Multi-wheel intelligent electromagnetic device magnetic field strength coordination control method and device

Abstract

The application discloses a kind of multi-wheel intelligent electromagnetic device magnetic field strength coordination control methods, process as follows: calculate steady-state target magnetic field and transient magnetic field intensity difference, magnetic field theoretical cycle maximum, magnetic field intensity minimum amplitude, intensity difference and magnetic field intensity minimum amplitude multiple, first theoretical cycle change variable, first theoretical cycle change variable and maximum electromagnetic intensity maximum ratio, first theoretical cycle change variable and maximum electromagnetic intensity maximum ratio maximum, second theoretical cycle change variable should reduce maximum value and should increase maximum value ratio, increase minimum amplitude and reduce minimum amplitude ratio, increase maximum ratio value and reduce maximum ratio value ratio, ratio product, third theoretical cycle change variable, current time transient magnetic field intensity.The application also discloses a kind of multi-wheel intelligent electromagnetic device magnetic field strength coordination control device.The application solves the problem that multiple electromagnetic suspension magnetic field intensity changes uncoordinated, and can be widely applied in the field of automobile technology.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a method and apparatus for coordinated control of magnetic field strength of a multi-wheel intelligent electromagnetic device. Background Technology

[0002] The vehicle is equipped with electromagnetic suspension, which dynamically adjusts the vehicle's comfort and handling by changing the magnetic field strength. Especially for vehicles with multiple electromagnetic suspension units, the coordinated control of the magnetic field strength of each unit is a crucial technology. If the magnetic field strength changes are not coordinated, it can lead to rapid changes in magnetic field strength, potentially damaging the hardware circuitry. It can also cause the time taken for each electromagnetic suspension unit to reach its steady-state magnetic field strength to be asynchronous. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a method and device for coordinated control of magnetic field strength of a multi-wheel intelligent electromagnetic device. This solves the problem that the uncoordinated changes in magnetic field strength of multiple electromagnetic suspensions may lead to the risk of hardware circuit damage due to excessively rapid changes in magnetic field strength, as well as the problem that the time taken for each electromagnetic suspension to reach steady-state magnetic field strength may be asynchronous.

[0004] This invention provides a method for coordinated control of magnetic field strength in a multi-wheel intelligent electromagnetic device. The specific process of this method is as follows: Calculate the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of that electromagnetic suspension at the previous moment; obtain the theoretical maximum periodic value of the magnetic field strength change that should approach the steady-state target magnetic field strength; obtain the minimum amplitude of the magnetic field strength change that should approach the steady-state target magnetic field strength based on the sign of the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of that electromagnetic suspension at the previous moment; obtain the magnitude of the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of that electromagnetic suspension at the previous moment, and the magnitude of the magnetic field strength change that should approach the steady-state target magnetic field strength. The minimum amplitude multiple of the target magnetic field strength; calculate the increase and decrease variables of electromagnetic strength in the first theoretical period for each electromagnetic suspension; obtain the ratio of the change variable of electromagnetic strength in the first theoretical period for each electromagnetic suspension to the maximum value of the maximum electromagnetic strength allowed to change according to the characteristics of the electromagnetic suspension during the mission period; obtain the maximum value of the ratio of the change variable of electromagnetic strength in the first theoretical period for each electromagnetic suspension to the maximum value of the maximum electromagnetic strength allowed to change according to the characteristics of the electromagnetic suspension during the mission period, corresponding to the change in field strength that should approach the steady-state target magnetic field strength; calculate the second... Theoretical period electromagnetic intensity change variable; the ratio of the theoretical period maximum value of the calculated magnetic field strength to ... The theoretical period electromagnetic intensity decreases by a variable; the transient magnetic field intensity of each electromagnetic suspension at the current moment is calculated based on the difference between the steady-state target magnetic field intensity of each electromagnetic suspension and the transient magnetic field intensity of the electromagnetic suspension at the previous moment, the increase variable of the electromagnetic intensity of each electromagnetic suspension in the third theoretical period, the decrease variable of the electromagnetic intensity of each electromagnetic suspension in the third theoretical period, and the transient magnetic field intensity of each electromagnetic suspension at the previous moment; if the difference between the steady-state target magnetic field intensity of the electromagnetic suspension and the transient magnetic field intensity of the electromagnetic suspension at the previous moment is greater than or equal to zero, then the transient magnetic field intensity of the electromagnetic suspension at the current moment is equal to the transient magnetic field intensity of the electromagnetic suspension at the previous moment plus the increase variable of the electromagnetic intensity of the electromagnetic suspension in the third theoretical period;If the difference between the steady-state target magnetic field strength of the electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment is less than zero, then the transient magnetic field strength of the electromagnetic suspension at the current moment is equal to the transient magnetic field strength of the electromagnetic suspension at the previous moment minus the decrease in electromagnetic strength during the third theoretical period. The time required for the magnetic field strength of each electromagnetic suspension to change to the steady-state target magnetic field strength is the same, ensuring that the magnetic field strength of each electromagnetic suspension changes synchronously to the steady-state target magnetic field strength, thus avoiding the problems of incoordination and asynchrony in the changes of magnetic field strength among the electromagnetic suspensions.

[0005] The present invention also discloses a multi-round intelligent electromagnetic device magnetic field strength coordination control device, which has a computer program that can execute the multi-round intelligent electromagnetic device magnetic field strength coordination control method.

[0006] The present invention provides a method and apparatus for coordinated control of magnetic field strength in a multi-round intelligent electromagnetic device, which has the following beneficial effects:

[0007] 1. The increase in electromagnetic intensity during the third theoretical cycle of the electromagnetic suspension and the decrease in electromagnetic intensity during the third theoretical cycle of each electromagnetic suspension are both less than or equal to the maximum value of the maximum electromagnetic intensity that the corresponding electromagnetic suspension can increase during the task cycle according to its characteristics, and the maximum value of the maximum electromagnetic intensity that the corresponding electromagnetic suspension can decrease during the task cycle according to its characteristics. This avoids the risk of damage to the electromagnetic suspension hardware circuit and reduced service life caused by excessive changes in the magnetic field strength of each electromagnetic suspension.

[0008] 2. The time required for the magnetic field strength in each electromagnetic suspension to increase to the steady-state target magnetic field strength is the same, and the time required for the magnetic field strength in each electromagnetic suspension to decrease to the steady-state target magnetic field strength is also the same. At the same time, the time required for the magnetic field strength in each electromagnetic suspension to increase to the steady-state target magnetic field strength is the same as the time required for the magnetic field strength in each electromagnetic suspension to decrease to the steady-state target magnetic field strength. This ensures that the magnetic field strength of each electromagnetic suspension changes synchronously with the steady-state target magnetic field strength, avoiding the problem of uncoordinated and asynchronous changes in the magnetic field strength of each electromagnetic suspension. Attached Figure Description

[0009] Figure 1 This is a schematic diagram illustrating the overall concept of the multi-round intelligent electromagnetic device magnetic field strength coordination control method of the present invention;

[0010] Figure 2 This is a schematic diagram illustrating the specific steps of the multi-round intelligent electromagnetic device magnetic field strength coordination control method of the present invention;

[0011] Figure 3 This is a schematic diagram of the structure of the multi-round intelligent electromagnetic device magnetic field strength coordination control device of the present invention. Detailed Implementation

[0012] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, but these embodiments should not be construed as limiting the present invention.

[0013] See Figure 1 The present invention relates to a method for coordinated control of magnetic field strength of a multi-round intelligent electromagnetic device. The overall idea of ​​this method is as follows:

[0014] Calculate the difference between the steady-state target magnetic field strength and the transient magnetic field strength of each electromagnetic suspension at the previous moment. Obtain the theoretical maximum period for the magnetic field strength change to approach the steady-state target magnetic field strength. Based on the sign of the difference between the steady-state target magnetic field strength and the transient magnetic field strength of each electromagnetic suspension at the previous moment, obtain the minimum amplitude for the magnetic field strength change to approach the steady-state target magnetic field strength. Obtain the multiple of the difference between the steady-state target magnetic field strength and the transient magnetic field strength of each electromagnetic suspension at the previous moment and the minimum amplitude for the magnetic field strength change to approach the steady-state target magnetic field strength. Calculate the first theoretical period for each electromagnetic suspension. The changes in electromagnetic intensity during the first theoretical period and the decrease in electromagnetic intensity during the first theoretical period for each electromagnetic suspension are calculated. The ratio of the change in electromagnetic intensity during the first theoretical period for each electromagnetic suspension to the maximum allowable change in electromagnetic intensity for that suspension during the mission period, based on its characteristics, is obtained. The maximum value of the ratio of the change in electromagnetic intensity during the first theoretical period for each electromagnetic suspension to the maximum allowable change in electromagnetic intensity for that suspension during the mission period, based on its characteristics, is then calculated. Finally, the electromagnetic intensity change during the second theoretical period for each electromagnetic suspension is calculated, and the magnetic field is calculated. The ratio of the theoretical maximum value of the magnetic field strength near the steady-state target intensity to the calculated theoretical maximum value of the magnetic field strength near the steady-state target intensity should be calculated; the ratio of the minimum amplitude of the calculated magnetic field strength near the steady-state target intensity should be increased to the minimum amplitude of the calculated magnetic field strength near the steady-state target intensity should be decreased; and the ratio of the maximum proportional value of the calculated magnetic field strength near the steady-state target intensity should be increased to the maximum proportional value of the calculated magnetic field strength near the steady-state target intensity should be decreased. The product of these three ratios is used to calculate the increase variable of electromagnetic intensity in the third theoretical period for each electromagnetic suspension and the electromagnetic intensity in the third theoretical period for each electromagnetic suspension. Reduce the variables and calculate the current transient magnetic field strength of each electromagnetic suspension based on the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment, the increase variable of the electromagnetic strength of the electromagnetic suspension in the third theoretical period, the decrease variable of the electromagnetic strength of the electromagnetic suspension in the third theoretical period, and the transient magnetic field strength of the electromagnetic suspension at the previous moment. If the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment is greater than or equal to zero, then the current transient magnetic field strength of the electromagnetic suspension is equal to the transient magnetic field strength of the electromagnetic suspension at the previous moment plus the increase variable of the electromagnetic strength of the electromagnetic suspension in the third theoretical period.If the difference between the steady-state target magnetic field strength of the electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment is less than zero, then the transient magnetic field strength of the electromagnetic suspension at the current moment is equal to the transient magnetic field strength of the electromagnetic suspension at the previous moment minus the decrease in electromagnetic strength during the third theoretical period. The time required for the magnetic field strength of each electromagnetic suspension to change to the steady-state target magnetic field strength is the same, ensuring that the magnetic field strength of each electromagnetic suspension changes synchronously to the steady-state target magnetic field strength, thus avoiding the problems of incoordination and asynchrony in the changes of magnetic field strength among the electromagnetic suspensions.

[0015] See Figure 2 The specific steps of the multi-round intelligent electromagnetic device magnetic field strength coordination control method of the present invention are as follows:

[0016] Step 1: Calculate the difference between the steady-state target magnetic field strength of each electromagnetic suspension and its transient magnetic field strength at the previous moment;

[0017] The above calculation formula is:

[0018] ΔB(k) i =B i -B(k-1) i

[0019] Among them: B i —The steady-state target magnetic field strength of the i-th electromagnetic suspension; B(k-1) i —The transient magnetic field strength of the i-th electromagnetic suspension at the previous moment; ΔB(k) i — The difference between the steady-state target magnetic field strength of the i-th electromagnetic suspension and its transient magnetic field strength at the previous moment; i — Electromagnetic suspension number, i∈[1,n], n is the total number of electromagnetic suspensions in the whole vehicle.

[0020] Step 2: Based on the sign of the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment, obtain the theoretical maximum periodic value of the magnetic field strength that should increase closer to the steady-state target magnetic field strength. This maximum value is equal to the maximum electromagnetic strength that the electromagnetic suspension is allowed to increase according to its characteristics during the mission period when the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment is greater than or equal to zero. At the same time, based on the sign of the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment, obtain the theoretical maximum periodic value of the magnetic field strength that should decrease closer to the steady-state target magnetic field strength. This maximum value is equal to the maximum value among the maximum electromagnetic strengths that the electromagnetic suspension is allowed to decrease according to its characteristics during the mission period when the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment is less than zero.

[0021] The above calculation formula is:

[0022]

[0023] Where: ΔB upmax —The magnetic field strength should be increased to the theoretical maximum periodic value of the magnetic field strength near the steady-state target; ΔB dowmmax —The magnetic field strength should be reduced to the theoretical maximum periodic value of the magnetic field strength near the steady-state target; ΔBi upmax —The maximum allowable increase in electromagnetic strength for the i-th electromagnetic suspension during the mission cycle, based on its electromagnetic suspension characteristics; ΔBi downmax —The maximum value of the maximum electromagnetic strength that the i-th electromagnetic suspension is allowed to decrease during the mission cycle according to its electromagnetic suspension characteristics.

[0024] Step 3: Based on the sign of the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment for each electromagnetic suspension, obtain the minimum amplitude at which the magnetic field strength should increase to approach the steady-state target magnetic field strength. This minimum amplitude is equal to the minimum value among the differences between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment corresponding to a difference greater than or equal to zero. Simultaneously, based on the sign of the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment for each electromagnetic suspension, obtain the minimum amplitude at which the magnetic field strength should decrease to approach the steady-state target magnetic field strength. This minimum amplitude is equal to the minimum value among the absolute values ​​of the differences between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment corresponding to a difference less than zero.

[0025] The above calculation formula is:

[0026]

[0027] ΔB(k) upmin —The magnetic field strength should be increased to the minimum amplitude of the magnetic field strength near the steady-state target; ΔB(k) downmin —The magnetic field strength should be reduced to the minimum amplitude of the magnetic field strength near the steady-state target.

[0028] Step 4: Obtain the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment, the multiple by which the magnetic field strength should increase to approach the minimum amplitude of the steady-state target magnetic field strength, and the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment, and the multiple by which the magnetic field strength should decrease to approach the minimum amplitude of the steady-state target magnetic field strength.

[0029] The above calculation formula is:

[0030]

[0031] Where: Bup(k) i —The magnitude of the magnetic field strength difference for the i-th electromagnetic suspension is the multiple by which the magnetic field strength should increase to the minimum amplitude of the magnetic field strength closest to the steady-state target; Bdown(k) i —The magnitude of the difference in magnetic field strength of the i-th electromagnetic suspension is the multiple by which the magnetic field strength should be reduced to the minimum amplitude of the magnetic field strength close to the steady-state target.

[0032] Step 5: Calculate the increase in electromagnetic intensity and the decrease in electromagnetic intensity during the first theoretical period of each electromagnetic suspension.

[0033] The increase in electromagnetic intensity during the first theoretical period for each electromagnetic suspension is equal to the amplification of the theoretical maximum value of the magnetic field strength that should be increased closer to the steady-state target magnetic field strength, based on the relationship between the difference in magnetic field strength of each electromagnetic suspension and the multiple of the minimum amplitude of the magnetic field strength that should be increased closer to the steady-state target magnetic field strength.

[0034] The electromagnetic intensity reduction variable in the first theoretical period of each electromagnetic suspension is equal to the maximum theoretical period value of the magnetic field intensity that should be reduced near the steady-state target magnetic field intensity, based on the relationship between the difference in magnetic field intensity of each electromagnetic suspension and the multiple of the minimum amplitude of the magnetic field intensity that should be reduced near the steady-state target magnetic field intensity.

[0035] The above calculation formula is:

[0036]

[0037] ΔBup1(k) i —The increase in electromagnetic intensity during the first theoretical period of the i-th electromagnetic suspension; ΔBdown1(k) i —The electromagnetic intensity decreases during the first theoretical period of the i-th electromagnetic suspension.

[0038] Step 6: Obtain the ratio of the increase in electromagnetic intensity during the first theoretical period of each electromagnetic suspension to the maximum value of the electromagnetic intensity that the electromagnetic suspension is allowed to increase during the mission period according to its characteristics, and the ratio of the decrease in electromagnetic intensity during the first theoretical period of each electromagnetic suspension to the maximum value of the electromagnetic intensity that the electromagnetic suspension is allowed to decrease during the mission period according to its characteristics.

[0039] The above calculation formula is:

[0040]

[0041] Where: γup(k) i—The ratio of the increase in electromagnetic intensity during the first theoretical period of the i-th electromagnetic suspension to the maximum value of the maximum electromagnetic intensity that can be increased according to the characteristics of its electromagnetic suspension during the mission period; γdown(k) i — The ratio of the decrease in electromagnetic intensity during the first theoretical period of the i-th electromagnetic suspension to the maximum value of the maximum electromagnetic intensity that can be reduced during the mission period according to the characteristics of its electromagnetic suspension.

[0042] Furthermore, it can be seen that:

[0043]

[0044] Step 7: Obtain the maximum value of the ratio of the increase in electromagnetic intensity of each electromagnetic suspension during the first theoretical period corresponding to the increase in the field strength close to the steady-state target magnetic field strength to the maximum value of the electromagnetic intensity that the electromagnetic suspension is allowed to increase during the mission period according to the characteristics of the electromagnetic suspension; and the maximum value of the ratio of the decrease in electromagnetic intensity of each electromagnetic suspension during the first theoretical period corresponding to the decrease in the field strength close to the steady-state target magnetic field strength to the maximum value of the electromagnetic intensity that the electromagnetic suspension is allowed to decrease during the mission period according to the characteristics of the electromagnetic suspension.

[0045] The above calculation formula is:

[0046]

[0047] Where: γupmax(k) is the maximum proportional value by which the field strength should be increased near the steady-state target magnetic field strength; γdownmax(k) is the maximum proportional value by which the field strength should be decreased near the steady-state target magnetic field strength.

[0048] Step 8: Calculate the increase variable of electromagnetic intensity during the second theoretical period and the decrease variable of electromagnetic intensity during the second theoretical period for each electromagnetic suspension.

[0049] The increase in electromagnetic intensity during the second theoretical period for each electromagnetic suspension is equal to the increase in electromagnetic intensity during the first theoretical period for each electromagnetic suspension divided by the maximum proportional increase in the field strength that should be close to the steady-state target magnetic field strength.

[0050] The decrease in electromagnetic intensity during the second theoretical period for each electromagnetic suspension is equal to the decrease in electromagnetic intensity during the first theoretical period for each electromagnetic suspension divided by the maximum proportional value of the field intensity reduction close to the steady-state target magnetic field strength.

[0051] The above calculation formula is:

[0052]

[0053] Where: ΔBup2(k)i —The increase in electromagnetic intensity during the second theoretical period of the i-th electromagnetic suspension; ΔBdown2(k) i —The electromagnetic intensity decreases during the second theoretical period of the i-th electromagnetic suspension.

[0054] Furthermore, it can be seen that:

[0055]

[0056] Furthermore, it can be seen that:

[0057]

[0058] Step 9: Calculate the ratio of the theoretical maximum period of the magnetic field strength that should decrease when approaching the steady-state target to the theoretical maximum period of the magnetic field strength that should increase when approaching the steady-state target;

[0059] The above calculation formula is:

[0060]

[0061] δ1—The ratio of the theoretical maximum period of the magnetic field strength that should be reduced near the steady-state target to the theoretical maximum period of the magnetic field strength that should be increased near the steady-state target.

[0062] Step 10: Calculate the ratio of the minimum amplitude of the magnetic field strength that should be increased near the steady-state target to the minimum amplitude of the magnetic field strength that should be decreased near the steady-state target;

[0063] The above calculation formula is:

[0064]

[0065] Where: δ2——the ratio of the minimum amplitude of the magnetic field strength that should be increased near the steady-state target to the minimum amplitude of the magnetic field strength that should be decreased near the steady-state target.

[0066] Step 11: Calculate the ratio of the maximum percentage increase in field strength near the steady-state target magnetic field strength to the maximum percentage decrease in field strength near the steady-state target magnetic field strength;

[0067] The above calculation formula is:

[0068]

[0069] Where: δ3——the ratio of the maximum proportion of the field strength that should be increased near the steady-state target magnetic field strength to the maximum proportion of the field strength that should be decreased near the steady-state target magnetic field strength.

[0070] Step 12: Obtain the product of three ratios, namely: the ratio of the theoretical maximum period of the magnetic field strength that should decrease near the steady-state target magnetic field strength to the theoretical maximum period of the magnetic field strength that should increase near the steady-state target magnetic field strength; the ratio of the minimum amplitude of the magnetic field strength that should increase near the steady-state target magnetic field strength to the minimum amplitude of the magnetic field strength that should decrease near the steady-state target magnetic field strength; and the total product of the ratio of the maximum proportional value of the magnetic field strength that should increase near the steady-state target magnetic field strength to the maximum proportional value of the magnetic field strength that should decrease near the steady-state target magnetic field strength.

[0071] The above calculation formula is:

[0072] δ=δ1*δ2*δ3

[0073] Where: δ — the total product of ratios. The value of δ may be greater than or equal to 1, or it may be less than 1.

[0074] Step 13: Calculate the increase variable of electromagnetic intensity and the decrease variable of electromagnetic intensity during the third theoretical period of each electromagnetic suspension.

[0075] The increase in electromagnetic intensity during the third theoretical period of each electromagnetic suspension is equal to the smaller of 1 and the reciprocal of the product of the total ratios, multiplied by the increase in electromagnetic intensity during the second theoretical period of each electromagnetic suspension.

[0076] The decrease in electromagnetic intensity during the third theoretical period for each electromagnetic suspension is equal to the smaller of 1 and the product of the total ratios, multiplied by the decrease in electromagnetic intensity during the second theoretical period for each electromagnetic suspension.

[0077] The above calculation formula:

[0078]

[0079] Where: ΔBup3(k) i —The increase in electromagnetic intensity during the third theoretical period of the i-th electromagnetic suspension; ΔBdown3(k) i —The electromagnetic intensity decreases during the third theoretical period of the i-th electromagnetic suspension.

[0080] Furthermore, if δ≥1, then we know that:

[0081]

[0082] Furthermore, if δ < 1, then we know that:

[0083]

[0084] Furthermore, it can be seen that:

[0085]

[0086] Furthermore, it can be seen that:

[0087]

[0088] It can be seen that the increase in electromagnetic intensity during the third theoretical period of the electromagnetic suspension and the decrease in electromagnetic intensity during the third theoretical period of each electromagnetic suspension are both less than or equal to the maximum value of the maximum electromagnetic intensity that the corresponding electromagnetic suspension can increase during the task period according to its characteristics, and the maximum value of the maximum electromagnetic intensity that the corresponding electromagnetic suspension can decrease during the task period according to its characteristics. This avoids the risk of damage to the electromagnetic suspension hardware circuit and reduced service life caused by excessive changes in the magnetic field strength of each electromagnetic suspension.

[0089] Step 14: Calculate the current transient magnetic field strength of each electromagnetic suspension based on the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment, the increase variable of the electromagnetic strength during the third theoretical period of each electromagnetic suspension, the decrease variable of the electromagnetic strength during the third theoretical period of each electromagnetic suspension, and the transient magnetic field strength of the electromagnetic suspension at the previous moment. If the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment is greater than or equal to zero, then the current transient magnetic field strength of the electromagnetic suspension is equal to the transient magnetic field strength of the electromagnetic suspension at the previous moment plus the increase variable of the electromagnetic strength during the third theoretical period. If the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment is less than zero, then the current transient magnetic field strength of the electromagnetic suspension is equal to the transient magnetic field strength of the electromagnetic suspension at the previous moment minus the decrease variable of the electromagnetic strength during the third theoretical period.

[0090] The above calculation formula is:

[0091]

[0092] Where: B(k) i —The transient magnetic field strength of the i-th electromagnetic suspension at the current moment.

[0093] Furthermore, steps 1 to 11 are executed continuously in a loop. At the end of each single loop, the current time becomes the previous time, and the transient magnetic field strength of each electromagnetic suspension at the previous time is updated to B(k-1). i =B(k) i .

[0094] Furthermore, steps 1 to 11 are continuously executed in a loop. After multiple loops, the transient magnetic field strength of each electromagnetic suspension at the current moment is equal to the steady-state target magnetic field strength of that electromagnetic suspension, i.e., B(k). i =B i .

[0095] Furthermore, the transient magnetic field strength of each electromagnetic suspension at the current moment is equal to the adjustment time of the steady-state target magnetic field strength of that electromagnetic suspension:

[0096]

[0097] Among them: tup i —The time required for the magnetic field strength to increase to the steady-state target magnetic field strength; tdown i —The time required for the magnetic field strength to decrease to the steady-state target magnetic field strength;

[0098] Furthermore, if δ≥1, then we know that:

[0099] Furthermore, combining with step 13, it can be transformed into:

[0100]

[0101] Furthermore, it can be simplified as follows:

[0102]

[0103] Furthermore, combining steps 9, 10, 11, and 12, it can be transformed into:

[0104]

[0105] Furthermore, combining this with step 8, we can see that:

[0106]

[0107] Furthermore, it can be simplified to:

[0108]

[0109] Furthermore, combining with step 5, it can be transformed into:

[0110]

[0111] Furthermore, combining this with step 4, we can see that:

[0112]

[0113] Furthermore, it can be simplified to:

[0114]

[0115] Furthermore, if δ < 1, then we know that:

[0116] Furthermore, combining with step 13, it can be transformed into:

[0117]

[0118] Furthermore, it can be simplified as follows:

[0119]

[0120] Furthermore, combining steps 9, 10, 11, and 12, it can be transformed into:

[0121]

[0122] Furthermore, combining this with step 8, we can see that:

[0123]

[0124] Furthermore, it can be simplified to:

[0125]

[0126] Furthermore, combining with step 5, it can be transformed into:

[0127]

[0128] Furthermore, combining this with step 4, we can see that:

[0129]

[0130] Furthermore, it can be simplified to:

[0131]

[0132] Therefore, if δ≥1, then

[0133]

[0134] If δ < 1, then

[0135]

[0136] It can be concluded that the time required for the magnetic field strength in each electromagnetic suspension to increase to the steady-state target magnetic field strength is the same, and the time required for the magnetic field strength in each electromagnetic suspension to decrease to the steady-state target magnetic field strength is also the same. Furthermore, the time required for the magnetic field strength in each electromagnetic suspension to increase to the steady-state target magnetic field strength is also the same as the time required for the magnetic field strength in each electromagnetic suspension to decrease to the steady-state target magnetic field strength. This ensures that the magnetic field strength of each electromagnetic suspension changes synchronously (increases or decreases) with the steady-state target magnetic field strength, avoiding the problem of uncoordinated and asynchronous changes in the magnetic field strength of each electromagnetic suspension.

[0137] See Figure 3 The present invention provides a multi-round intelligent electromagnetic device magnetic field strength coordination control device, comprising the following parts:

[0138] Magnetic field strength difference module: Calculates the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment;

[0139] Theoretical Period Maximum Value Module: Obtains the theoretical period maximum value of the magnetic field strength change that is close to the steady-state target magnetic field strength;

[0140] Minimum Amplitude Module: Based on the sign of the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment, obtain the minimum amplitude of the change in magnetic field strength that should be close to the steady-state target magnetic field strength;

[0141] Multiplier module: Obtain the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment, and the multiple of the change in magnetic field strength that should be close to the minimum amplitude of the steady-state target magnetic field strength;

[0142] First variable module: Calculates the increase variable of electromagnetic intensity in the first theoretical period and the decrease variable of electromagnetic intensity in the first theoretical period for each electromagnetic suspension.

[0143] Proportional module: Obtains the ratio of the electromagnetic intensity change variable of each electromagnetic suspension during the first theoretical period to the maximum value of the electromagnetic intensity that the electromagnetic suspension is allowed to change according to its characteristics during the mission period;

[0144] Maximum Strength Module: This module obtains the maximum value of the ratio between the electromagnetic intensity change variable of each electromagnetic suspension during the first theoretical period, corresponding to the change in the magnetic field strength of the electromagnetic suspension close to the steady-state target magnetic field strength, and the maximum electromagnetic intensity that the electromagnetic suspension is allowed to change during the mission period according to its electromagnetic suspension characteristics.

[0145] Electromagnetic intensity variation module: Calculates the electromagnetic intensity variation of each electromagnetic suspension during the second theoretical period;

[0146] Theoretical Period Maximum Ratio Module: The ratio of the theoretical period maximum value when the calculated magnetic field strength should be reduced to the theoretical period maximum value when the calculated magnetic field strength should be increased to the theoretical period maximum value when the calculated magnetic field strength should be increased to the steady-state target magnetic field strength;

[0147] Minimum Amplitude Ratio Module: Calculates the ratio of the minimum amplitude of the magnetic field strength that should be increased when approaching the steady-state target to the minimum amplitude of the magnetic field strength that should be decreased when approaching the steady-state target.

[0148] Maximum Proportional Ratio Module: Calculates the ratio of the maximum proportional value at which the field strength should increase near the steady-state target magnetic field strength to the maximum proportional value at which the field strength should decrease near the steady-state target magnetic field strength;

[0149] Ratio Product Module: Obtains the product of the aforementioned three ratios;

[0150] The second variable module calculates the increase in electromagnetic intensity and the decrease in electromagnetic intensity during the third theoretical period for each electromagnetic suspension.

[0151] Result Evaluation Module: Based on the difference between the steady-state target magnetic field strength and the transient magnetic field strength of each electromagnetic suspension at the previous moment, the increase variable of the electromagnetic strength during the third theoretical period, the decrease variable of the electromagnetic strength during the third theoretical period, and the transient magnetic field strength of each electromagnetic suspension at the previous moment, the current transient magnetic field strength of each electromagnetic suspension is calculated. If the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment is greater than or equal to zero, then the current transient magnetic field strength of the electromagnetic suspension is equal to the transient magnetic field strength of the electromagnetic suspension at the previous moment plus... The electromagnetic intensity of the electromagnetic suspension increases during the third theoretical cycle. If the difference between the steady-state target magnetic field strength of the electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment is less than zero, then the transient magnetic field strength of the electromagnetic suspension at the current moment is equal to the transient magnetic field strength of the electromagnetic suspension at the previous moment minus the decrease in electromagnetic intensity during the third theoretical cycle. The time required for the magnetic field strength of each electromagnetic suspension to change to the steady-state target magnetic field strength is the same, ensuring that the magnetic field strength of each electromagnetic suspension changes to the steady-state target magnetic field strength simultaneously and synchronously, avoiding the problem of uncoordinated and asynchronous changes in the magnetic field strength of each electromagnetic suspension.

[0152] The technical advantages of the multi-round intelligent electromagnetic device magnetic field strength coordination control method and device of the present invention are as follows:

[0153] 1. The increase in electromagnetic intensity during the third theoretical cycle of the electromagnetic suspension and the decrease in electromagnetic intensity during the third theoretical cycle of each electromagnetic suspension are both less than or equal to the maximum value of the maximum electromagnetic intensity that the corresponding electromagnetic suspension can increase during the task cycle according to its characteristics, and the maximum value of the maximum electromagnetic intensity that the corresponding electromagnetic suspension can decrease during the task cycle according to its characteristics. This avoids the risk of damage to the electromagnetic suspension hardware circuit and reduced service life caused by excessive changes in the magnetic field strength of each electromagnetic suspension.

[0154] 2. The time required for the magnetic field strength in each electromagnetic suspension to increase to the steady-state target magnetic field strength is the same, and the time required for the magnetic field strength in each electromagnetic suspension to decrease to the steady-state target magnetic field strength is also the same. At the same time, the time required for the magnetic field strength in each electromagnetic suspension to increase to the steady-state target magnetic field strength is the same as the time required for the magnetic field strength in each electromagnetic suspension to decrease to the steady-state target magnetic field strength. This ensures that the magnetic field strength of each electromagnetic suspension changes synchronously with the steady-state target magnetic field strength, avoiding the problem of uncoordinated and asynchronous changes in the magnetic field strength of each electromagnetic suspension.

[0155] 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.

[0156] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A method for coordinated control of magnetic field strength in a multi-round intelligent electromagnetic device, characterized in that: The specific process of this method is as follows: Calculate the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment; To obtain the theoretical periodic maximum value of the magnetic field strength that should change close to the steady-state target magnetic field strength; The minimum amplitude of the change in magnetic field strength that should approach the steady-state target magnetic field strength is obtained by considering the sign of the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment. The difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment is obtained, and the magnitude of the change in magnetic field strength should be a multiple of the minimum amplitude of the steady-state target magnetic field strength. Calculate the increase and decrease variables of electromagnetic intensity during the first theoretical period for each electromagnetic suspension. The ratio of the electromagnetic intensity change variable of each electromagnetic suspension during the first theoretical period to the maximum value of the electromagnetic intensity allowed to change according to the characteristics of the electromagnetic suspension during the mission period is obtained respectively. The maximum value of the ratio of the electromagnetic intensity change variable of each electromagnetic suspension in the first theoretical period corresponding to the change in the magnetic field intensity close to the steady-state target magnetic field intensity to the maximum electromagnetic intensity that the electromagnetic suspension is allowed to change according to the characteristics of the electromagnetic suspension during the mission period is obtained. Calculate the electromagnetic intensity variation variable of each electromagnetic suspension during the second theoretical period; The ratio of the theoretical maximum period of the magnetic field strength near the steady-state target to the theoretical maximum period of the magnetic field strength near the steady-state target should be reduced when calculating the magnetic field strength. The calculation of magnetic field strength should increase the ratio of the minimum amplitude of the magnetic field strength near the steady-state target to the minimum amplitude of the magnetic field strength near the steady-state target; The ratio of the maximum percentage increase in field strength near the steady-state target magnetic field strength to the maximum percentage decrease in field strength near the steady-state target magnetic field strength should be used to calculate the field strength. Obtain the product of the three ratios mentioned above; Calculate the increase and decrease of electromagnetic intensity in the third theoretical period for each electromagnetic suspension. The transient magnetic field strength of each electromagnetic suspension at the current moment is calculated based on the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment, the increase variable of the electromagnetic strength during the third theoretical period of each electromagnetic suspension, the decrease variable of the electromagnetic strength during the third theoretical period of each electromagnetic suspension, and the transient magnetic field strength of the electromagnetic suspension at the previous moment. If the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment is greater than or equal to zero, then the transient magnetic field strength of the electromagnetic suspension at the current moment is equal to the transient magnetic field strength of the electromagnetic suspension at the previous moment plus the increase variable of the electromagnetic strength during the third theoretical period of the electromagnetic suspension. If the difference between the steady-state target magnetic field strength of the electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment is less than zero, then the transient magnetic field strength of the electromagnetic suspension at the current moment is equal to the transient magnetic field strength of the electromagnetic suspension at the previous moment minus the decrease in electromagnetic strength during the third theoretical period. The time required for the magnetic field strength in each electromagnetic suspension to change to the steady-state target magnetic field strength is the same.

2. The method for coordinated control of magnetic field strength of a multi-round intelligent electromagnetic device according to claim 1, characterized in that: The specific process for calculating the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment is as follows: The above calculation formula is: in: ——No. Steady-state target magnetic field strength of an electromagnetic suspension; ——No. The transient magnetic field strength of an electromagnetic suspension at a given moment; ——No. The difference between the steady-state target magnetic field strength of an electromagnetic suspension and its transient magnetic field strength at the previous moment; —Electromagnetic suspension number, , This refers to the total number of all electromagnetic suspension units in the entire vehicle. The step of obtaining the theoretical maximum period of the change in magnetic field strength close to the steady-state target magnetic field strength includes two aspects: obtaining the theoretical maximum period of the increase in magnetic field strength close to the steady-state target magnetic field strength and obtaining the theoretical maximum period of the decrease in magnetic field strength close to the steady-state target magnetic field strength. The specific process is as follows: The theoretical maximum periodic value of the magnetic field strength that should be increased to approach the steady-state target magnetic field strength is obtained based on the sign of the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment. This maximum value is equal to the maximum electromagnetic strength that the electromagnetic suspension is allowed to increase to approach the steady-state target magnetic field strength during the mission period according to its electromagnetic suspension characteristics, corresponding to a difference between the steady-state target magnetic field strength of the electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment that is greater than or equal to zero. The magnetic field strength should be reduced to the theoretical maximum value of the steady-state target magnetic field strength: Based on the sign of the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment, the theoretical maximum value of the magnetic field strength should be reduced to the steady-state target magnetic field strength is obtained. This maximum value is equal to the maximum value of the electromagnetic suspension that can be reduced according to the characteristics of the electromagnetic suspension during the mission cycle when the difference between the steady-state target magnetic field strength of the electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment is less than zero. The above calculation formula is: in: —The magnetic field strength should be increased to the theoretical maximum period of the magnetic field strength close to the steady-state target; —The magnetic field strength should be reduced to the theoretical maximum period of the magnetic field strength near the steady-state target; ——No. The maximum value of the electromagnetic strength that an electromagnetic suspension can increase during the mission cycle, based on its electromagnetic suspension characteristics. ——No. The maximum electromagnetic strength that an electromagnetic suspension can reduce during a mission cycle, based on its electromagnetic suspension characteristics.

3. The method for coordinated control of magnetic field strength of a multi-round intelligent electromagnetic device according to claim 2, characterized in that: The step of determining the minimum amplitude of the change in magnetic field strength to approach the steady-state target magnetic field strength based on the sign of the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment includes two aspects: determining the minimum amplitude of the increase in magnetic field strength to approach the steady-state target magnetic field strength based on the sign of the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment, and determining the minimum amplitude of the decrease in magnetic field strength to approach the steady-state target magnetic field strength based on the sign of the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment. The specific process is as follows: The minimum amplitude of the magnetic field strength that should be increased to approach the steady-state target magnetic field strength is obtained based on the sign of the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment. This minimum amplitude is equal to the minimum value among the differences between the steady-state target magnetic field strength of the electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment that are greater than or equal to zero. The minimum amplitude of the magnetic field strength that should be reduced to approach the steady-state target magnetic field strength is obtained based on the sign of the difference between the steady-state target magnetic field strength of each electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment. This minimum amplitude is equal to the minimum value among the absolute values ​​of the differences between the steady-state target magnetic field strength of the electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment, where the difference between the steady-state target magnetic field strength of the electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment is less than zero. The above calculation formula is: in: —The magnetic field strength should be increased to the minimum amplitude of the magnetic field strength near the steady-state target; —The magnetic field strength should be reduced to the minimum amplitude of the magnetic field strength near the steady-state target; The steps of obtaining the difference between the steady-state target magnetic field strength and the transient magnetic field strength of each electromagnetic suspension at the previous moment, and the multiple by which the magnetic field strength should change to approach the minimum amplitude of the steady-state target magnetic field strength, include two aspects: obtaining the difference between the steady-state target magnetic field strength and the transient magnetic field strength of each electromagnetic suspension at the previous moment, and the multiple by which the magnetic field strength should increase to approach the minimum amplitude of the steady-state target magnetic field strength; and obtaining the difference between the steady-state target magnetic field strength and the transient magnetic field strength of each electromagnetic suspension at the previous moment, and the multiple by which the magnetic field strength should decrease to approach the minimum amplitude of the steady-state target magnetic field strength. The specific process is as follows: The above calculation formula is: in: ——No. The magnitude of the difference in magnetic field strength between the electromagnetic suspension components should be a multiple of the minimum amplitude of the magnetic field strength closest to the steady-state target magnetic field strength. ——No. The magnitude of the difference in magnetic field strength between the electromagnetic suspensions should be a multiple of the minimum amplitude of the magnetic field strength closest to the steady-state target magnetic field strength.

4. The method for coordinated control of magnetic field strength of a multi-round intelligent electromagnetic device according to claim 3, characterized in that: The specific steps for calculating the increase and decrease of electromagnetic intensity during the first theoretical period of each electromagnetic suspension are as follows: The increase in electromagnetic intensity during the first theoretical period for each electromagnetic suspension is equal to the amplification of the theoretical maximum value of the magnetic field strength that should be increased closer to the steady-state target magnetic field strength, based on the relationship between the difference in magnetic field strength of each electromagnetic suspension and the multiple of the minimum amplitude of the magnetic field strength that should be increased closer to the steady-state target magnetic field strength. The electromagnetic intensity reduction variable in the first theoretical period of each electromagnetic suspension is equal to the theoretical maximum value of the magnetic field intensity that should be reduced near the steady-state target magnetic field intensity, which is amplified by a factor of the difference in magnetic field intensity of each electromagnetic suspension and the multiple relationship between the magnitude of the difference in magnetic field intensity of each electromagnetic suspension and the minimum amplitude of the magnetic field intensity that should be reduced near the steady-state target magnetic field intensity. The above calculation formula is: in: ——No. The electromagnetic intensity of the electromagnetic suspension increases during the first theoretical cycle. ——No. The electromagnetic intensity decreases during the first theoretical cycle of the electromagnetic suspension. The step of obtaining the ratio of the change in electromagnetic intensity of each electromagnetic suspension during the first theoretical period to the maximum allowable change in electromagnetic intensity of the electromagnetic suspension during the mission period based on its characteristics includes two aspects: obtaining the ratio of the increase in electromagnetic intensity of each electromagnetic suspension during the first theoretical period to the maximum allowable increase in electromagnetic intensity of the electromagnetic suspension during the mission period based on its characteristics; and obtaining the ratio of the decrease in electromagnetic intensity of each electromagnetic suspension during the first theoretical period to the maximum allowable decrease in electromagnetic intensity of the electromagnetic suspension during the mission period based on its characteristics. The specific process is as follows: The above calculation formula is: in: )——No. The ratio of the increase in electromagnetic intensity during the first theoretical cycle of an electromagnetic suspension to the maximum value of the maximum electromagnetic intensity that is allowed to increase during the mission cycle according to the characteristics of its electromagnetic suspension. ——No. The ratio of the decrease in electromagnetic intensity during the first theoretical cycle of an electromagnetic suspension to the maximum value of the maximum electromagnetic intensity that can be reduced during the mission cycle according to its electromagnetic suspension characteristics; Furthermore, it can be seen that: 。 5. The method for coordinated control of magnetic field strength of a multi-round intelligent electromagnetic device according to claim 4, characterized in that: The step of obtaining the maximum value of the ratio of the change in electromagnetic intensity of each electromagnetic suspension during the first theoretical period corresponding to the change in field strength close to the steady-state target magnetic field strength to the maximum electromagnetic intensity that the electromagnetic suspension is allowed to change during the mission period according to its characteristics includes two aspects: obtaining the maximum value of the ratio of the increase in electromagnetic intensity of each electromagnetic suspension during the first theoretical period corresponding to the increase in field strength close to the steady-state target magnetic field strength to the maximum electromagnetic intensity that the electromagnetic suspension is allowed to increase during the mission period according to its characteristics, and obtaining the maximum value of the ratio of the decrease in electromagnetic intensity of each electromagnetic suspension during the first theoretical period corresponding to the decrease in field strength close to the steady-state target magnetic field strength to the maximum electromagnetic intensity that the electromagnetic suspension is allowed to decrease during the mission period according to its characteristics. The specific process is as follows: The above calculation formula is: in: —The field strength should be increased by the maximum proportion of the magnetic field strength near the steady-state target; —The field strength should be reduced by the maximum proportion of the magnetic field strength near the steady-state target; The step of calculating the electromagnetic intensity change variable of each electromagnetic suspension during the second theoretical period includes two aspects: calculating the increase variable and the decrease variable of the electromagnetic intensity during the second theoretical period of each electromagnetic suspension. The specific process is as follows: The increase in electromagnetic intensity during the second theoretical period for each electromagnetic suspension is equal to the increase in electromagnetic intensity during the first theoretical period for each electromagnetic suspension divided by the maximum proportional increase in field strength that should be close to the steady-state target magnetic field strength. The decrease in electromagnetic intensity during the second theoretical period for each electromagnetic suspension is equal to the decrease in electromagnetic intensity during the first theoretical period for each electromagnetic suspension divided by the maximum proportional value of the field intensity reduction close to the steady-state target magnetic field strength. The above calculation formula is: in: ——No. The electromagnetic intensity of the electromagnetic suspension increases during the second theoretical period; ——No. The electromagnetic intensity decreases during the second theoretical period of the electromagnetic suspension. Furthermore, it can be seen that: Furthermore, it can be seen that: 。 6. The method for coordinated control of magnetic field strength of a multi-round intelligent electromagnetic device according to claim 5, characterized in that: The specific steps for calculating the ratio of the theoretical maximum period value of the magnetic field strength near the steady-state target to the theoretical maximum period value of the magnetic field strength near the steady-state target should be as follows: The above calculation formula is: in: —The ratio of the theoretical maximum period of the magnetic field strength near the steady-state target to the theoretical maximum period of the magnetic field strength near the steady-state target should be reduced; The specific steps for calculating the ratio of the minimum amplitude of the magnetic field strength that should be increased near the steady-state target to the minimum amplitude of the magnetic field strength that should be decreased near the steady-state target are as follows: The above calculation formula is: in: —The ratio of the minimum amplitude of the magnetic field strength near the steady-state target to the minimum amplitude of the magnetic field strength near the steady-state target should be increased.

7. The method for coordinated control of magnetic field strength of a multi-round intelligent electromagnetic device according to claim 6, characterized in that: The specific process for calculating the ratio of the maximum increase in field strength near the steady-state target magnetic field strength to the maximum decrease in field strength near the steady-state target magnetic field strength is as follows: The above calculation formula is: in: —The ratio of the maximum percentage increase in field strength near the steady-state target magnetic field strength to the maximum percentage decrease in field strength near the steady-state target magnetic field strength; The specific process for obtaining the product of the aforementioned three ratios is as follows: That is: the total product of the following: the ratio of the theoretical maximum period of the magnetic field strength that should decrease near the steady-state target to the theoretical maximum period of the magnetic field strength that should increase near the steady-state target; the ratio of the minimum amplitude of the magnetic field strength that should increase near the steady-state target to the minimum amplitude of the magnetic field strength that should decrease near the steady-state target; and the ratio of the maximum proportional value of the magnetic field strength that should increase near the steady-state target to the maximum proportional value of the magnetic field strength that should decrease near the steady-state target. The above calculation formula is: in: —The total product of ratios.

8. The method for coordinated control of magnetic field strength of a multi-round intelligent electromagnetic device according to claim 7, characterized in that: The specific steps for calculating the increase and decrease of electromagnetic intensity in the third theoretical period of each electromagnetic suspension are as follows: The increase in electromagnetic intensity during the third theoretical period of each electromagnetic suspension is equal to the smaller of 1 and the reciprocal of the product of the total ratios, multiplied by the increase in electromagnetic intensity during the second theoretical period of each electromagnetic suspension. The decrease in electromagnetic intensity during the third theoretical period of each electromagnetic suspension is equal to the smaller of 1 and the total product of the ratios, multiplied by the decrease in electromagnetic intensity during the second theoretical period of each electromagnetic suspension. The above calculation formula: in: ——No. The electromagnetic intensity of the electromagnetic suspension increases during the third theoretical period. ——No. The electromagnetic intensity decreases during the third theoretical period of the electromagnetic suspension. Furthermore, if Therefore, we can know that: Furthermore, if Therefore, we can know that: Furthermore, it can be seen that: Furthermore, it can be seen that: It can be seen that the increase in electromagnetic intensity during the third theoretical period of the electromagnetic suspension and the decrease in electromagnetic intensity during the third theoretical period of each electromagnetic suspension are both less than or equal to the maximum value of the maximum electromagnetic intensity that the corresponding electromagnetic suspension can increase during the task period according to its characteristics, and the maximum value of the maximum electromagnetic intensity that the corresponding electromagnetic suspension can decrease during the task period according to its characteristics. This avoids the risk of damage to the electromagnetic suspension hardware circuit and reduced service life caused by excessive changes in the magnetic field strength of each electromagnetic suspension.

9. The method for coordinated control of magnetic field strength of a multi-round intelligent electromagnetic device according to claim 8, characterized in that: The transient magnetic field strength of each electromagnetic suspension is calculated based on the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment, the increase variable of the electromagnetic strength during the third theoretical period of each electromagnetic suspension, the decrease variable of the electromagnetic strength during the third theoretical period of each electromagnetic suspension, and the transient magnetic field strength of the electromagnetic suspension at the previous moment. If the difference between the steady-state target magnetic field strength and the transient magnetic field strength of the electromagnetic suspension at the previous moment is greater than or equal to zero, then the transient magnetic field strength of the electromagnetic suspension at the current moment is equal to the transient magnetic field strength of the electromagnetic suspension at the previous moment plus the increase variable of the electromagnetic strength during the third theoretical period of the electromagnetic suspension. If the difference between the steady-state target magnetic field strength of the electromagnetic suspension and the transient magnetic field strength of the electromagnetic suspension at the previous moment is less than zero, then the transient magnetic field strength of the electromagnetic suspension at the current moment is equal to the transient magnetic field strength of the electromagnetic suspension at the previous moment minus the electromagnetic strength of the third theoretical period. The specific process of the variable reduction step is as follows: The above calculation formula is: in: ——No. The transient magnetic field strength of the electromagnetic suspension at the current moment; Furthermore, the steps of calculating the difference between the steady-state target magnetic field strength and the transient magnetic field strength of each electromagnetic suspension at the previous moment, and calculating the ratio of the maximum proportion by which the field strength should increase closer to the steady-state target magnetic field strength to the maximum proportion by which the field strength should decrease closer to the steady-state target magnetic field strength, are continuously executed in a loop. At the end of each single loop, the current moment becomes the previous moment, and the transient magnetic field strength of each electromagnetic suspension at the previous moment is updated to... ; Furthermore, the steps of calculating the difference between the steady-state target magnetic field strength and the transient magnetic field strength of each electromagnetic suspension at the previous moment, and then calculating the ratio of the maximum proportion by which the field strength should increase closer to the steady-state target magnetic field strength to the maximum proportion by which the field strength should decrease closer to the steady-state target magnetic field strength, are continuously executed in a loop. After multiple loops, the transient magnetic field strength of each electromagnetic suspension at the current moment is finally equal to the steady-state target magnetic field strength of that electromagnetic suspension. ; Furthermore, the transient magnetic field strength of each electromagnetic suspension at the current moment is equal to the adjustment time of the steady-state target magnetic field strength of that electromagnetic suspension: in: —The time required for the magnetic field strength to increase to the steady-state target magnetic field strength; —The time required for the magnetic field strength to decrease to the steady-state target magnetic field strength; Furthermore, if Therefore, we can know that: Furthermore, combining the steps of calculating the increase and decrease of electromagnetic intensity in the third theoretical period for each electromagnetic suspension, it can be transformed into: Furthermore, it can be simplified as follows: Furthermore, combining the steps of calculating the ratio of the theoretical maximum period of the magnetic field strength that should decrease near the steady-state target magnetic field strength to the theoretical maximum period of the magnetic field strength that should increase near the steady-state target magnetic field strength, the steps of calculating the ratio of the minimum amplitude of the magnetic field strength that should increase near the steady-state target magnetic field strength to the minimum amplitude of the magnetic field strength that should decrease near the steady-state target magnetic field strength, the steps of calculating the ratio of the maximum proportional value of the field strength that should increase near the steady-state target magnetic field strength to the maximum proportional value of the field strength that should decrease near the steady-state target magnetic field strength, and the steps of obtaining the product of the aforementioned three ratios, it can be transformed into: Furthermore, by combining the steps of calculating the electromagnetic intensity change variable of each electromagnetic suspension during the second theoretical period, it can be seen that: Furthermore, it can be simplified to: Furthermore, combining the steps of calculating the increase and decrease of electromagnetic intensity during the first theoretical period for each electromagnetic suspension, it can be transformed into: Furthermore, by combining the steps of obtaining the difference between the steady-state target magnetic field strength and the transient magnetic field strength of each electromagnetic suspension at the previous moment, and the multiple by which the change in magnetic field strength should approach the minimum amplitude of the steady-state target magnetic field strength, it can be concluded that: Furthermore, it can be simplified to: Furthermore, if Therefore, we can know that: Furthermore, combining the steps of calculating the increase and decrease of electromagnetic intensity in the third theoretical period for each electromagnetic suspension, it can be transformed into: Furthermore, it can be simplified as follows: Furthermore, combining the steps of calculating the ratio of the theoretical maximum period of the magnetic field strength that should decrease near the steady-state target magnetic field strength to the theoretical maximum period of the magnetic field strength that should increase near the steady-state target magnetic field strength, the steps of calculating the ratio of the minimum amplitude of the magnetic field strength that should increase near the steady-state target magnetic field strength to the minimum amplitude of the magnetic field strength that should decrease near the steady-state target magnetic field strength, the steps of calculating the ratio of the maximum proportional value of the field strength that should increase near the steady-state target magnetic field strength to the maximum proportional value of the field strength that should decrease near the steady-state target magnetic field strength, and the steps of obtaining the product of the aforementioned three ratios, it can be transformed into: Furthermore, by combining the steps of calculating the electromagnetic intensity change variable of each electromagnetic suspension during the second theoretical period, it can be seen that: Furthermore, it can be simplified to: Furthermore, combining the steps of calculating the increase and decrease of electromagnetic intensity during the first theoretical period for each electromagnetic suspension, it can be transformed into: Furthermore, by combining the steps of obtaining the difference between the steady-state target magnetic field strength and the transient magnetic field strength of each electromagnetic suspension at the previous moment, and the multiple by which the change in magnetic field strength should approach the minimum amplitude of the steady-state target magnetic field strength, it can be concluded that: Furthermore, it can be simplified to: It can be known that: if but ; like but Furthermore, it can be concluded that the time required for the magnetic field strength in each electromagnetic suspension to increase to the steady-state target magnetic field strength is the same, and the time required for the magnetic field strength in each electromagnetic suspension to decrease to the steady-state target magnetic field strength is also the same. Moreover, the time required for the magnetic field strength in each electromagnetic suspension to increase to the steady-state target magnetic field strength is also the same as the time required for the magnetic field strength in each electromagnetic suspension to decrease to the steady-state target magnetic field strength. This ensures that the magnetic field strength of each electromagnetic suspension changes to the steady-state target magnetic field strength simultaneously and synchronously, avoiding the problem of uncoordinated and asynchronous changes in the magnetic field strength of each electromagnetic suspension.

10. A multi-wheel intelligent electromagnetic device magnetic field strength coordination control device, comprising a computer program, characterized in that: The computer program is capable of executing the multi-round intelligent electromagnetic device magnetic field strength coordination control method as described in any one of claims 1 to 9.

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