Superconducting high-speed maglev positioning and speed measuring device and method

Abstract

The application provides a superconducting high-speed maglev positioning and speed measuring device and method, which comprises four groups of antenna units, a power supply unit, a first signal processing unit, a second signal processing unit and a third signal processing unit arranged on a maglev train; each group of antenna units comprises one transmitting antenna and two receiving antennas; each transmitting antenna is used for generating a high-frequency electromagnetic field, and a levitation coil corresponding to each transmitting antenna generates an induced electromotive force under the relative motion of itself and the transmitting antenna; each receiving antenna generates an induced electromotive force under the relative motion of itself and the levitation coil; the first signal processing unit is used for acquiring a first voltage signal, and the second signal processing unit is used for acquiring a second voltage signal; and the third signal processing unit is used for acquiring the position and speed of the maglev train according to the first voltage signal and the second voltage signal. The application can solve the technical problems of high cost of ground positioning and speed measuring and low precision of vehicle-mounted positioning and speed measuring in the prior art.

Description

Technical Field

[0001] This invention relates to the field of magnetic levitation technology, and in particular to a superconducting high-speed magnetic levitation positioning and speed measuring device and method. Background Technology

[0002] Currently, maglev train technology is developing rapidly. Abroad, Japan's superconducting high-speed maglev project continues to advance, while the US's Hyperloop is testing speeds up to 1000 km / h. my country is also conducting research and development on maglev train technologies, exemplified by the high-speed flying train developed by China Aerospace Science and Industry Corporation.

[0003] The contactless levitation system of maglev trains requires the positioning and speed measurement system to acquire the real-time position and speed information of the train in a contactless manner. This information is transmitted to the ground traction control system to complete closed-loop traction control and segmented power supply, and also to the ground operation control system to achieve safety protection, centralized control and scheduling.

[0004] Both the traction control system and the operation control system are located on the ground; therefore, the positioning and speed measurement information ultimately needs to be transmitted to the ground. Based on the transmission and parsing methods of the positioning and speed measurement system, positioning and speed measurement schemes can be divided into two categories: ground-based positioning and speed measurement and vehicle-mounted positioning and speed measurement.

[0005] Current mainstream positioning and speed measurement technologies for maglev trains are ground-based solutions, including cross-induction loop technology and structured detection technology based on optical principles. However, ground-based positioning and speed measurement systems often require installation along the entire line, resulting in high hardware, installation, and maintenance costs. Therefore, to reduce or even eliminate these costs, onboard positioning and speed measurement is needed. This involves measuring position and speed using onboard equipment and transmitting the data to the ground control system via wireless communication. Sensorless technology can utilize existing equipment on existing maglev lines to perform positioning and speed measurement in medium- and high-speed sections; however, it suffers from low back electromotive force and low accuracy at low speeds. Summary of the Invention

[0006] This invention provides a superconducting high-speed maglev positioning and speed measurement device and method, which can solve the technical problems of high cost of ground positioning and speed measurement and low accuracy of vehicle-mounted positioning and speed measurement in the prior art.

[0007] According to one aspect of the present invention, a superconducting high-speed maglev positioning and speed measuring device is provided. The device includes four sets of antenna units mounted on a maglev train, a power supply unit, a first signal processing unit, a second signal processing unit, and a third signal processing unit. The four sets of antenna units are spaced apart along the train's travel path. The distances between the first and second sets of antenna units, and between the third and fourth sets of antenna units, are all... The distance between the first group of antenna units and the third group of antenna units, and between the second group of antenna units and the fourth group of antenna units, is 3l; each group of antenna units includes one transmitting antenna and two receiving antennas, where τ is the distance between the center lines of adjacent levitation coils, and l is the length of the single-phase module of the ground linear motor;

[0008] The transmitting antennas of the first group of antenna units, the third group of antenna units, the second group of antenna units, and the fourth group of antenna units are connected in series with the power supply unit to form a loop. The transmitting antennas of the first group of antenna units and the second group of antenna units are connected in the same direction, while the transmitting antennas of the third group of antenna units and the fourth group of antenna units are connected in reverse. The first receiving antenna, the first signal processing unit, the second receiving antenna of the first group of antenna units, the second receiving antenna of the third group of antenna units, and the first receiving antenna of the third group of antenna units are connected in series to form a loop. The first receiving antenna of the first group of antenna units and the first receiving antenna of the third group of antenna units are connected in the same direction, while the second receiving antenna of the first group of antenna units and the second receiving antenna of the third group of antenna units are connected in reverse. The first receiving antenna, the second signal processing unit, the second receiving antenna of the second group of antenna units, the second receiving antenna of the fourth group of antenna units, and the first receiving antenna of the fourth group of antenna units are connected in series to form a loop. The first receiving antenna of the second group of antenna units and the first receiving antenna of the fourth group of antenna units are connected in the same direction, while the second receiving antenna of the second group of antenna units and the second receiving antenna of the fourth group of antenna units are connected in reverse.

[0009] Each of the transmitting antennas is used to generate a high-frequency electromagnetic field. A levitation coil corresponding to each transmitting antenna generates an induced electromotive force (EMF) due to its relative motion with the transmitting antenna. Each receiving antenna also generates an induced EMF due to its relative motion with the levitation coil. The first signal processing unit is used to acquire a first voltage signal based on the induced EMF generated by the receiving antennas of the first and third antenna groups. The second signal processing unit is used to acquire a second voltage signal based on the induced EMF generated by the receiving antennas of the second and fourth antenna groups. The third signal processing unit is used to acquire the position and speed of the maglev train based on the first and second voltage signals.

[0010] Preferably, all antennas in the four groups of antenna elements are wound in the same direction.

[0011] Preferably, the third signal processing unit is used to obtain the position and speed of the maglev train based on the first voltage signal and the second voltage signal, including:

[0012] The third signal processing unit is used to extract the outer envelope curves of the first voltage signal and the second voltage signal respectively, to obtain the first outer envelope curve and the second outer envelope curve;

[0013] The third signal processing unit is also used to obtain the phase angle between the first outer envelope curve and the second outer envelope curve using arctangent;

[0014] The third signal processing unit is also used to obtain the position of the maglev train based on the phase angle;

[0015] The third signal processing unit is also used to obtain the speed of the maglev train based on its position.

[0016] Preferably, the power supply unit is a high-frequency power supply.

[0017] According to another aspect of the present invention, a positioning and velocity measurement method for superconducting high-speed magnetic levitation is provided, the method employing any of the aforementioned devices for positioning and velocity measurement, the method comprising:

[0018] The power supply unit supplies current to each of the transmitting antennas to generate a high-frequency electromagnetic field in each of the transmitting antennas;

[0019] The levitation coil corresponding to each of the transmitting antennas generates an induced electromotive force due to its relative motion with the transmitting antenna;

[0020] Each of the receiving antennas generates an induced electromotive force due to its relative motion with the levitation coil;

[0021] The first signal processing unit obtains a first voltage signal based on the induced electromotive force generated by the receiving antennas of the first group of antenna units and the third group of antenna units;

[0022] The second signal processing unit obtains the second voltage signal based on the induced electromotive force generated by the receiving antennas of the second group of antenna elements and the fourth group of antenna elements;

[0023] The third signal processing unit obtains the position and speed of the maglev train based on the first voltage signal and the second voltage signal.

[0024] Preferably, all antennas in the four groups of antenna elements are wound in the same direction.

[0025] Preferably, the third signal processing unit obtains the position and speed of the maglev train based on the first voltage signal and the second voltage signal, including:

[0026] The third signal processing unit extracts the outer envelope curves of the first voltage signal and the second voltage signal respectively to obtain the first outer envelope curve and the second outer envelope curve;

[0027] The third signal processing unit uses arctangent to obtain the phase angle between the first outer envelope curve and the second outer envelope curve;

[0028] The third signal processing unit obtains the position of the maglev train based on the phase angle;

[0029] The third signal processing unit obtains the speed of the maglev train based on its position.

[0030] Preferably, the first voltage signal is obtained by the following formula:

[0031]

[0032] In the formula, U1 is the first voltage signal, U 11 U 12 The first and second receiving antennas of the first group of antenna elements are based on the induced electromotive force generated by the levitation coil, U 31 U 32 The first and second receiving antennas of the third antenna unit are based on the induced electromotive force generated by the levitation coil, U t11 U t12 The first and second receiving antennas of the first group of antenna elements are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t21 U t22 The first and second receiving antennas of the second group of antenna elements are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t31 U t32 The first and second receiving antennas of the third antenna unit are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t41 U t42 The first and second receiving antennas of the fourth antenna unit are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor.

[0033] Preferably, the second voltage signal is obtained by the following formula:

[0034]

[0035] In the formula, U2 is the second voltage signal, U 21 U 22 The first and second receiving antennas of the second group of antenna elements are based on the induced electromotive force generated by the levitation coil, U 41 U 42 The first and second receiving antennas of the fourth antenna unit are based on the induced electromotive force generated by the levitation coil, U t11 U t12 The first and second receiving antennas of the first group of antenna elements are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t21 Ut22 The first and second receiving antennas of the second group of antenna elements are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t31 U t32 The first and second receiving antennas of the third antenna unit are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t41 U t42 The first and second receiving antennas of the fourth antenna unit are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor.

[0036] Preferably, the power supply unit is a high-frequency power supply.

[0037] By applying the technical solution of this invention, the influence of harmonic magnetic fields from the ground linear motor is counteracted through the limitation of the spacing between four sets of antenna elements and the reverse series connection of the transmitting antenna and the series reverse connection of the receiving antenna. This also doubles the induced electromotive force, facilitating signal processing and enabling the determination of the position and speed of the superconducting high-speed maglev train during operation. This provides speed and position information to the traction control system, thereby enabling train control. This invention can meet the requirements of the traction and operation control systems for full-speed positioning and measurement across the entire line. Compared with traditional ground-based positioning and speed measurement methods, it does not require the laying of related equipment along the line, offering significant advantages in cost and maintainability. Furthermore, this invention fully utilizes existing objects (levitation coils) on the superconducting high-speed maglev line to complete the detection of the train's position and speed, making it more applicable than existing solutions and further reducing the cost of the positioning and speed measurement system. Attached Figure Description

[0038] The accompanying drawings, which form part of this specification, are provided to further illustrate embodiments of the invention and, together with the textual description, explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0039] Figure 1 A schematic diagram of a positioning and speed measuring device according to an embodiment of the present invention is shown.

[0040] Figure 2 It shows Figure 1 Top view of the positioning and speed measuring device;

[0041] Figure 3 It shows Figure 1 Circuit diagram of the four antenna units in the middle;

[0042] Figure 4The diagram shows a high-frequency power supply output current waveform according to an embodiment of the present invention.

[0043] Figure 5 The diagram shows the induced electromotive force waveform of the receiving antenna of the first group of antenna elements provided according to an embodiment of the present invention;

[0044] Figure 6 The diagram shows the induced electromotive force waveform of the receiving antenna of the second set of antenna elements provided according to an embodiment of the present invention;

[0045] Figure 7 The diagram shows a waveform of the effect of a spatial harmonic magnetic field of a linear motor on the induced electromotive force generated by a receiving antenna, according to an embodiment of the present invention.

[0046] Figure 8 The diagram shows waveforms of the first and second voltage signals provided according to an embodiment of the present invention;

[0047] Figure 9 The diagram shows the outer envelope curves of the first and second voltage signals provided according to an embodiment of the present invention.

[0048] The above figures include the following reference numerals:

[0049] 1. Transmitting antenna of the first antenna unit; 2. Transmitting antenna of the second antenna unit; 3. Transmitting antenna of the third antenna unit; 4. Transmitting antenna of the fourth antenna unit; 5. First receiving antenna of the first antenna unit; 6. Second receiving antenna of the first antenna unit; 7. First receiving antenna of the second antenna unit; 8. Second receiving antenna of the second antenna unit; 9. First receiving antenna of the third antenna unit; 10. Second receiving antenna of the third antenna unit; 11. First receiving antenna of the fourth antenna unit; 12. Second receiving antenna of the fourth antenna unit; 13. Suspension coil; 14. Suspension coil hinge wire; 15. Linear motor; 16. Power supply unit; 17. First signal processing unit; 18. Second signal processing unit. Detailed Implementation

[0050] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0052] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0053] like Figures 1-3 As shown, this invention provides a superconducting high-speed maglev positioning and speed measuring device. The device includes four sets of antenna units mounted on a maglev train, a power supply unit 16, a first signal processing unit 17, a second signal processing unit 18, and a third signal processing unit. The four sets of antenna units are spaced apart along the train's travel path. The distances between the first and second sets of antenna units, and between the third and fourth sets of antenna units, are all... The distance between the first group of antenna units and the third group of antenna units, and between the second group of antenna units and the fourth group of antenna units, is 3l; each group of antenna units includes one transmitting antenna and two receiving antennas, where τ is the distance between the center lines of adjacent levitation coils, and l is the length of the single-phase module of the ground linear motor;

[0054] The transmitting antenna 1 of the first group of antenna units, the transmitting antenna 3 of the third group of antenna units, the transmitting antenna 2 of the second group of antenna units, and the transmitting antenna 4 of the fourth group of antenna units are connected in series with the power supply unit 16 to form a loop. The transmitting antenna 1 of the first group of antenna units and the transmitting antenna 2 of the second group of antenna units are connected in the same direction, while the transmitting antenna 3 of the third group of antenna units and the transmitting antenna 4 of the fourth group of antenna units are connected in reverse. The first receiving antenna 5 of the first group of antenna units, the first signal processing unit 17, the second receiving antenna 6 of the first group of antenna units, the second receiving antenna 10 of the third group of antenna units, and the first receiving antenna 9 of the third group of antenna units are connected in series to form a loop. The first receiving antenna 5 of the first antenna unit is connected in the same direction as the first receiving antenna 9 of the third antenna unit, and the second receiving antenna 6 of the first antenna unit is connected in the opposite direction to the second receiving antenna 10 of the third antenna unit; the first receiving antenna 7 of the second antenna unit, the second signal processing unit, the second receiving antenna 8 of the second antenna unit, the second receiving antenna 12 of the fourth antenna unit, and the first receiving antenna 11 of the fourth antenna unit are connected in series to form a loop, and the first receiving antenna 7 of the second antenna unit is connected in the same direction as the first receiving antenna 11 of the fourth antenna unit, and the second receiving antenna 8 of the second antenna unit is connected in the opposite direction to the second receiving antenna 12 of the fourth antenna unit;

[0055] Each transmitting antenna is used to generate a high-frequency electromagnetic field. The levitation coil 13 corresponding to each transmitting antenna generates an induced electromotive force (EMF) under its relative motion with the transmitting antenna. Each receiving antenna also generates an induced EMF under its relative motion with the levitation coil 13. The first signal processing unit 17 is used to obtain a first voltage signal based on the induced EMF generated by the receiving antennas of the first group of antenna units and the third group of antenna units. The second signal processing unit 18 is used to obtain a second voltage signal based on the induced EMF generated by the receiving antennas of the second group of antenna units and the fourth group of antenna units. The third signal processing unit is used to obtain the position and speed of the maglev train based on the first voltage signal and the second voltage signal.

[0056] This invention, by limiting the spacing between four sets of antenna elements and using reverse-connected series connection of the transmitting antenna and series reverse connection of the receiving antenna, cancels the influence of the harmonic magnetic field of the ground linear motor 15, and doubles the induced electromotive force, facilitating signal processing. This enables the determination of the position and speed of the superconducting high-speed maglev train during operation, providing speed and position information to the traction control system for train control. This invention can meet the requirements of the traction and operation control systems for full-speed positioning and measurement across the entire line. Compared with traditional ground-based positioning and speed measurement methods, it does not require the laying of related equipment along the line, offering significant advantages in cost and maintainability. Furthermore, this invention fully utilizes existing objects (levitation coil 13) on the superconducting high-speed maglev line to complete the detection of the train's position and speed, exhibiting greater applicability compared to existing solutions and further reducing the cost of the positioning and speed measurement system.

[0057] exist Figure 1 In this invention, the linear motor 15, the levitation coil 13, and the levitation coil hinge wire 14 are essential components of the superconducting levitation train, located in the ground track, and are all existing technologies; their principles will not be elaborated in this patent. The four antenna units, power supply unit 16, first signal processing unit 17, second signal processing unit 18, and third signal processing unit of this invention are all mounted on the maglev train and move with it. The power supply unit 16 and the three signal processing units can be positioned at any location on the train.

[0058] Furthermore, in this invention, the winding direction of all antennas in the four groups of antenna elements is consistent.

[0059] Furthermore, in this invention, the third signal processing unit is used to obtain the position and speed of the maglev train based on the first voltage signal and the second voltage signal, including:

[0060] The third signal processing unit is used to extract the outer envelope curves of the first voltage signal and the second voltage signal respectively, to obtain the first outer envelope curve and the second outer envelope curve;

[0061] The third signal processing unit is also used to obtain the phase angle between the first outer envelope curve and the second outer envelope curve using arctangent;

[0062] The third signal processing unit is also used to obtain the position of the maglev train based on the phase angle;

[0063] The third signal processing unit is also used to obtain the speed of the maglev train based on its position.

[0064] Furthermore, in this invention, the power supply unit 16 is a high-frequency power supply, and the high-frequency current waveform output by the high-frequency power supply is shown in the figure below. Figure 4 As shown.

[0065] This invention also provides a positioning and speed measurement method for superconducting high-speed magnetic levitation, wherein the method uses any of the above-described devices for positioning and speed measurement, and the method includes:

[0066] The power supply unit 16 supplies current to each of the transmitting antennas so that each of the transmitting antennas generates a high-frequency electromagnetic field.

[0067] The levitation coil 13 corresponding to each of the transmitting antennas generates an induced electromotive force due to its relative motion with the transmitting antenna;

[0068] Each of the receiving antennas generates an induced electromotive force due to its relative motion with the levitation coil 13;

[0069] The first signal processing unit 17 acquires a first voltage signal based on the induced electromotive force generated by the receiving antennas of the first group of antenna units and the third group of antenna units;

[0070] The second signal processing unit 18 acquires a second voltage signal based on the induced electromotive force generated by the receiving antennas of the second group of antenna elements and the fourth group of antenna elements;

[0071] The third signal processing unit obtains the position and speed of the maglev train based on the first voltage signal and the second voltage signal.

[0072] This invention, by limiting the spacing between four sets of antenna elements and using reverse-connected series connection of the transmitting antenna and series reverse connection of the receiving antenna, cancels the influence of the harmonic magnetic field of the ground linear motor 15, and doubles the induced electromotive force, facilitating signal processing. This enables the determination of the position and speed of the superconducting high-speed maglev train during operation, providing speed and position information to the traction control system for train control. This invention can meet the requirements of the traction and operation control systems for full-speed positioning and measurement across the entire line. Compared with traditional ground-based positioning and speed measurement methods, it does not require the laying of related equipment along the line, offering significant advantages in cost and maintainability. Furthermore, this invention fully utilizes existing objects (levitation coil 13) on the superconducting high-speed maglev line to complete the detection of the train's position and speed, exhibiting greater applicability compared to existing solutions and further reducing the cost of the positioning and speed measurement system.

[0073] Furthermore, in this invention, the winding direction of all antennas in the four groups of antenna elements is consistent.

[0074] Furthermore, in this invention, the third signal processing unit obtains the position and speed of the maglev train based on the first voltage signal and the second voltage signal, including:

[0075] The third signal processing unit extracts the outer envelope curves of the first voltage signal and the second voltage signal respectively to obtain the first outer envelope curve and the second outer envelope curve;

[0076] The third signal processing unit uses arctangent to obtain the phase angle between the first outer envelope curve and the second outer envelope curve;

[0077] The third signal processing unit obtains the position of the maglev train based on the phase angle;

[0078] The third signal processing unit obtains the speed of the maglev train based on its position.

[0079] Furthermore, in this invention, the power supply unit 16 is a high-frequency power supply.

[0080] To gain a further understanding of the present invention, the following description is provided in conjunction with... Figures 1-7 The superconducting high-speed magnetic levitation positioning and speed measuring device of the present invention will be described in detail.

[0081] For ease of description, the transmitting antenna 1 of the first antenna unit is labeled L_E1, the transmitting antenna 2 of the second antenna unit is labeled L_E2, the transmitting antenna 3 of the third antenna unit is labeled L_E3, the transmitting antenna 4 of the fourth antenna unit is labeled L_E4, the first receiving antenna 5 of the first antenna unit is labeled L_R11, the second receiving antenna 6 of the first antenna unit is labeled L_R12, the first receiving antenna 7 of the second antenna unit is labeled L_R21, the second receiving antenna 8 of the second antenna unit is labeled L_R22, the first receiving antenna 9 of the third antenna unit is labeled L_R31, the second receiving antenna 10 of the third antenna unit is labeled L_R32, the first receiving antenna 11 of the fourth antenna unit is labeled L_R41, and the second receiving antenna 12 of the fourth antenna unit is labeled L_R42.

[0082] In this embodiment, taking the first group of antenna elements as an example, the process of generating induced electromotive force is explained. When the transmitting antenna L_E1 is filled with... Figure 4 When a high-frequency current is applied, it generates a high-frequency electromagnetic field. According to the principle of electromagnetic induction, due to the relative motion between the transmitting antenna L_E1 and the levitation coil 13, an induced electromotive force with the same frequency as the high-frequency current will be generated in the levitation coil 13. Simultaneously, due to the relative motion between the levitation coil 13 and the receiving antennas (L_R11, L_R12), an induced electromotive force will be generated in the receiving antennas (L_R11, L_R12) as shown. Figure 5 The induced electromotive force is shown. Similarly, the other three sets of antenna elements will also generate induced electromotive forces. The induced electromotive force of the receiving antenna of the second set of antenna elements is shown in the figure. Figure 6 As shown.

[0083] Since the distances between the first group of antenna elements and the second group of antenna elements, and between the third group of antenna elements and the fourth group of antenna elements are all... The receiving antennas of the third antenna group have the same magnitude but opposite direction of the induced electromotive force (EMF) as the receiving antennas of the first antenna group; the receiving antennas of the fourth antenna group have the same magnitude but opposite direction of the induced EMF as the receiving antennas of the second antenna group. Receiving antennas L_R11 and L_R21 are based on the induced EMF U generated by the levitation coil 13. 11 U 21 The phase difference is 90°; the receiving antennas L_R12 and L_R22 are based on the induced electromotive force U generated by the levitation coil 13. 12 U 22 The phase difference is 90°; the receiving antennas L_R31 and L_R41 are based on the induced electromotive force U generated by the levitation coil 13. 31 U 41 The phase difference is 90°; the receiving antennas L_R32 and L_R42 are based on the induced electromotive force U generated by the levitation coil 13. 32 U 42 The phase difference is 90°.

[0084] Furthermore, due to the relative motion between the receiving antenna and the linear motor 15 on the ground, according to the relationship between the speed and current of the moving stator of the linear motor 15, the current frequency in the linear motor 15 and the speed of motion have a relationship of v = 2ωf, where ω is the pole pitch of the linear motor 15 and f is the current frequency. Therefore, the magnetic field generated by the fundamental frequency current of the linear motor 15 will not induce an electromotive force in the receiving antenna. However, the spatial harmonic magnetic field of the linear motor 15 will induce an electromotive force in the receiving antenna, such as... Figure 7 The induced electromotive force is shown.

[0085] Since the distances between the first and third antenna units, and between the second and fourth antenna units, are all 3l, the induced electromotive forces generated by the harmonic magnetic field of the linear motor 15 in the first receiving antennas L_R11 and L_R12 and the third receiving antennas L_R31 and L_R32 are the same, respectively U t11 =U t31 U t12 =U t32 The induced electromotive force generated by the harmonic magnetic field of the linear motor 15 in the second group of receiving antennas L_R21 and L_R22 is the same as that in the fourth group of receiving antennas L_R41 and L_R42, respectively, which is U t21 =U t41 U t22 =U t42 .

[0086] Therefore, based on the first group of antenna elements and the third group of antenna elements, the first voltage signal collected by the first signal processing unit 17 is obtained:

[0087] U1=U 11 +U t11 -(U 31 +U t31 )+U 32 +U t32 -(U 12 +U t12 );

[0088] Due to U t11 =U t31 U t12 =U t32 U t21 =U t41 U t22 =U t42 The above formula can be simplified to:

[0089] U1=U 11 -U 12 +U 32 -U 31 ;

[0090] Since L_E1 and L_E3 are connected in opposite directions, the induced electromotive forces generated in L_R11 and L_R31 are opposite, and the induced electromotive forces generated in L_R12 and L_R32 are opposite, i.e., U 11 =-U 31 U 12 =-U 32 The above equation can then be simplified to:

[0091] U1=2×(U 11 -U 12 ).

[0092] Similarly, based on the second and fourth antenna elements, the second voltage signal collected by the second signal processing unit 18 is obtained:

[0093] U2=U 21 +U t21 -(U 41 +U t41 )+U 42 +U t42 -(U 22 +U t22 );

[0094] Due to U t11 =U t31 U t12 =U t32 U t21 =Ut41 U t22 =U t42 The above formula can be simplified to:

[0095] U2=U 21 -U 22 +U 42 -U 41 ;

[0096] Since L_E2 and L_E4 are connected in opposite directions, the induced electromotive forces generated in L_R21 and L_R41 are opposite, and the induced electromotive forces generated in L_R22 and L_R42 are opposite, i.e., U 21 =-U 41 U 22 =-U 42 The above equation can then be simplified to:

[0097] U2=2×(U 21 -U 22 ).

[0098] The waveforms of the first and second voltage signals U1 and U2 are shown below. Figure 8 As shown.

[0099] During train motion, the waveforms U1 and U2 change with the phase angle α. Therefore, the outer envelope curves of the first and second voltage signals are extracted respectively to obtain the first outer envelope curve f1 and the second outer envelope curve f2, as follows. Figure 9 As shown. From Figure 9 It can be seen that the outer envelope is a trigonometric function curve and the two outer envelope curves are 90° out of phase.

[0100] Let f1 = sinα be the first outer envelope curve corresponding to U1, and f2 = cosα be the second outer envelope curve corresponding to U2. Then, the phase angle is calculated using the arctangent.

[0101] During train operation, the phase angle α is determined by... Become During the process, the train moves forward This allows us to determine the train's position, and then differentiate it to obtain the train's speed.

[0102] In summary, this invention provides a superconducting high-speed maglev positioning and speed measurement device and method. By limiting the spacing between four sets of antenna elements and using reverse series connection of the transmitting antenna and reverse series connection of the receiving antenna, the influence of the harmonic magnetic field of the ground linear motor 15 is offset, and the induced electromotive force is doubled, facilitating signal processing. This enables the determination of the position and speed of the superconducting high-speed maglev train during operation, providing speed and position information to the traction control system, thereby achieving train control. This invention can meet the positioning and speed measurement requirements of the traction control system and the operation control system for the entire line and the entire speed range. Compared with traditional ground positioning and speed measurement methods, it does not require the laying of related equipment on the ground along the line, which has significant advantages in terms of cost and maintainability. In addition, this invention makes full use of existing objects (levitation coil 13) on the superconducting high-speed maglev line to complete the detection of the train's position and speed, which has greater applicability than existing solutions and further reduces the cost of the positioning and speed measurement system.

[0103] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0104] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0105] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0106] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A superconducting high-speed magnetic levitation positioning and speed measuring device, characterized in that, The device includes four sets of antenna units, a power supply unit, a first signal processing unit, a second signal processing unit, and a third signal processing unit, all mounted on the maglev train. The four sets of antenna units are spaced apart along the train's direction of travel. The distances between the first and second sets of antenna units, and between the third and fourth sets of antenna units, are all... The distances between the first and third antenna groups, and between the second and fourth antenna groups, are all... Each group of antenna elements includes one transmitting antenna and two receiving antennas, wherein, The distance between the center lines of adjacent suspension coils. The length of a single-phase module of a ground linear motor; The transmitting antennas of the first group of antenna units, the third group of antenna units, the second group of antenna units, and the fourth group of antenna units are connected in series with the power supply unit to form a loop. The transmitting antennas of the first group of antenna units and the second group of antenna units are connected in the same direction, while the transmitting antennas of the third group of antenna units and the fourth group of antenna units are connected in reverse. The first receiving antenna, the first signal processing unit, the second receiving antenna of the first group of antenna units, the second receiving antenna of the third group of antenna units, and the first receiving antenna of the third group of antenna units are connected in series to form a loop. The first receiving antenna of the first group of antenna units and the first receiving antenna of the third group of antenna units are connected in the same direction, while the second receiving antenna of the first group of antenna units and the second receiving antenna of the third group of antenna units are connected in reverse. The first receiving antenna, the second signal processing unit, the second receiving antenna of the second group of antenna units, and the second receiving antenna of the fourth group of antenna units are connected in series to form a loop. The first receiving antenna of the second group of antenna units and the first receiving antenna of the fourth group of antenna units are connected in the same direction, while the second receiving antenna of the second group of antenna units and the second receiving antenna of the fourth group of antenna units are connected in reverse. Each of the transmitting antennas is used to generate a high-frequency electromagnetic field. A levitation coil corresponding to each transmitting antenna generates an induced electromotive force (EMF) due to its relative motion with the transmitting antenna. Each receiving antenna also generates an induced EMF due to its relative motion with the levitation coil. The first signal processing unit is used to acquire a first voltage signal based on the induced EMF generated by the receiving antennas of the first and third antenna groups. The second signal processing unit is used to acquire a second voltage signal based on the induced EMF generated by the receiving antennas of the second and fourth antenna groups. The third signal processing unit is used to acquire the position and speed of the maglev train based on the first and second voltage signals.

2. The apparatus according to claim 1, characterized in that, All antennas in the four antenna units are wound in the same direction.

3. The apparatus according to claim 1 or 2, characterized in that, The third signal processing unit is used to obtain the position and speed of the maglev train based on the first voltage signal and the second voltage signal, including: The third signal processing unit is used to extract the outer envelope curves of the first voltage signal and the second voltage signal respectively, to obtain the first outer envelope curve and the second outer envelope curve; The third signal processing unit is also used to obtain the phase angle between the first outer envelope curve and the second outer envelope curve using arctangent; The third signal processing unit is also used to obtain the position of the maglev train based on the phase angle; The third signal processing unit is also used to obtain the speed of the maglev train based on its position.

4. The apparatus according to claim 3, characterized in that, The power supply unit is a high-frequency power supply.

5. A superconducting high-speed magnetic levitation positioning and speed measurement method, characterized in that, The method uses any one of the devices described in claims 1-4 for positioning and speed measurement, and the method includes: The power supply unit supplies current to each of the transmitting antennas to generate a high-frequency electromagnetic field in each of the transmitting antennas; The levitation coil corresponding to each of the transmitting antennas generates an induced electromotive force due to its relative motion with the transmitting antenna; Each of the receiving antennas generates an induced electromotive force due to its relative motion with the levitation coil; The first signal processing unit obtains a first voltage signal based on the induced electromotive force generated by the receiving antennas of the first group of antenna units and the third group of antenna units; The second signal processing unit obtains the second voltage signal based on the induced electromotive force generated by the receiving antennas of the second group of antenna elements and the fourth group of antenna elements; The third signal processing unit obtains the position and speed of the maglev train based on the first voltage signal and the second voltage signal.

6. The method according to claim 5, characterized in that, All antennas in the four antenna units are wound in the same direction.

7. The method according to claim 5 or 6, characterized in that, The third signal processing unit obtains the position and speed of the maglev train based on the first voltage signal and the second voltage signal, including: The third signal processing unit extracts the outer envelope curves of the first voltage signal and the second voltage signal respectively to obtain the first outer envelope curve and the second outer envelope curve; The third signal processing unit uses arctangent to obtain the phase angle between the first outer envelope curve and the second outer envelope curve; The third signal processing unit obtains the position of the maglev train based on the phase angle; The third signal processing unit obtains the speed of the maglev train based on its position.

8. The method according to claim 5 or 6, characterized in that, The first voltage signal is obtained using the following formula: ； In the formula, U1 is the first voltage signal, U 11 U 12 The first and second receiving antennas of the first group of antenna elements are based on the induced electromotive force generated by the levitation coil, U 31 U 32 The first and second receiving antennas of the third antenna unit are based on the induced electromotive force generated by the levitation coil, U t11 U t12 The first and second receiving antennas of the first group of antenna elements are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t21 U t22 The first and second receiving antennas of the second group of antenna elements are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t31 U t32 The first and second receiving antennas of the third antenna unit are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t41 U t42 The first and second receiving antennas of the fourth antenna unit are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor.

9. The method according to claim 5 or 6, characterized in that, The second voltage signal is obtained using the following formula: ； In the formula, U2 is the second voltage signal, U 21 U 22 The first and second receiving antennas of the second group of antenna elements are based on the induced electromotive force generated by the levitation coil, U 41 U 42 The first and second receiving antennas of the fourth antenna unit are based on the induced electromotive force generated by the levitation coil, U t11 U t12 The first and second receiving antennas of the first group of antenna elements are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t21 U t22 The first and second receiving antennas of the second group of antenna elements are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t31 U t32 The first and second receiving antennas of the third antenna unit are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor, U t41 U t42 The first and second receiving antennas of the fourth antenna unit are based on the induced electromotive force generated by the harmonic magnetic field of the linear motor.

10. The method according to claim 5 or 6, characterized in that, The power supply unit is a high-frequency power supply.

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