Low-speed maglev suspension test-bed real scene equivalent interference loading method and device

Abstract

The present application relates to a kind of low-speed magnetic levitation test rig real scene equivalent interference loading method and equipment, comprising the following steps: collecting the suspension clearance and suspension current data under the operation scene;The suspension clearance and suspension current data are preprocessed, obtain the suspension clearance time series and suspension current data time series;The suspension clearance time series and suspension current time series are as input, construct superhelix sliding mode state observer, and obtain observation output clearance;Equivalent input interference model is constructed based on the observation output clearance, obtain equivalent input interference time series;The equivalent input interference time series is loaded to test rig.Compared with prior art, the present application has the advantages of shortening the development cycle of suspension control algorithm, improving the efficiency and safety of whole vehicle debugging, etc.

Description

Technical Field

[0001] This invention relates to the field of maglev trains, and in particular to a method for applying equivalent interference in a real-world scenario to a medium- and low-speed maglev suspension test bench. Background Technology

[0002] Compared to traditional rail urban transportation, medium- and low-speed maglev transportation offers advantages such as stronger climbing ability and a smaller turning radius. Furthermore, the "car-embracing-rail" structure of medium- and low-speed maglev significantly reduces the risk of derailment, improving the safety of this transportation system. The contactless operation of medium- and low-speed maglev trains ensures lower operating noise and relatively lower operating and maintenance costs. Based on these advantages, medium- and low-speed maglev transportation is gradually being promoted and used in my country, such as the Changsha Maglev Express Line, the Fenghuang Maglev Cultural Tourism Line, and the Qingyuan Maglev Tourist Line.

[0003] The levitation system is crucial for achieving contactless operation of medium- and low-speed maglev trains. Currently, the levitation technology used in medium- and low-speed maglev trains is conventional electromagnetic levitation, which utilizes the electromagnetic attraction between levitation electromagnets and the F-rail to counteract the effects of gravity, thus achieving levitation. The levitation controller adjusts the current passing through the levitation electromagnets in real time based on the current system status and a pre-set levitation gap (typically 8-10 mm), thereby adjusting the levitation force and maintaining stable levitation of the train. Therefore, the performance of the levitation controller directly affects the operational quality of medium- and low-speed maglev trains.

[0004] Currently, the typical development process for suspension control algorithms is as follows: First, the control method is derived through theoretical analysis and calculation; then, the feasibility of the algorithm is verified through simulation; next, physical verification is conducted on a suspension test bench to ensure the algorithm's feasibility; finally, on-vehicle testing is performed to debug and optimize the algorithm in a real-world environment. However, due to the complex operating environment of medium- and low-speed maglev trains, the suspension system is subject to various types of interference, resulting in significant differences between suspension test bench experiments and real-world vehicle testing. This leads to a relatively long debugging cycle for vehicle testing. Furthermore, if the differences between the suspension test bench and real-world scenarios are too large, it may even cause safety issues during vehicle debugging.

[0005] Therefore, in order to accelerate the development process of suspension control algorithms and improve the efficiency and safety of vehicle debugging, it is essential to load equivalent disturbances from real-world scenarios into the medium- and low-speed maglev suspension test bench. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a real-scene equivalent interference loading method for medium and low speed maglev suspension test benches that shortens the development cycle of suspension control algorithms and improves the efficiency and safety of vehicle debugging.

[0007] The objective of this invention can be achieved through the following technical solutions:

[0008] A method for applying equivalent disturbance in a real-world scenario to a medium-low speed maglev suspension test platform includes the following steps:

[0009] Collect data on suspension gap and suspension current in operational scenarios;

[0010] The suspension gap and suspension current data are preprocessed to obtain the suspension gap time series and suspension current data time series;

[0011] Using the levitation gap time series and levitation current time series as inputs, a super-helical sliding mode state observer is constructed, and the observed output gap is obtained;

[0012] Based on the observed output gap, an equivalent input interference model is constructed to obtain the equivalent input interference time series.

[0013] The equivalent input disturbance time series is loaded onto the test bench.

[0014] Furthermore, the gap sensor and the current sensor are used to acquire the data of the suspension gap and the suspension current, respectively.

[0015] Furthermore, the preprocessing includes valid data extraction, outlier data removal, data time alignment, and data unit standardization.

[0016] Furthermore, the superspiral sliding mode state observer is:

[0017]

[0018]

[0019] in, For the observed state of the suspension system, For the observation interval, To observe the velocity of the electromagnet, To observe the output gap, For the suspension system parameter matrix, μ0 is the free permeability, N is the number of turns of the electromagnet coil, A is the pole area, i0 is the balancing current at the set gap, x0 is the set gap, and m is the mass of the electromagnet. For the suspension system parameter matrix, I represents the measured current. Let k1 and k2 be the observer gains, and C = [1 0] be the levitation system parameter matrix. The error between the measured gap and the observed output gap, y represents the observation output gap, and y represents the measurement gap.

[0020] Furthermore, the equivalent input interference model is as follows:

[0021] d est =B + F(Δy)

[0022] Among them, B + = (B T B) -1 B T , μ0 is the free permeability, N is the number of turns of the electromagnet coil, A is the pole area, i0 is the balancing current at the set gap, x0 is the set gap, and I is the measuring current. k1 and k2 are the observer gains. The error between the measurement gap and the observation output gap, y represents the observation output gap, and y represents the measurement gap.

[0023] Furthermore, the equivalent input interference model is transformed into:

[0024]

[0025] Where, d est For the equivalent input disturbance time series, x0 is the set gap, μ0 is the free permeability, N is the number of turns of the electromagnet coil, A is the pole area, i0 is the balance current at the set gap, I is the measuring current, and m is the mass of the electromagnet. y is the observation output gap, y is the measurement gap, and k2 is the observer gain.

[0026] Furthermore, a low-pass filter is used to perform low-pass filtering on the equivalent input interference model.

[0027] Furthermore, the cutoff frequency of the low-pass filter is set to 1000Hz.

[0028] Furthermore, the low-pass filter is a first-order low-pass filter.

[0029] The present invention also provides an electronic device, comprising:

[0030] One or more processors;

[0031] Memory; and

[0032] One or more programs stored in a memory, the programs including instructions for executing a real-world equivalent disturbance loading method for a medium-low speed maglev suspension test bench as described above.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] (1) This invention collects data on suspension gap and suspension current in actual operating scenarios and preprocesses the data to ensure data reliability. Based on the preprocessed data, super-helical sliding mode state observation and equivalent input interference models are established to obtain equivalent interference that is closer to the actual scenario. Based on the equivalent interference, the interference received by the suspension system in the real scenario is simulated to test the performance of the suspension control algorithm, thereby shortening the development cycle of the suspension control algorithm and improving the efficiency and safety of vehicle debugging.

[0035] (2) The present invention uses a low-pass filter to perform low-pass filtering on the equivalent input interference time series, which filters out high-frequency components, making the obtained equivalent input interference time series more realistic, further reducing the difference between the suspension test bench and the real scene, and ensuring the safety of the whole vehicle debugging process.

[0036] (3) The present invention uses equivalent input disturbance as disturbance excitation, which is lower in cost and more realistic than vibration table. Attached Figure Description

[0037] Figure 1 This is an overall flowchart of the equivalent input interference loading method of the present invention;

[0038] Figure 2 This is a schematic diagram of the equivalent input interference observer of the present invention;

[0039] Figure 3 This is a schematic diagram of the equivalent input interference loading of the present invention. Detailed Implementation

[0040] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0041] Example 1

[0042] This embodiment provides a method for applying equivalent interference in a real-world scenario to a medium- and low-speed maglev suspension test platform, such as... Figure 1 As shown, the method includes the following steps:

[0043] S1. Collect data on the suspension gap and suspension current in the operational scenario.

[0044] To obtain real-world data, gap sensors and current sensors are installed in the running medium- and low-speed maglev train. The medium- and low-speed maglev train is run under actual operating conditions, and the suspension gap data x1(x1(0),...x1(T)) and suspension current data I(I(0),...I(T)) are collected at the same sampling rate as the suspension system.

[0045] S2. Preprocess the suspension gap and suspension current data to obtain the suspension gap time series and suspension current data time series.

[0046] This step performs preprocessing operations on the two collected data sets, including effective data extraction, outlier data removal, data time alignment, and data unit unification, to obtain the suspension gap time series and suspension current time series.

[0047] S3. Using the levitation gap time series and levitation current time series as inputs, construct a super-spiral sliding mode state observer and obtain the observed output gap.

[0048] This step uses the levitation gap time series and levitation current time series as inputs to construct a superhelical sliding mode state observer to observe the state of the levitation system (levitation gap, electromagnet velocity). The superhelical sliding mode state observer is as follows:

[0049]

[0050]

[0051] Further simplification of the above expression yields:

[0052]

[0053]

[0054] in, For the observed state of the suspension system, For the observation interval, To observe the velocity of the electromagnet, For the suspension system parameter matrix, μ0 is the free permeability, N is the number of turns of the electromagnet coil, A is the pole area, i0 is the balancing current at the set gap, x0 is the set gap, and m is the mass of the electromagnet. For the suspension system parameter matrix, I represents the measured current. Let k1 and k2 be the observer gains, and C = [1 0]. The error between the measurement gap and the observation output gap, y represents the observation output gap, and y represents the measurement gap.

[0055] In the above expression for the superspiral sliding mode state observer, y (measured gap) refers to the suspended gap in the measured suspension gap time series x1, and I (measured current) refers to the suspended current in the measured suspension current time series I.

[0056] S4. Construct an equivalent input interference model based on the observed output gap to obtain the equivalent input interference time series.

[0057] like Figure 2 As shown, this step involves observing the output gap. Using the measurement gap y as input, an equivalent input disturbance model for the suspension system is constructed. This equivalent input disturbance model is as follows:

[0058] d est =B + F(Δy)

[0059] Among them, B + = (B T B) -1 B T , For the suspension system parameter matrix, μ0 is the free permeability, N is the number of turns of the electromagnet coil, A is the pole area, i0 is the balancing current at the set gap, x0 is the set gap, and I is the measuring current. Let k1 and k2 be the observer gains, and k1 and k2 be the state observation functions. The error between the measured gap and the observed output gap, y represents the observation output gap, and y represents the measurement gap.

[0060] Substituting the relevant parameters of the suspension system into the equivalent input disturbance model, we obtain:

[0061]

[0062] Where, d est (k) is the equivalent input disturbance time series. x0 is the set gap, μ0 is the free permeability, N is the number of turns of the electromagnet coil, A is the pole area, i0 is the balance current at the set gap, I is the measuring current, and m is the mass of the electromagnet. y is the observation output gap, y is the measurement gap, and k2 is the observer gain.

[0063] To filter out high-frequency irrelevant components, a low-pass filter is used for d est (k) Perform a first-order low-pass filter to obtain:

[0064]

[0065] in, f is the cutoff frequency of the first-order low-pass filter, which is taken as 1000Hz here, and Ts is the sampling frequency, consistent with the levitation system. Let k be the equivalent input interference after filtering out high-frequency components. From this, the equivalent input interference time series can be obtained. Each element represents the equivalent value of the disturbance experienced by the levitation system at the input at the corresponding moment.

[0066] S5. Load the equivalent input interference time series onto the test bench.

[0067] This embodiment uses the PID control method to illustrate this step, such as... Figure 3 As shown. When testing the PID control algorithm on the suspension test bench, the control current I is obtained by processing the tracking error. ref (k). To simulate the disturbances experienced by the suspension system in real-world scenarios, in I ref Add perturbation based on (k) Forming a reference current that includes a disturbance component. Therefore, PID control performance testing under real-world scenarios can be achieved in a suspended test bench.

[0068] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0069] Example 2

[0070] This embodiment provides an electronic device, including:

[0071] One or more processors;

[0072] Memory; and

[0073] One or more programs stored in a memory, the one or more programs including instructions for executing a real-scene equivalent interference loading method for a medium-low speed magnetic levitation test bench as described in Example 1.

[0074] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0075] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0079] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0080] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A method for applying equivalent interference in a real-world scenario to a medium-low speed maglev suspension test platform, characterized in that, Includes the following steps: Collect data on suspension gap and suspension current in operational scenarios; The suspension gap and suspension current data are preprocessed to obtain the suspension gap time series and suspension current data time series; Using the levitation gap time series and levitation current time series as inputs, a superhelical sliding mode state observer is constructed, and the observed output gap is obtained. The superhelical sliding mode state observer is as follows: in, For the observed state of the suspension system, For the observation interval, To observe the velocity of the electromagnet, For the suspension system parameter matrix, , The permeability of free space, The number of turns of the electromagnet coil. The area of ​​the magnetic poles. To set the balancing current at the gap, To set the gap, For the mass of the electromagnet, For the suspension system parameter matrix, , To measure current, For the suspension system parameter matrix, For state observation function, k 1. k 2 represents the observer gain. To measure the error between the output gap and the observed output gap, To observe the output gap, y For measuring gap; An equivalent input interference model is constructed based on the observed output gap to obtain an equivalent input interference time series. The equivalent input interference model is as follows: in, , For the suspension system parameter matrix, , The permeability of free space, The number of turns of the electromagnet coil. The area of ​​the magnetic poles. To set the balancing current at the gap, To set the gap, To measure current, For state observation function, k 1. k 2 represents the observer gain. The error between the measured gap and the observed output gap, To observe the output gap, y For measuring gap; The equivalent input disturbance time series is loaded onto the test bench.

2. The method for applying equivalent interference in a real-world scenario to a medium-low speed maglev suspension test platform according to claim 1, characterized in that, The suspension gap and suspension current data are obtained using a gap sensor and a current sensor, respectively.

3. The method for applying equivalent interference in a real-world scenario to a medium-low speed maglev suspension test platform according to claim 1, characterized in that, The preprocessing includes valid data extraction, outlier data removal, data time alignment, and data unit standardization.

4. The method for applying equivalent interference in a real-world scenario to a medium-low speed maglev suspension test platform according to claim 1, characterized in that, The equivalent input interference model is transformed into: in, For the equivalent input disturbance time series, , To set the gap, The permeability of free space, The number of turns of the electromagnet coil. The area of ​​the magnetic poles. To set the balancing current at the gap, To measure current, For the mass of the electromagnet, To observe the output gap, y To measure the gap, k 2 represents the observer gain.

5. The method for applying equivalent interference in a real-world scenario to a medium-low speed maglev suspension test platform according to claim 1, characterized in that, The equivalent input interference time series is low-pass filtered using a low-pass filter.

6. The method for applying equivalent interference in a real-world scenario to a medium-low speed maglev suspension test platform according to claim 5, characterized in that, The cutoff frequency of the low-pass filter is set to 1000Hz.

7. The method for applying equivalent interference in a real-world scenario to a medium-low speed maglev suspension test platform according to claim 5, characterized in that, The low-pass filter mentioned is a first-order low-pass filter.

8. An electronic device, characterized in that, include: One or more processors; Memory; and One or more programs stored in a memory, the one or more programs including instructions for executing the real-scene equivalent interference loading method for a medium-low speed magnetic levitation test bench as described in any one of claims 1-7.

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