A hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle and a control method thereof

Abstract

An embodiment of the present invention relates to a hydraulic suspension lateral vibration damping system for a magnetic levitation vehicle and a control method thereof. The hydraulic suspension lateral vibration damping system for a magnetic levitation vehicle includes: multiple hydraulic cylinders, each hydraulic cylinder corresponds to a suspension frame of the magnetic levitation vehicle, wherein the upper end of the hydraulic cylinder is connected to the vehicle body, and the lower end is connected to the suspension frame; each hydraulic cylinder is divided into an upper liquid chamber and a lower liquid chamber by a piston in the hydraulic cylinder; multiple upper liquid chambers are connected in parallel in sequence to form a first hydraulic branch, and multiple lower liquid chambers are connected in parallel in sequence to form a second hydraulic branch; accumulators are respectively arranged on the first hydraulic branch and the second hydraulic branch to provide stiffness for lateral movement of the vehicle body; the solenoid valve is arranged on the connecting branch of the first hydraulic branch and the second hydraulic branch; when the magnetic levitation vehicle is in a straight line, the solenoid valve is closed, and the system provides stiffness and damping for lateral movement of the vehicle body; when the magnetic levitation vehicle is in a curved line, the solenoid valve is opened, the connecting branch is connected, the stiffness of lateral movement of the vehicle body is zero, and the system provides damping.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic levitation vehicles, and in particular to a hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle and a control method thereof. Background Art

[0002] Low- and medium-speed maglev trains are a new type of rail transit vehicle that utilizes electromagnets and special F-shaped rails to generate electromagnetic force, providing levitation. The train operates without contact with the track, offering advantages such as low noise, low wear, a small turning radius, strong gradeability, zero pollution, and wide range of route selection options. They are a safe, reliable, economical, and environmentally friendly urban rail transit system, and a key development direction for urban rail transit. Currently, low- and medium-speed maglev systems primarily utilize five-stage suspension structures and are primarily used in large and medium-sized cities and metropolitan areas.

[0003] Existing guidance mechanisms such as Figure 1 As shown, it is mainly composed of a long rotating arm, a short rotating arm, a pull rod, a steel rope, etc. The long rotating arm and the short rotating arm are pinned to the car body respectively, which are the rotating center of the guide mechanism. They are connected to the front and rear by steel cables. One end of the horizontal pull rod is connected to the long rotating arm and the short rotating arm, and the other end is connected to the slide. Each car is equipped with 6 groups of slides, of which the slides at positions Ⅰ, Ⅲ, Ⅳ, and Ⅵ are connected to the bottom of the car body through linear bearings, and the slides can only move laterally relative to the car body; the slides at positions Ⅱ and Ⅴ are fixed to the car body, and the intersection points of the connecting lines of the left and right slides with the longitudinal center line of the car body can be regarded as the fixed rotating center when the train passes through the curve. An air spring is connected under the slides at positions Ⅰ and Ⅵ, and two air springs are connected under the slides at positions Ⅱ, Ⅲ, Ⅳ, and Ⅴ. When the train enters the curved line, the posture of the guide mechanism is as follows Figure 2 The long jib, short jib and pull rod distribute the lateral load on the train to each module, so that the suspension frame maintains a good posture during operation.

[0004] However, the guide mechanisms currently installed on medium and low-speed maglev trains have the characteristics of large spatial span, large range of motion, and heavy loads when the maglev vehicles enter and exit small-radius curves. As a result, the guide mechanisms occupy a large installation space and are heavy. Summary of the Invention

[0005] The purpose of the present invention is to address the defects of the existing technology and provide a hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle and a control method thereof. The hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle replaces the existing guide mechanism, which has the advantages of small space occupation, light weight and small load when entering and exiting small curves.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle, comprising:

[0007] Multiple hydraulic cylinders, each corresponding to a suspension frame of the magnetic levitation vehicle, wherein the upper end of the hydraulic cylinder is connected to the vehicle body and the lower end is connected to the suspension frame; each hydraulic cylinder is divided into an upper liquid chamber and a lower liquid chamber by a piston in the hydraulic cylinder; the upper liquid chambers of the multiple hydraulic cylinders are sequentially connected in parallel, and a first hydraulic branch is formed between adjacent upper liquid chambers in parallel connection; the lower liquid chambers of the multiple hydraulic cylinders are sequentially connected in parallel, and a second hydraulic branch is formed between adjacent upper liquid chambers in parallel connection;

[0008] accumulators, respectively provided on the first hydraulic branch and the second hydraulic branch, for providing rigidity for lateral movement of the vehicle body;

[0009] The solenoid valve is arranged on the connecting branch of the first hydraulic branch and the second hydraulic branch; when the magnetic levitation vehicle is in a straight line, the solenoid valve is closed, and the hydraulic suspension lateral vibration reduction system of the magnetic levitation vehicle provides stiffness and damping for the lateral movement of the vehicle body; when the magnetic levitation vehicle is in a curved line, the solenoid valve is opened, the first hydraulic branch and the second hydraulic branch are connected, the stiffness of the lateral movement of the vehicle body is zero, and the hydraulic suspension lateral vibration reduction system of the magnetic levitation vehicle provides damping.

[0010] Preferably, an upper oil inlet is provided on the side wall of the upper liquid chamber, a lower oil inlet is provided on the side wall of the lower liquid chamber, and a damping valve is provided on the branch outside the oil inlet.

[0011] Preferably, both ends of the piston rod of each hydraulic cylinder are provided with rubber joints or joint bearings to provide the deflection angle and torsion angle of the hydraulic cylinder, and are respectively connected to the vehicle body and the suspension frame by bolts.

[0012] Preferably, the portion of the piston rod extending outside the cylinder body is wrapped with a rubber protective sleeve;

[0013] The side walls of the upper liquid chamber and the lower liquid chamber are respectively provided with pressure measuring joints for measuring the system pressure with external equipment.

[0014] In a second aspect, the present invention provides a hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle, wherein the magnetic levitation vehicle includes a vehicle body, a slide, and an air spring, wherein the slides are arranged in pairs, including an upper slide and a lower slide, wherein the upper slide is located above the air spring, and the lower slide is mounted on a guide rail below the vehicle body and can move laterally along the guide rail. Adjacent upper slides and adjacent lower slides are connected by modules; three adjacent groups of slides constitute a subsystem; the hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle includes:

[0015] Multiple double-piston-rod hydraulic cylinders, each two hydraulic cylinders corresponding to a subsystem, wherein the upper and lower ends of one hydraulic cylinder are respectively connected to the first pair of slides in the hydraulic suspension subsystem, and the upper and lower ends of another hydraulic cylinder are respectively connected to the third pair of slides in the hydraulic suspension subsystem; each hydraulic cylinder is divided into an upper liquid chamber and a lower liquid chamber by a piston in the hydraulic cylinder; the upper liquid chambers of the two hydraulic cylinders in a group of hydraulic suspension subsystems are connected in parallel to form a first hydraulic branch, and the lower liquid chambers of the two hydraulic cylinders are connected in parallel to form a second hydraulic branch;

[0016] accumulators, respectively provided on the first hydraulic branch and the second hydraulic branch, for providing rigidity for lateral movement of the vehicle body;

[0017] an electromagnetic valve disposed on a connecting branch between the first hydraulic branch and the second hydraulic branch; when the magnetic levitation vehicle is on a straight route, the electromagnetic valve is closed, and the hydraulic suspension lateral vibration damping system of the magnetic levitation vehicle provides stiffness and damping for lateral motion of the vehicle body; when the magnetic levitation vehicle is on a curved route, the electromagnetic valve is opened, the first hydraulic branch and the second hydraulic branch are connected, the stiffness for lateral motion of the vehicle body is zero, and the hydraulic suspension lateral vibration damping system of the magnetic levitation vehicle provides damping;

[0018] The positioning column is arranged on the outer surface of the middle part of the cylinder body of the hydraulic cylinder. The hydraulic cylinder and the vehicle body are installed and positioned by the positioning column, and the lateral force and longitudinal force between the vehicle body and the slide can be transmitted.

[0019] Preferably, an upper oil inlet is provided on the side wall of the upper liquid chamber, a lower oil inlet is provided on the side wall of the lower liquid chamber, and a damping valve is provided on the branch outside the oil inlet.

[0020] Preferably, the piston rod end of each hydraulic cylinder is provided with a rubber joint or a joint bearing to provide a deflection angle and a torsion angle of the hydraulic cylinder, and is respectively connected to the slide and the vehicle body by bolts.

[0021] Preferably, the portion of the piston rod extending outside the cylinder body is wrapped with a rubber protective sleeve;

[0022] The side walls of the upper liquid chamber and the lower liquid chamber are respectively provided with pressure measuring joints for measuring the system pressure with external equipment;

[0023] The surface of the cylinder body is provided with a friction plate to reduce the rotational resistance between the vehicle body and the hydraulic cylinder.

[0024] The friction plate is connected to the surface of the cylinder body by welding or screws, and the material of the friction plate includes copper or polytetrafluoroethylene (PTFE).

[0025] In a third aspect, the present invention provides a method for controlling the hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle provided in the first or second aspect, comprising:

[0026] The control method includes:

[0027] The lateral acceleration signal of the magnetic levitation vehicle body is obtained by installing a lateral acceleration sensor on the vehicle body, and the lateral acceleration signal is integrated to obtain the lateral velocity of the vehicle body.

[0028] The displacement signal of the piston of each hydraulic cylinder during movement is measured by the displacement sensor integrated in each hydraulic cylinder, and the displacement signal is differentiated to obtain the piston movement speed of each hydraulic cylinder. The average speed of the pistons of multiple hydraulic cylinders is processed to obtain the average speed

[0029] when generating a first control signal to control the solenoid valve to close, disconnecting the two hydraulic branches of the hydraulic suspension lateral vibration damping system for the magnetic levitation vehicle, wherein the hydraulic suspension lateral vibration damping system for the magnetic levitation vehicle provides stiffness and damping for lateral movement of the vehicle body;

[0030] when A second control signal is generated to control the solenoid valve to open, and the two hydraulic branches of the hydraulic suspension lateral vibration damping system for the magnetic levitation vehicle are connected, so that the stiffness of the vehicle body lateral movement is zero, and the hydraulic suspension lateral vibration damping system for the magnetic levitation vehicle provides damping.

[0031] Preferably, the upper end of the hydraulic cylinder is connected to the vehicle body, and the lower end is connected to the suspension frame, and the piston movement is the relative speed between the vehicle body and the suspension frame; or,

[0032] The upper end of the hydraulic cylinder is connected to the upper slide, and the lower end is connected to the lower slide. The piston movement is the relative speed between the slide and the vehicle body.

[0033] The embodiment of the present invention provides a hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle. A hydraulic cylinder is installed on each suspension frame of the vehicle. The upper end of the hydraulic cylinder is connected to the vehicle body, and the lower end is connected to the suspension frame. The upper and lower parts of the hydraulic cylinder are connected in parallel to form a circuit. Two accumulators are designed in the middle of the circuit to provide displacement and stiffness for the lateral movement of the vehicle body. A normally closed solenoid valve is installed between the two branches. The solenoid valve switch is controlled by a controller. When the vehicle enters a curved route, the solenoid valve is controlled to open, and the two hydraulic branches are connected. The lateral movement of the vehicle body is no longer restricted. After the vehicle exits the curve, the solenoid valve is closed, and the hydraulic suspension system restores the lateral stiffness. The hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle of the present invention has the advantages of small space occupation, light weight, and small load when entering and exiting small curves. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a guide mechanism provided by the prior art on a straight line;

[0035] Figure 2 A schematic diagram of a guide mechanism provided by the prior art on a curved line;

[0036] Figure 3 This is a schematic structural diagram of the hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle provided in Example 1 of the present invention installed on the vehicle body;

[0037] Figure 4 A schematic diagram of the partial structure of a hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle provided in Example 1 of the present invention;

[0038] Figure 5 A schematic diagram of the installation structure of the hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle provided in Example 2 of the present invention on the vehicle body;

[0039] Figure 6 Schematic diagram of the hydraulic cylinder provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only some, not all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0041] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments.

[0042] An embodiment of the present invention provides a hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle. By utilizing the incompressibility of liquid and the compressibility of gas, the system provides displacement and stiffness for lateral movement of the vehicle body through upper and lower branches of a hydraulic cylinder and an accumulator designed in the middle of the circuits of the upper and lower branches, that is, provides a nonlinear lateral force. In addition, by installing a normally closed solenoid valve between the two branches, the solenoid valve is controlled to open when the vehicle enters a curved route, and the two hydraulic branches are connected, which no longer restricts the lateral movement of the vehicle body. After the vehicle exits the curve, the solenoid valve is closed, and the hydraulic suspension system restores the lateral stiffness.

[0043] The hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle of the present invention is based on the above-mentioned design principles, and can be implemented in more than one manner. The present invention provides two specific embodiments below to illustrate two specific implementations. However, it should be understood that all specific implementations based on the above-mentioned design principles are within the scope of protection of the present invention.

[0044] Example 1

[0045] Figure 3 This is a schematic diagram of a structure in which the hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle provided in Example 1 of the present invention is installed on the vehicle body. Figure 3 As shown, the hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle according to an embodiment of the present invention includes:

[0046] Multiple hydraulic cylinders, Figure 3 The figure shows hydraulic cylinders 1-5. Each hydraulic cylinder corresponds to a suspension frame of the magnetic levitation vehicle. The figure shows suspension frames 1-5. The upper end of the hydraulic cylinder is connected to the vehicle body, and the lower end is connected to the suspension frame. A displacement sensor is installed on each hydraulic cylinder. Each hydraulic cylinder is divided into an upper liquid chamber and a lower liquid chamber by the piston in the hydraulic cylinder. The specific structure is shown in the partial structure diagram. Figure 4 An upper oil inlet is provided on the side wall of the upper hydraulic chamber, and a lower oil inlet is provided on the side wall of the lower hydraulic chamber. Damping valves are provided on the branch circuits outside the oil inlets. As shown in the figure, there are four groups of damping valves, namely damping valves 1.1-1.4 through damping valves 4.1-4.4. The upper hydraulic chambers of multiple hydraulic cylinders are sequentially connected in parallel, forming a first hydraulic branch circuit between adjacent parallel upper hydraulic chambers. The lower hydraulic chambers of multiple hydraulic cylinders are sequentially connected in parallel, forming a second hydraulic branch circuit between adjacent parallel upper hydraulic chambers.

[0047] Accumulators, such as Figure 3 There are eight shown in the figure, which are accumulators 1.1-1.2 to 4.1-4.2, which are respectively arranged on the first hydraulic branch and the second hydraulic branch to provide stiffness for lateral movement of the vehicle body.

[0048] The controller generates a control signal to control the opening or closing of the solenoid valve.

[0049] Solenoid valves, such as Figure 3 Two solenoid valves are shown, namely solenoid valve 1 and solenoid valve 2. Solenoid valve 1 is located on the connecting branch between the first and second hydraulic branches between hydraulic cylinders 1 and 2, while solenoid valve 2 is located on the connecting branch between the first and second hydraulic branches between hydraulic cylinders 3 and 4. It can be seen that if more suspension frames and hydraulic cylinders are installed on the vehicle body, more solenoid valves will be installed accordingly. That is, a solenoid valve is installed on each hydraulic branch between two hydraulic cylinders to control the disconnection and connection of the branches. The solenoid valves used in this example are normally closed. When the magnetic levitation vehicle is on a straight path, the solenoid valve is closed, and the hydraulic suspension lateral vibration reduction system of the magnetic levitation vehicle provides stiffness and damping for the vehicle body's lateral motion. When the magnetic levitation vehicle is on a curved path, the solenoid valve is opened, connecting the first and second hydraulic branches, and the stiffness of the vehicle body's lateral motion is zero. The hydraulic suspension lateral vibration reduction system of the magnetic levitation vehicle only provides damping for lateral vibration reduction.

[0050] Figure 4 This is a partial structural diagram of the hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle provided in Example 1 of the present invention. Figure 4 Explain how this structure achieves lateral vibration reduction and provides lateral stiffness. Figure 4 As shown, the upper fluid chambers of hydraulic cylinders 11 and 12 have upper oil inlets on their sidewalls, and lower fluid chambers have lower oil inlets on their sidewalls. Damping valves 31, 32, 33, and 34 are installed on branches outside the oil inlets. The upper fluid chamber LU of hydraulic cylinder 11 communicates with the upper fluid chamber RU of hydraulic cylinder 12, and an accumulator 41 is installed on this branch. The lower fluid chamber LL of hydraulic cylinder 11 communicates with the lower fluid chamber RL of hydraulic cylinder 12, and an accumulator 42 is installed on this branch. In this way, the two hydraulic cylinders achieve zero roll stiffness and non-zero lateral stiffness. Roll stiffness primarily refers to the vehicle's ability to resist roll along the longitudinal axis (forward and backward); lateral stiffness refers to the vehicle's ability to resist roll along the lateral axis (left and right). A solenoid valve 5 is installed between the two branches.

[0051] When the maglev vehicle is on a straight path, the solenoid valve is closed, and the hydraulic suspension lateral vibration damping system provides stiffness and damping for the vehicle's lateral movement. When the vehicle enters a curved path and shifts laterally, the pistons in the two hydraulic cylinders move upward, reducing the volume of the two upper liquid chambers LU and RU and increasing the volume of the two lower liquid chambers LL and RL. Without the design of a solenoid valve 5 connecting the branch, the pressure in accumulator 1 increases while the pressure in accumulator 2 decreases, thereby generating a lateral force that hinders the vehicle's lateral movement. With the design of the solenoid valve 5 connecting the branch, when the vehicle enters a curve and shifts laterally, the solenoid valve 5 is controlled to open, connecting the two hydraulic branches, and no longer restricting the vehicle's lateral movement. That is, the stiffness of the vehicle's lateral movement is zero. After the vehicle exits the curve, the solenoid valve 5 is closed, and the hydraulic suspension system restores its lateral stiffness.

[0052] This design enhances the flexibility and responsiveness of the vehicle's lateral movement: when solenoid valve 5 opens and allows the two hydraulic branches to connect, the system no longer restricts the vehicle's lateral movement, allowing the vehicle to move more freely in curves. Restricting lateral movement can cause unwanted roll during cornering, so connecting the hydraulic branches improves vehicle maneuverability on curved routes. Furthermore, it enhances the adaptability of the vehicle's suspension system: by connecting the branches via solenoid valve 5, the restrictions on the vehicle's lateral movement can be adjusted in real time based on the actual route, enhancing the adaptability and flexibility of the vehicle's suspension system. The specific triggering conditions for the controller are described in the subsequent control method examples.

[0053] In a preferred embodiment, each hydraulic cylinder's piston rod is equipped with rubber joints or spherical bearings at both ends to provide deflection and torsion angles. These joints are bolted to the vehicle body and suspension frame, respectively. More preferably, the portion of the piston rod extending beyond the cylinder body is wrapped in a rubber protective sleeve to protect the piston rod from stone impacts and dust from scratching the surface.

[0054] In a preferred example, pressure measuring joints are respectively provided on the side walls of the upper liquid chamber and the lower liquid chamber for measuring the system pressure with external equipment, so as to facilitate pressurization and exhaust and measurement of the system pressure.

[0055] Example 2

[0056] Figure 5 This is another structural diagram of the hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle provided in Example 2 of the present invention installed on the vehicle body. Figure 5 As shown, the maglev vehicle includes a vehicle body, a slide, and an air spring. The slides are arranged in pairs, including an upper slide and a lower slide. The upper slide is located above the air spring, and the lower slide is installed on the guide rail below the vehicle body and can move laterally along the guide rail. Adjacent upper slides and adjacent lower slides are connected by modules. Three adjacent groups of slides constitute a subsystem. The hydraulic suspension lateral vibration reduction system for the maglev vehicle includes:

[0057] Multiple double-piston-rod hydraulic cylinders, Figure 5 The diagram shows hydraulic cylinders 1-4. Every two hydraulic cylinders correspond to a subsystem, and the figure shows two groups of subsystems. The upper and lower ends of one hydraulic cylinder are connected to the upper and lower slides of the first pair of slides in the hydraulic suspension subsystem, respectively, while the upper and lower ends of another hydraulic cylinder are connected to the upper and lower slides of the third pair of slides in the hydraulic suspension subsystem, respectively. Each hydraulic cylinder is divided into an upper and lower fluid chambers by a piston within the hydraulic cylinder. An upper oil inlet is provided on the sidewall of the upper fluid chamber, and a lower oil inlet is provided on the sidewall of the lower fluid chamber. Damping valves are provided on the branches outside the oil inlets, as shown in the figure, representing two groups: damping valves 1.1-1.4 to damping valves 2.1-2.4. The upper fluid chambers of the two hydraulic cylinders in a hydraulic suspension subsystem are connected in parallel, forming a first hydraulic branch, and the lower fluid chambers of the two hydraulic cylinders are connected in parallel, forming a second hydraulic branch.

[0058] Accumulators, such as Figure 5 There are four shown in the figure, which are accumulators 1.1-1.2~2.1-2.2, which are respectively arranged on the first hydraulic branch and the second hydraulic branch to provide stiffness for lateral movement of the vehicle body.

[0059] The controller generates a control signal to control the opening or closing of the solenoid valve.

[0060] The solenoid valve is provided on the connecting branch of the first hydraulic branch and the second hydraulic branch; Figure 5Two are shown, namely solenoid valve 1 and solenoid valve 2. Solenoid valve 1 is located on the connecting branch between the first and second hydraulic branches of hydraulic cylinders 1 and 2, and solenoid valve 2 is located on the connecting branch between the first and second hydraulic branches of hydraulic cylinders 3 and 4. The solenoid valves used in this example are normally closed. When the maglev vehicle is on a straight line, the solenoid valve is closed, and the hydraulic suspension lateral vibration reduction system of the maglev vehicle provides stiffness and damping for the lateral movement of the vehicle body. When the maglev vehicle is on a curved line, the solenoid valve is opened, the first and second hydraulic branches are connected, the stiffness of the lateral movement of the vehicle body is zero, and the hydraulic suspension lateral vibration reduction system of the maglev vehicle provides damping for lateral vibration reduction.

[0061] The principle of the hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle provided in Example 2 of the present invention to achieve lateral vibration reduction and provide lateral stiffness is the same as that of the above-mentioned Example 1, which will not be described in detail here.

[0062] In a preferred example, the specific structural design of the hydraulic cylinder in this example is as follows Figure 6 As shown, the left figure is the main view and the right figure is the side view. The end of the piston rod 2 of each hydraulic cylinder is provided with a rubber joint 1 or a joint bearing 1 to provide the deflection angle and torsion angle of the hydraulic cylinder, and is connected to the slide by bolts. The part of the piston rod 2 extending outside the cylinder body 4 is wrapped with a rubber protective sleeve 3. Pressure measuring joints 8 are respectively provided on the side walls of the upper liquid chamber and the lower liquid chamber to measure the system pressure with external equipment. Preferably, the design position of the pressure measuring joint 8 corresponds to the oil inlet 5. A friction plate 6 is provided on the surface of the cylinder body 4, and the friction plate 6 is connected to the surface of the cylinder body by welding or screws. The material of the friction plate 6 includes copper or polytetrafluoroethylene (PTFE), ultra-high molecular weight polyethylene and other wear-resistant materials with low friction coefficient to reduce the rotational resistance between the vehicle body and the hydraulic cylinder.

[0063] A positioning column 7 is welded to the outer surface of the middle part of the cylinder body of the hydraulic cylinder. The hydraulic cylinder and the vehicle body are installed and positioned by the positioning column 7, and the lateral force and longitudinal force between the vehicle body and the slide are transmitted.

[0064] The hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle proposed in the present invention is controlled by the following control method. The main steps of the method include:

[0065] Step 110: Obtain the lateral acceleration signal of the magnetic levitation vehicle by installing a lateral acceleration sensor on the vehicle body, and integrate the lateral acceleration signal to obtain the lateral velocity of the vehicle body.

[0066] Specifically, because the lateral acceleration sensor installed on the vehicle body measures the acceleration of the vehicle body in the lateral direction. Integration is the sum of the rate of change of acceleration with time, so the result is the velocity of the vehicle body in the lateral direction. Therefore, by integrating this lateral acceleration signal, the velocity of the vehicle body in the lateral direction can be obtained. Here, the lateral velocity of the vehicle body is is a vector.

[0067] Step 120: The displacement sensor integrated in each hydraulic cylinder measures the displacement signal of the piston of each hydraulic cylinder during the movement process, and performs differential processing on the displacement signal to obtain the piston movement speed of each hydraulic cylinder. The average speed of the piston movement of multiple hydraulic cylinders is processed to obtain the average speed

[0068] Specifically, according to the displacement sensor integrated on each hydraulic cylinder, the relative speed between the vehicle body and the suspension frame (corresponding to the structure of Example 1) or between the slide and the vehicle body (corresponding to the structure of Example 2) can be obtained by differentiating the displacement with respect to time. The displacement sensor measures the displacement of the piston of the hydraulic cylinder during movement, that is, the extension and contraction of the hydraulic cylinder. By differentiating this displacement signal with respect to time, the movement speed of the piston of the hydraulic cylinder can be obtained. Since the hydraulic cylinder connects the vehicle body and the suspension frame or connects the slide and the vehicle body, the movement speed of the piston of the hydraulic cylinder is the relative speed between the vehicle body and the suspension frame or between the slide and the vehicle body. An average relative speed can be obtained by taking the average of the relative speeds obtained by differentiation on each hydraulic cylinder. In the present invention, the solenoid valve switch is controlled by this average relative speed. Here, the average speed is a vector.

[0069] Step 130, when Generate a first control signal to control the solenoid valve to close, disconnecting the two hydraulic branches of the hydraulic suspension lateral vibration damping system for the magnetic levitation vehicle, and providing stiffness and damping for lateral movement of the vehicle body;

[0070] Step 140, when A second control signal is generated to control the solenoid valve to open, and the two hydraulic branches of the hydraulic suspension lateral vibration reduction system for the magnetic levitation vehicle are connected, so that the stiffness of the lateral movement of the vehicle body is zero, and the hydraulic suspension lateral vibration reduction system for the magnetic levitation vehicle provides damping.

[0071] Because A·B=|A|·|B|·cos(θ), where |A| and |B| represent the magnitudes of vectors A and B, respectively, and θ represents the angle between A and B. If the angle θ is greater than 90 degrees, cos(θ) is negative, so the result of the dot product will be a negative number.

[0072] That is to say, if the lateral speed of the vehicle and the average speed of the pistons of multiple hydraulic cylinders If the two vectors have opposite tendencies in direction, then their dot product is negative.

[0073] In the control method of the present invention, the lateral speed of the vehicle body is determined by dot product calculation. and average speed Whether the angle between these two vectors is greater than 90 degrees determines whether the lateral components of these two vectors are in the same direction, thereby determining whether the vehicle has entered a curve. In other words, if the lateral components of these two vectors are in the same direction or one of them is 0, the vehicle has not entered a curve. Otherwise, the vehicle has entered a curve.

[0074] The above process is executed by the controller, which determines the operating status of the vehicle through the above method and generates a control signal to control the solenoid valve to close or open accordingly.

[0075] In a specific implementation, the controller can be installed in an undercarriage equipment box. Connected to power and data lines, the controller powers the lateral acceleration sensor and displacement sensor and collects data from each sensor. Modules built into the controller filter the data received from each sensor; determine the motion of the vehicle body and suspension using a skyhook control algorithm; and identify and control the on / off status of the solenoid valve.

[0076] Furthermore, the controller can also integrate communication functions for transmitting internal sensor data, transmitting solenoid valve control instructions, and reporting system status and faults to the vehicle. In a more preferred solution, the controller also has equipment fault guidance and alarm functions, identifying faults through signals from various sensors, controlling the solenoid valves for fault guidance, and simultaneously issuing an alarm to the vehicle.

[0077] The hydraulic suspension lateral vibration reduction system and control method for a magnetic levitation vehicle of the present invention can achieve equal distribution of lateral forces on different suspension frames of the same vehicle, thereby preventing a certain suspension frame from being subjected to excessive force. At the same time, the system can identify the status of the vehicle body and the suspension frame, actively control changes in system stiffness, and improve the stability of the vehicle body.

[0078] Professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0079] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0080] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle, characterized in that: The hydraulic suspension lateral vibration reduction system for the magnetic levitation vehicle comprises: Multiple hydraulic cylinders, each corresponding to a suspension frame of the magnetic levitation vehicle, wherein the upper end of the hydraulic cylinder is connected to the vehicle body and the lower end is connected to the suspension frame; each hydraulic cylinder is divided into an upper liquid chamber and a lower liquid chamber by a piston in the hydraulic cylinder; the upper liquid chambers of the multiple hydraulic cylinders are sequentially connected in parallel, and a first hydraulic branch is formed between adjacent upper liquid chambers in parallel connection; the lower liquid chambers of the multiple hydraulic cylinders are sequentially connected in parallel, and a second hydraulic branch is formed between adjacent upper liquid chambers in parallel connection; accumulators, respectively provided on the first hydraulic branch and the second hydraulic branch, for providing rigidity for lateral movement of the vehicle body; an electromagnetic valve disposed on a connecting branch between the first hydraulic branch and the second hydraulic branch; when the magnetic levitation vehicle is on a straight route, the electromagnetic valve is closed, and the hydraulic suspension lateral vibration damping system of the magnetic levitation vehicle provides stiffness and damping for lateral motion of the vehicle body; when the magnetic levitation vehicle is on a curved route, the electromagnetic valve is opened, the first hydraulic branch and the second hydraulic branch are connected, the stiffness for lateral motion of the vehicle body is zero, and the hydraulic suspension lateral vibration damping system of the magnetic levitation vehicle provides damping; Determine the lateral velocity of the vehicle body by dot product calculation The average speed is obtained by adding the average speed of the piston movement of each hydraulic cylinder Whether the angle between the two vectors is greater than 90 degrees is used to determine whether the lateral components of the two vectors are in the same direction, thereby determining whether the vehicle has entered a curved route; when the lateral components of the two vectors are in the same direction or one of them is 0, it means that the vehicle has not entered the curved route, otherwise it means that the vehicle has entered the curved route.

2. The hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle according to claim 1 is characterized in that: An upper oil inlet is provided on the side wall of the upper liquid chamber, a lower oil inlet is provided on the side wall of the lower liquid chamber, and a damping valve is provided on the branch road outside the oil inlet.

3. The hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle according to claim 1, characterized in that: Both ends of the piston rod of each hydraulic cylinder are provided with rubber joints or joint bearings for providing the deflection angle and torsion angle of the hydraulic cylinder, and are respectively connected to the vehicle body and the suspension frame by bolts.

4. The hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle according to claim 3, characterized in that: The portion of the piston rod extending outside the cylinder body is wrapped with a rubber protective sleeve; The side walls of the upper liquid chamber and the lower liquid chamber are respectively provided with pressure measuring joints for measuring the system pressure with external equipment.

5. A hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle, characterized in that: The magnetic levitation vehicle includes a vehicle body, a slide and an air spring. The slides are arranged in pairs, including an upper slide and a lower slide. The upper slide is located above the air spring, and the lower slide is installed on a guide rail below the vehicle body and can move laterally along the guide rail. Adjacent upper slides and adjacent lower slides are connected by modules; three adjacent groups of slides constitute a subsystem. The hydraulic suspension lateral vibration reduction system for the magnetic levitation vehicle includes: Multiple double-piston-rod hydraulic cylinders, each two hydraulic cylinders corresponding to a subsystem, wherein the upper and lower ends of one hydraulic cylinder are respectively connected to the first pair of slides in the hydraulic suspension subsystem, and the upper and lower ends of another hydraulic cylinder are respectively connected to the third pair of slides in the hydraulic suspension subsystem; each hydraulic cylinder is divided into an upper liquid chamber and a lower liquid chamber by a piston in the hydraulic cylinder; the upper liquid chambers of the two hydraulic cylinders in a group of hydraulic suspension subsystems are connected in parallel to form a first hydraulic branch, and the lower liquid chambers of the two hydraulic cylinders are connected in parallel to form a second hydraulic branch; accumulators, respectively provided on the first hydraulic branch and the second hydraulic branch, for providing rigidity for lateral movement of the vehicle body; an electromagnetic valve disposed on a connecting branch between the first hydraulic branch and the second hydraulic branch; when the magnetic levitation vehicle is on a straight route, the electromagnetic valve is closed, and the hydraulic suspension lateral vibration damping system of the magnetic levitation vehicle provides stiffness and damping for lateral motion of the vehicle body; when the magnetic levitation vehicle is on a curved route, the electromagnetic valve is opened, the first hydraulic branch and the second hydraulic branch are connected, the stiffness for lateral motion of the vehicle body is zero, and the hydraulic suspension lateral vibration damping system of the magnetic levitation vehicle provides damping; A positioning column is provided on the outer surface of the middle portion of the cylinder body of the hydraulic cylinder, and is used to install and position the hydraulic cylinder and the vehicle body, and to transmit the lateral force and longitudinal force between the vehicle body and the slide; Determine the lateral velocity of the vehicle body by dot product calculation The average speed is obtained by adding the average speed of the piston movement of each hydraulic cylinder Whether the angle between the two vectors is greater than 90 degrees is used to determine whether the lateral components of the two vectors are in the same direction, thereby determining whether the vehicle has entered a curved route; when the lateral components of the two vectors are in the same direction or one of them is 0, it means that the vehicle has not entered the curved route, otherwise it means that the vehicle has entered the curved route.

6. The hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle according to claim 5, characterized in that: An upper oil inlet is provided on the side wall of the upper liquid chamber, a lower oil inlet is provided on the side wall of the lower liquid chamber, and a damping valve is provided on the branch road outside the oil inlet.

7. The hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle according to claim 5, characterized in that: The piston rod end of each hydraulic cylinder is provided with a rubber joint or a joint bearing to provide a deflection angle and a torsion angle of the hydraulic cylinder, and is respectively connected to the slide and the vehicle body by bolts.

8. The hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle according to claim 5, characterized in that: The portion of the piston rod extending outside the cylinder body is wrapped with a rubber protective sleeve; The side walls of the upper liquid chamber and the lower liquid chamber are respectively provided with pressure measuring joints for measuring the system pressure with external equipment; The surface of the cylinder body is provided with a friction plate to reduce the rotational resistance between the vehicle body and the hydraulic cylinder; The friction plate is connected to the surface of the cylinder body by welding or screws, and the material of the friction plate includes copper or polytetrafluoroethylene (PTFE).

9. A control method for a hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle based on any one of claims 1 to 4 or any one of claims 5 to 8, characterized in that: The control method includes: The lateral acceleration signal of the magnetic levitation vehicle body is obtained by installing a lateral acceleration sensor on the vehicle body, and the lateral acceleration signal is integrated to obtain the lateral velocity of the vehicle body. ; The displacement signal of the piston of each hydraulic cylinder during movement is measured by the displacement sensor integrated in each hydraulic cylinder, and the displacement signal is differentiated to obtain the piston movement speed of each hydraulic cylinder. ; Average the piston movement speeds of multiple hydraulic cylinders to obtain the average speed ; when , generating a first control signal to control the solenoid valve to close, so that the two hydraulic branches of the hydraulic suspension lateral vibration damping system for the magnetic levitation vehicle are disconnected, and the hydraulic suspension lateral vibration damping system for the magnetic levitation vehicle provides stiffness and damping for lateral movement of the vehicle body; when , generating a second control signal to control the solenoid valve to open, the two hydraulic branches of the hydraulic suspension lateral vibration reduction system for the magnetic levitation vehicle are connected, so that the stiffness of the lateral movement of the vehicle body is zero, and the hydraulic suspension lateral vibration reduction system for the magnetic levitation vehicle provides damping.

10. The control method of the hydraulic suspension lateral vibration reduction system for a magnetic levitation vehicle according to claim 9, characterized in that: The upper end of the hydraulic cylinder is connected to the vehicle body, and the lower end is connected to the suspension frame, and the piston movement speed is the relative speed between the vehicle body and the suspension frame; or The upper end of the hydraulic cylinder is connected to the upper slide, and the lower end is connected to the lower slide. The piston movement speed is the relative speed between the slide and the vehicle body.

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