unit; 800, suspension control device suitable for medium and low speed maglev vehicles; 801, processor; 802, memory; 803, multimedia component; 804, I / O interface; 805, communication component. DETAILED DESCRIPTION

[0046] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0047] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are used only to distinguish the description and should not be understood as indicating or implying relative importance.

[0048] Example 1:

[0049] This embodiment provides a suspension control method for medium- and low-speed maglev vehicles. The processing method mainly includes confirming suspension control parameters, extracting suspension control data, building a database related to four dimensions of the maglev vehicle, establishing a dynamic model of the medium- and low-speed maglev vehicle, connecting the database with a dynamic interface, and analyzing and outputting the suspension control results. The track used in this embodiment is a medium- and low-speed maglev vehicle suitable for F-track operation, including:

[0050] See also Figure 1 , the figure shows that the method includes step S100, step S200, step S300, step S400 and step S500.

[0051] S100: Confirming suspension control parameters in a preset suspension control model, wherein the suspension control model is established based on visual simulation technology.

[0052] It should be noted that the confirmation of suspension control parameters is to write a suspension control program based on the suspension control logic, and use software such as Simulink (visual simulation tool) to establish a suspension control model.

[0053] It can be understood that step S100 includes steps S101, S102, and S103, wherein:

[0054] S101, selecting at least one suspension electromagnet module suitable for use in a medium- and low-speed maglev vehicle;

[0055] S102, inputting the suspension electromagnet module into a preset suspension control model for calculation verification to obtain a model output result;

[0056] S103, judging the reliability of the model output result, including if the model output result is reliable, continuing to the subsequent steps; if the model output result is unreliable, returning to the previous step to continue calculation verification and debug the suspension control model.

[0057] It should be noted that this step can be completed through two means: experiment or analysis:

[0058] 1. Test method: Select a single levitation electromagnet module to conduct a levitation test to ensure that the system control logic is correct and the electromagnet module can be levitated, preparing for the next stage of testing;

[0059] 2. Analysis Method: Select the suspension control model for a single electromagnet module and perform multiple calculations to verify the correctness of the system control program and prepare for the next stage of analysis. This step primarily involves running and confirming the accuracy and reliability of the suspension control model and any logical errors. If all is correct, proceed to the next step.

[0060] S200 , analyzing the working conditions of the confirmed suspension control parameters under different combinations to obtain suspension guidance results, wherein the suspension guidance results include the suspension force of the magnetic levitation vehicle and the guidance force of the magnetic levitation vehicle obtained by electromagnetic force calculation.

[0061] It can be understood that step S200 includes S201, S202 and S203, wherein:

[0062] S201, obtaining the bearing masses of all electromagnets applicable to medium- and low-speed maglev vehicles, selecting one of the electromagnets, where the bearing mass of the selected electromagnet has a value range that includes the bearing masses of all electromagnets, and dividing the electromagnets into equal-value intervals to obtain the levitation bearing mass of the first electromagnet;

[0063] S202, analyzing different parameter combinations of the first electromagnet's suspended bearing mass to obtain analysis results, wherein the variables of the different parameters include the electromagnet's bearing mass, the electromagnet's lateral displacement, the electromagnet's suspended gap, and the electromagnet's vertical movement speed;

[0064] It should be noted that when the electromagnet lateral displacement is d and the suspension gap is δ, it is:

[0065] Lateral force of electromagnet

[0066] Vertical force of electromagnet

[0067] In the above two formulas, F m is the electromagnetic force, W m is the pole width, δ is the suspension gap, d is the electromagnet lateral displacement, and divided by F m , δ and d are variables, and all other parameters are constants.

[0068] S203. Calculate the analysis results using an electromagnetic force algorithm to obtain a corresponding suspension guidance result. The calculation formula is as follows:

[0069]

[0070] Where W m is the pole width, l m is the pole length, N is the number of turns of the electromagnet coil, δ is the suspension gap, ν is the suspension speed, u is the electromagnet voltage, which is determined by the total suspension mass, R l is the resistance of the electromagnet, K p is the gap feedback coefficient, K d is the suspension velocity feedback coefficient, μ0 is the vacuum permeability.

[0071] It should be noted that the electromagnetic force near the suspension equilibrium position is:

[0072]

[0073] Since the mechanical structure is usually a spring damper structure, the feedback term K a a is not important, and Ka is very small, so the feedback term K of the electromagnet acceleration in the above formula can be basically ignored. a a, then:

[0074]

[0075] Where, and W m is the pole width, l m is the pole length, N is the number of turns of the electromagnet coil, δ is the suspension gap, ν is the suspension speed, u is the electromagnet voltage, which is determined by the total suspension mass, Rl is the resistance of the electromagnet, Kp is the gap feedback coefficient, Kd is the suspension speed feedback coefficient, μ0 is the vacuum permeability, and A=W m ×l m , and in the above formula, except for δ, ν and u which are variables, the rest are constants.

[0076] It can be seen from equations (1), (2) and (4) that the variables are the suspension gap δ, the electromagnet lateral displacement d, the suspension speed ν and the electromagnet voltage u (the suspension bearing mass determines the magnitude of the electromagnet voltage u).

[0077] Therefore, summarizing the above formula, it can be seen that the suspension force and guiding force of medium and low-speed maglev vehicles are mainly related to four variables: the suspension gap δ, the electromagnet lateral displacement d, the suspension speed ν and the suspension bearing mass m.

[0078] It should be noted that the actual steps to be performed in step S200 are as follows:

[0079] 1. Obtain the load-bearing mass of all electromagnets, select a mass value range that includes all these masses, and divide them into equal intervals (in principle, the smaller the interval, the better);

[0080] 2. Start with the minimum load mass m1 and the lateral displacement d1, forcing the vertical displacement of the vehicle from δ1 to δ m (a total of m positions) and limit the corresponding vertical velocity to ν1, and output the corresponding first suspension force and first guiding force through experiments or analysis;

[0081] 3. Set the corresponding vertical speed from ν2, repeat step 2, and output the corresponding suspension force and guide force, and then set the corresponding vertical speed from ν3 to ν n Repeat step 2 to output the corresponding second suspension force and second guiding force through testing or analysis;

[0082] 4. Then select d2 for the lateral displacement, repeat steps 2 and 3, and output the corresponding suspension force and guide force. Then, set the corresponding lateral displacement from d3 to d p Repeat steps 2 and 3 to output the corresponding third suspension force and third guiding force through experiments or analysis;

[0083] 5. Select the load mass m2, repeat steps 2, 3 and 4, and output the corresponding suspension force and guide force. Then, set the corresponding handlebar displacement from m3 to m. q Repeat steps 2, 3, and 4 to output the corresponding fourth suspension force and fourth guiding force through experiments or analysis.

[0084] 6. Finally, the suspension force and guiding force obtained from all different parameter combinations are analyzed and summarized.

[0085] S300. Based on the suspension and guidance results, a four-dimensional suspension force database and a guidance force database for the maglev vehicle are constructed, wherein the four dimensions include data on suspension gap, suspension speed, electromagnet lateral displacement, and suspension bearing mass.

[0086] It can be understood that in this step, the suspension force database is a data summary of the vertical force for maintaining vehicle suspension, and the guide force database is a data summary of the lateral force for maintaining alignment between the vehicle center and the track center.

[0087] It should be noted that the construction of the suspension control database is to select different parameter variables, including the electromagnet load weight, the electromagnet lateral displacement, the electromagnet suspension gap, and the electromagnet vertical movement speed, to carry out the working condition analysis under the above four parameter combinations, and calculate the suspension force and guiding force through the electromagnetic force, and output the results;

[0088] Among them, the construction of the suspension control database is to establish the four dimensions of electromagnet bearing weight, electromagnet lateral displacement, electromagnet vertical suspension gap and electromagnet vertical movement speed to form a (m×n×p×q) matrix guiding force database and a (m×n×p×q) matrix suspension force database.

[0089] S400: Establish a medium- and low-speed maglev vehicle dynamics model, and connect the medium- and low-speed maglev vehicle dynamics model, the suspension force database, and the guidance force database based on four dimensions to form a closed-loop system.

[0090] It can be understood that the step S400 includes S401, S402 and S403, wherein:

[0091] S401: Build a dynamic model for a medium- and low-speed maglev vehicle, and provide interfaces at the levitation force and guide force between each magnetic pole of an electromagnet suitable for the medium- and low-speed maglev vehicle and a track matching the medium- and low-speed maglev vehicle. The interfaces are reserved for a load input form for inputting and / or extracting data from a levitation force database and a guide force database.

[0092] S402, obtaining the magnetic pole suspension bearing mass of a single electromagnet suitable for medium and low speed maglev vehicles;

[0093] S403. Connect the magnetic pole suspension bearing mass and the four dimensions to the suspension force database and the guiding force database respectively, so as to connect the medium and low speed magnetic levitation vehicle dynamics model, the suspension force database and the guiding force database to form a closed-loop system.

[0094] It should be noted that the suspension control database is connected to the dynamics interface to establish a low- and medium-speed maglev dynamics model. The interface for the electromagnet's suspension and guiding forces is reserved as a load input, and the static load, lateral displacement, suspension gap, and vertical velocity of each electromagnet are defined as output variables. In this embodiment, the low- and medium-speed maglev vehicle dynamics model is constructed by providing an external interface for the suspension and guiding forces between each electromagnet pole and the F-rail, which are extracted and input from the suspension and guiding force database. Furthermore, the four variables in the vehicle dynamics model—the suspension load of a single electromagnet pole, the suspension gap relative to the F-rail, the suspension velocity, and the lateral displacement—are connected as output variables to the suspension and guiding force database. This creates a closed-loop system with the suspension and guiding force database.

[0095] S500: Using a dynamic analysis method, process and calculate the dynamic model of the medium and low speed magnetic levitation vehicle to obtain a suspension control result.

[0096] It is understandable that the step S500 includes S501, S502 and S503, wherein:

[0097] S501. Based on a dynamic analysis method, the four dimensions of each electromagnet suitable for a medium- and low-speed maglev vehicle are input into a levitation force database and a guiding force database using an interpolation method.

[0098] S502, searching for the levitation force and the guiding force corresponding to the levitation force database and the guiding force database respectively;

[0099] S503: Input the found suspension force and guiding force into the medium and low speed magnetic levitation vehicle dynamics model for iterative cycle calculation to obtain the suspension control result.

[0100] It should be noted that calculations are carried out based on relevant dynamic analysis conditions to simulate the static load, lateral displacement, suspension gap, and vertical movement speed of each electromagnet. The suspension gap δ, suspension speed, electromagnet lateral displacement d, and suspension bearing mass m of each time step are output. Interpolation is performed in the suspension force database and the guide force database, and the corresponding suspension force and guide force are extracted and fed back to the vehicle dynamics model. The vehicle dynamics analysis calculation is continued, and the iterative cycle is repeated until the end.

[0101] The present invention establishes a multi-dimensional database of suspension and guiding forces to simulate real suspension control operations. It utilizes dynamic quantities related to dynamic output and employs interpolation to extract the current suspension and guiding forces for vehicle dynamics analysis. While ensuring computational accuracy, it simplifies the suspension control program and improves the efficiency of vehicle dynamics analysis. The present invention derives four main influencing variables related to suspension and guiding forces through electromagnetic force calculation formulas and control-related theories, and proposes the concept of a guiding and suspension force database. This concept can also be applied to the dynamics joint simulation of other types of maglev vehicles.

[0102] Example 2:

[0103] like Figure 2 As shown, this embodiment provides a suspension control system suitable for medium and low speed magnetic levitation vehicles, see Figure 2 The system includes a confirmation module 701, an analysis module 702, a construction module 703, an establishment module 704 and a processing module 705, wherein:

[0104] Confirmation module 701: used to confirm the suspension control parameters in the preset suspension control model, wherein the suspension control model is established based on visual simulation technology;

[0105] Analysis module 702: used to analyze the working conditions of the confirmed suspension control parameters under different combinations to obtain suspension guidance results, wherein the suspension guidance results include the suspension force and the guidance force of the maglev vehicle obtained by electromagnetic force calculation;

[0106] Building module 703: for building a four-dimensional levitation force database and a guidance force database for the maglev vehicle based on the levitation guidance results, wherein the four dimensions include data on levitation gap, levitation speed, electromagnet lateral displacement, and levitation bearing mass;

[0107] Establishing module 704: for establishing a medium- and low-speed maglev vehicle dynamics model, connecting the medium- and low-speed maglev vehicle dynamics model, the suspension force database, and the guidance force database based on four dimensions to form a closed-loop system;

[0108] Processing module 705: used to process and calculate the dynamic model of the medium and low speed magnetic levitation vehicle using the dynamic analysis method to obtain the suspension control result.

[0109] Specifically, the confirmation module 701 includes a selection unit 7011, a first input unit 7012, and a judgment unit 7013, wherein:

[0110] A selection unit 7011 is used to select at least one levitation electromagnet module suitable for use in a medium- and low-speed maglev vehicle;

[0111] The first input unit 7012 is used to input the suspension electromagnet module into a preset suspension control model for calculation verification to obtain a model output result;

[0112] The judgment unit 7013 is used to judge the reliability of the model output result, including if the model output result is reliable, then continue to the subsequent steps; if the model output result is unreliable, then return to the previous step to continue the calculation verification and debug the suspension control model.

[0113] Specifically, the analysis module 702 includes a first acquisition unit 7021, an analysis unit 7022, and a calculation unit 7023, wherein:

[0114] A first acquisition unit 7021 is configured to acquire the bearing masses of all electromagnets applicable to medium- and low-speed maglev vehicles, select one of the electromagnets, and divide the electromagnets into equal-value intervals to obtain the levitation bearing mass of the first electromagnet.

[0115] Analysis unit 7022: used to analyze different parameter combinations of the first electromagnet's levitation bearing mass to obtain analysis results, wherein the variables of the different parameters include the electromagnet's bearing mass, the electromagnet's lateral displacement, the electromagnet's levitation gap, and the electromagnet's vertical movement speed;

[0116] The calculation unit 7023 is used to calculate the analysis results using the electromagnetic force algorithm to obtain the corresponding suspension guidance result. The calculation formula is as follows:

[0117]

[0118] Where W m is the pole width, l m is the pole length, N is the number of turns of the electromagnet coil, δ is the suspension gap, ν is the suspension speed, u is the electromagnet voltage, which is determined by the total suspension mass, R l is the resistance of the electromagnet, K p is the gap feedback coefficient, K dis the suspension velocity feedback coefficient, μ0 is the vacuum permeability.

[0119] Specifically, the establishment module 704 includes a setting unit 7041, a second obtaining unit 7042 and a connecting unit 7043, wherein:

[0120] Setting unit 7041: used to build a dynamic model of a medium- and low-speed maglev vehicle, and to provide interfaces at the levitation force and guide force between each magnetic pole of an electromagnet suitable for a medium- and low-speed maglev vehicle and a track matching the medium- and low-speed maglev vehicle. The interfaces are reserved for load input forms that input and / or extract data from the levitation force database and the guide force database;

[0121] The second obtaining unit 7042 is used to obtain the magnetic pole suspension bearing mass of a single electromagnet suitable for medium and low speed maglev vehicles;

[0122] Connection unit 7043: used to connect the magnetic pole suspension bearing mass and four dimensions to the suspension force database and the guiding force database respectively, thereby connecting the medium and low speed magnetic levitation vehicle dynamics model, the suspension force database and the guiding force database to form a closed-loop system.

[0123] Specifically, the processing module 705 includes a second input unit 7051, a search unit 7052, and an iterative calculation unit 7053, wherein:

[0124] The second input unit 7051 is used to input the four dimensions of each electromagnet suitable for medium and low speed maglev vehicles into the levitation force database and the guiding force database respectively by using the interpolation method based on the dynamic analysis method;

[0125] Search unit 7052: used to search for the levitation force and the guiding force corresponding to the levitation force database and the guiding force database respectively;

[0126] Iterative Calculation Unit 7053 is used to input the found levitation and guiding forces into the low- and medium-speed maglev vehicle dynamics model for iterative calculations to obtain levitation control results. It should be noted that the specific operation methods of each module in the system in the above-mentioned embodiment have been described in detail in the relevant embodiments of the method and will not be elaborated on here.

[0127] Example 3:

[0128] Corresponding to the above method embodiment, this embodiment also provides a suspension control device suitable for medium and low speed maglev vehicles. The suspension control device suitable for medium and low speed maglev vehicles described below and the suspension control method suitable for medium and low speed maglev vehicles described above can be referred to each other.

[0129] Figure 3FIG. 8 is a block diagram of a suspension control device 800 suitable for medium and low speed magnetic levitation vehicles according to an exemplary embodiment. Figure 3 As shown, the suspension control device 800 for medium and low speed maglev vehicles includes: a processor 801 and a memory 802. The suspension control device 800 for medium and low speed maglev vehicles also includes one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0130] The processor 801 is used to control the overall operation of the suspension control device 800 for medium- and low-speed maglev vehicles, thereby completing all or part of the steps in the suspension control method for medium- and low-speed maglev vehicles described above. The memory 802 is used to store various types of data to support the operation of the suspension control device 800 for medium- and low-speed maglev vehicles. This data may include, for example, instructions for any application or method operating on the suspension control device 800, as well as application-related data such as contact information, sent and received messages, images, audio, and video. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 802 or transmitted via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 804 provides an interface between the processor 801 and other interface modules, and the above-mentioned other interface modules can be a keyboard, a mouse, or buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the suspension control device 800 applicable to medium and low speed maglev vehicles and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 805 may include: a Wi-Fi module, a Bluetooth module or an NFC module.

[0131] In an exemplary embodiment, the suspension control device 800 applicable to medium and low-speed maglev vehicles can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-mentioned suspension control method applicable to medium and low-speed maglev vehicles.

[0132] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When executed by a processor, the program instructions implement the steps of the aforementioned suspension control method for medium- and low-speed maglev vehicles. For example, the computer-readable storage medium may be the aforementioned memory 802 including the program instructions. The program instructions may be executed by the processor 801 of the suspension control device 800 for medium- and low-speed maglev vehicles to implement the aforementioned suspension control method for medium- and low-speed maglev vehicles.

[0133] Example 4:

[0134] Corresponding to the above method embodiment, this embodiment further provides a readable storage medium. The readable storage medium described below and the suspension control method applicable to medium and low speed magnetic levitation vehicles described above can refer to each other.

[0135] The readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the suspension control method applicable to medium and low speed magnetic levitation vehicles in the above method embodiment.

[0136] The readable storage medium may specifically be any readable storage medium that can store program code, such as 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.

[0137] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0138] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A suspension control method for medium and low speed magnetic levitation vehicles, characterized in that: include: Confirming the suspension control parameters in a preset suspension control model, wherein the suspension control model is established based on visual simulation technology; Analyzing the working conditions of the confirmed suspension control parameters under different combinations to obtain suspension guidance results, wherein the suspension guidance results include the suspension force of the magnetic levitation vehicle and the guidance force of the magnetic levitation vehicle obtained by electromagnetic force calculation; Based on the suspension and guidance results, a four-dimensional suspension force database and guidance force database for the maglev vehicle were established. The four dimensions include data on suspension gap, suspension speed, electromagnet lateral displacement, and suspension load. Establish a medium- and low-speed maglev vehicle dynamics model, and connect the medium- and low-speed maglev vehicle dynamics model, suspension force database, and guidance force database based on four dimensions to form a closed-loop system; Using the dynamic analysis method, the dynamic model of the medium and low speed maglev vehicle is processed and calculated to obtain the suspension control results. The electromagnetic force algorithm is used to calculate the analysis results and obtain the corresponding suspension guidance results. The calculation formula is as follows: Where W m is the pole width, l m is the pole length, N is the number of turns of the electromagnet coil, δ is the suspension gap, ν is the suspension speed, u is the electromagnet voltage, which is determined by the total suspension mass, R l is the resistance of the electromagnet, K p is the gap feedback coefficient, K d is the suspension velocity feedback coefficient, μ0 is the vacuum permeability; The establishment of a medium- and low-speed maglev vehicle dynamics model connects the medium- and low-speed maglev vehicle dynamics model, the suspension force database, and the guidance force database based on four dimensions to form a closed-loop system, including: A dynamic model for a medium- and low-speed maglev vehicle is constructed, and interfaces are provided at the levitation force and guide force locations between each magnetic pole of an electromagnet suitable for the medium- and low-speed maglev vehicle and a track matching the medium- and low-speed maglev vehicle. The interfaces are reserved for load input forms that input and / or extract data from the levitation force database and the guide force database. Obtaining the pole suspension bearing mass of a single electromagnet suitable for medium and low speed maglev vehicles; The magnetic pole suspension bearing mass and four dimensions are connected to the suspension force database and the guiding force database respectively, so that the medium and low speed magnetic levitation vehicle dynamics model, the suspension force database and the guiding force database are connected to form a closed-loop system.

2. The suspension control method for medium and low speed magnetic levitation vehicles according to claim 1, characterized in that: The confirmation of the suspension control parameters in the preset suspension control model includes: Selecting at least one suspension electromagnet module suitable for use in medium and low speed maglev vehicles; Input the suspension electromagnet module into the preset suspension control model for calculation verification to obtain the model output result; Determine the reliability of the model output results, including continuing to the subsequent steps if the model output results are reliable; if the model output results are unreliable, return to the previous step to continue calculation verification and debug the suspension control model.

3. The suspension control method for medium and low speed magnetic levitation vehicles according to claim 1, characterized in that: The confirmed suspension control parameters are analyzed under different combinations to obtain suspension guidance results, including: Obtaining the load-bearing mass of all electromagnets applicable to medium- and low-speed maglev vehicles, and selecting one of the electromagnets, where the range of the load-bearing mass of the selected electromagnet includes the load-bearing mass of all electromagnets, dividing the electromagnets into equal intervals, and obtaining the levitation load-bearing mass of the first electromagnet; Different parameter combinations of the suspension bearing mass of the first electromagnet are analyzed to obtain analysis results, wherein the variables of the different parameters include the electromagnet bearing weight, the electromagnet lateral displacement, the electromagnet suspension gap and the vertical movement speed of the electromagnet.

4. The suspension control method for medium and low speed magnetic levitation vehicles according to claim 1, characterized in that: The dynamic analysis method is used to process and calculate the dynamic model of the medium and low speed magnetic levitation vehicle to obtain the suspension control results, including: Based on the dynamic analysis method, the four dimensions of each electromagnet suitable for medium and low-speed maglev vehicles are input into the suspension force database and the guidance force database respectively using the interpolation method; Searching for the suspension force and the guiding force corresponding to the suspension force database and the guiding force database respectively; The found suspension force and guiding force are input into the medium and low speed magnetic levitation vehicle dynamics model for iterative cycle calculation to obtain the suspension control result.

5. A suspension control system suitable for medium and low speed magnetic levitation vehicles, characterized in that: include: Confirmation module: used to confirm the suspension control parameters in the preset suspension control model, wherein the suspension control model is established based on visual simulation technology; Analysis module: used to analyze the working conditions of the confirmed suspension control parameters under different combinations to obtain suspension guidance results, which include the suspension force and guidance force of the maglev vehicle obtained by electromagnetic force calculation; Construction module: used to build a four-dimensional suspension force database and guidance force database for the maglev vehicle based on the suspension guidance results. The four dimensions include suspension gap, suspension speed, electromagnet lateral displacement, and suspension load-bearing mass data. Establishment module: used to establish the dynamic model of medium- and low-speed maglev vehicles. Based on four dimensions, the medium- and low-speed maglev vehicle dynamic model, the suspension force database, and the guidance force database are connected to form a closed-loop system. Processing module: used to process and calculate the dynamic model of medium and low-speed maglev vehicles using dynamic analysis methods to obtain suspension control results; The calculation unit is used to calculate the analysis results using the electromagnetic force algorithm to obtain the corresponding suspension guidance results. The calculation formula is as follows: Where W m is the pole width, l m is the pole length, N is the number of turns of the electromagnet coil, δ is the suspension gap, ν is the suspension speed, u is the electromagnet voltage, which is determined by the total suspension mass, R l is the resistance of the electromagnet, K p is the gap feedback coefficient, K d is the suspension velocity feedback coefficient, μ0 is the vacuum permeability; The establishment module includes: Setting unit: used to build a dynamic model of a medium- and low-speed maglev vehicle, and to provide interfaces at the suspension force and guide force between each magnetic pole of an electromagnet suitable for a medium- and low-speed maglev vehicle and a track matching the medium- and low-speed maglev vehicle, wherein the interfaces are reserved for a load input form for inputting and / or extracting data from a suspension force database and a guide force database; The second acquisition unit is used to obtain the magnetic pole suspension bearing mass of a single electromagnet suitable for medium and low speed maglev vehicles; Connection unit: used to connect the magnetic pole suspension bearing mass and four dimensions to the suspension force database and the guiding force database respectively, thereby connecting the medium and low speed magnetic levitation vehicle dynamics model, the suspension force database and the guiding force database to form a closed-loop system.

6. The suspension control system for medium and low speed magnetic levitation vehicles according to claim 5, characterized in that: The confirmation module includes: Selection unit: used to select at least one levitation electromagnet module suitable for medium and low speed maglev vehicles; The first input unit is used to input the suspension electromagnet module into the preset suspension control model for calculation verification to obtain the model output result; Judgment unit: used to judge the reliability of the model output results, including if the model output results are reliable, then continue to the subsequent steps; if the model output results are unreliable, then return to the previous step to continue the calculation verification and debug the suspension control model.

7. The suspension control system for medium and low speed magnetic levitation vehicles according to claim 5, characterized in that: The analysis module includes: A first acquisition unit is configured to acquire the bearing masses of all electromagnets applicable to medium and low-speed maglev vehicles, select one of the electromagnets, and divide the electromagnets into equal-value intervals to obtain the levitation bearing mass of the first electromagnet. Analysis unit: used to analyze different parameter combinations of the suspension bearing mass of the first electromagnet to obtain analysis results, wherein the variables of different parameters include the electromagnet bearing weight, the electromagnet lateral displacement, the electromagnet suspension gap and the vertical movement speed of the electromagnet.

8. The suspension control system for medium and low speed magnetic levitation vehicles according to claim 5, characterized in that: The processing module includes: The second input unit is used to input the four dimensions of each electromagnet suitable for medium and low speed maglev vehicles into the suspension force database and the guiding force database respectively by interpolation method based on the dynamic analysis method; Search unit: used for searching the suspension force and the guiding force corresponding to the suspension force database and the guiding force database respectively; Iterative calculation unit: used to input the found suspension force and guiding force into the medium and low speed magnetic levitation vehicle dynamics model for iterative cycle calculation to obtain the suspension control result.

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